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
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8.1 Introduction to Polyphase
Induction Machines
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Two types of motor:
Squirrel-Cage Wound Rotor
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•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
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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
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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
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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
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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.
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Breakdown torque
Typical induction-motor torque-speed curve for constant-
voltage, constant-frequency operation
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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.
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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
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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?
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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
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8.2 The Equivalent Circuit of an
Induction Motor
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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.
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Equivalent Circuit
The induction motor is similar to the transformer with the
exception that its secondary windings are free to rotate
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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
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Rotor equivalent circuit:
ER0 : the induced rotor voltage at locked-rotor condition
XR0 : the rotor reactance at locked-rotor condition
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The rotor current flow can be found as
The rotor equivalent impedance
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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.
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The transformed rotor voltage to the stator side
The rotor current
The rotor impedance
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Equivalent Circuit
Single-phase equivalent circuit for a polyphase induction motor.
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Equivalent Circuit
Alternative form of equivalent circuit.
Electromechanical power is
equal to the power delivered
to this resistance
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8.3 Analysis of the Equivalent
Circuit
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Power Flow and Losses of an Induction Motor
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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
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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.
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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.
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Core losses may be neglected or lumped with rotational
loss, simplifying the circuit
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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
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Solution:
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Example:
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Solution:
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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.
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Solution:
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Example:
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Solution:
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Example:
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Solution:
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8.4 Torque and Power by Use of
Thevenin’s Theorem
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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.
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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 )
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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 )
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Torque and power by use of Thevenin’s theorem
Induction-machine torque-slip curve showing braking, motor, and
generator regions.
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Torque and power by use of Thevenin’s theorem
Torque, power, and current curves for a 7.5-kW motor
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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
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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
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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.
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Solution:
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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?
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Solution:
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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?
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Solution:
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8.5 Determination of the
Equivalent Circuit Parameters
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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).
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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.
s0
The no-load test circuit.
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Determination of the equivalent circuit paramters
The resulting
equivalent circuit.
s0
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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.
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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
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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.
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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
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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.
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• 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
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Empirical distribution of leakage reactances in induction motors.
Typical torque-speed curves for
different rotor designs
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The more accurate determination of R2 by not ignoring Xm
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Example:
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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):
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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.
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Solution:
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8.6 Starting, Speed Control and
Braking Methods of IMs
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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
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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)
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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 )
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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
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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
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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
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Braking of induction motors
1. Regenerative braking
2. Plugging or reverse voltage braking
3. Dynamic braking
4. Mechanical braking
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Nameplate of induction motors
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Thanks for your attention..
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