Unit-1 Induction Machines

Que.-01 Explain construction and working principle of three phase induction motor. Also
compare squirrel cage and slip ring Induction Motor.
Ans.-01
(A) Construction of Induction Motor:-
A three phase Induction motor all the parts are mainly classified in two basic types according
to its physical state.
(a) The part which are stationary during the (b) The parts which are rotating during the
operation is known as Stator. operation is known as Rotor
• Stator(Outer) Frame. • Rotor Core.
• Stator Core. • Rotor Winding.
• Stator Winding. • End Ring & Slip Ring
• End Cover. • Shaft & Bearing
Part Construction Material Function
Name
Stator * Hollow cylinder having cooling Cast Iron * Provide housing & support to
Frame fins (Heat sinks) on outer body. or Cast stator core, stator winding, End
(Fig-1.1) * Terminal box are mounted on it. Aluminum Covers & terminal box.
* End Cover is also attached with Alloy * Provide Protection and
it. mechanical strength to all inner
part from outer atmosphere
and contact.
Stator * Several thin (0.3-0.5 mm) High grad * Provide Hosing to stator
Core insulated laminations sheet is silicon winding & to carry the
(Fig-1.1) punched and clamped together steel alternating flux.
to form a hollow cylinder (stator * Insulated Lamination sheet (not
core). solid) are used to reduced eddy
* Each identical insulated current losses.
lamination sheet (stamping) * High grad magnetic material are
having slot in its inner used to reduce hysteresis
periphery. losses.
Stator * Winding - Coils of copper Copper * Its main function is to forms an
Winding insulated wires are inserted electromagnet (a pair of
(Fig-1.1) into the stator slots. poles) and hence a rotating
* These groups of coil are magnetic field on applying
distributed 120° electrically and three phase AC supply.
connected either in Star or
Delta.
* Terminals of these winding are
brought to terminal box.

Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 1
Unit-1 Induction Machines

End * It is a ring shape cover locates Same as * The function of end cover is to
Cover. on both stator ends. Stator provide house to bearing on
Frame which shaft were placed & It
seals the motor assembly.
Rotor * Hollow cylinder built of thin High grad * Provide Hosing to rotor winding
Core laminations just same as the silicon & to carry the alternating flux.
(Fig-1.2) stator core. steel * Skew Slot reason: -
* Inner part of cylindrical core is (a) To make the motor run quietly
mounted directly on the shaft. by reducing magnetic hum
* Outer part of cylinder core and to decrease slot
having slot on periphery. harmonics.
* The rotor slots are not exactly (b) To avoid the locking tendency
parallel to the shaft. Its skew. of the rotor
Rotor Cage Rotor:- * Its main function is to produces
Winding * Each rotor slot carries a copper, aluminum, or an electromagnet (a pair of
(Fig-1.2) alloy bar which are permanently short- poles) and hence a rotating
(Fig-1.3) circuited at both ends by means of the end magnetic field due to
rings. induction on applying three
Wound Rotor:- phase AC supply at stator side.
* Copper winding is provided in rotor slot just * Torque will produced due to
like stator winding. interaction of rotor and stator
* Rotor winding wound with Same number of flux.
poles, connection (star or delta), less nos. of
slot & fewer turns per phase of a heavier
conductor as that of the stator.
* Winding brought outside on three slip ring.
End Ring * Ring shape cover attached at the Copper or * To made close circuit of rotor
(Fig-1.2) end of rotor core. aluminum winding by short circuit rotor
bar.
Slip Ring * Ring shape attached on rotor Conducting * To made close circuit of rotor
shaft. Metal winding
* Its provide connection between
rotating winding circuit and
stationary outer circuit.
Shaft * It is a cylindrical in shape Mild Steel. * Provide housing to rotor core &
Or winding.
Alloy Steel. * couple motor with driven
equipment.
Bearing * It is a mechanical hollow Chrome * Its hold the rotor and keep it
rotating device located in End Steel aligned steady.
Covers.

Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 2
 Unit-1 Induction Machines

Outer Frame
Stator Core
Stator
Slots

Terminal Box
Stator
Winding

Base

Figure 1.1 Outer frame of an induction motor

(B) Working Principle:-

In any motor whether it is Induction motor, Synchronous motor or DC motor, motor rotate due to
resultant torque produced as an interaction of two magnetic field in the machine.
Hence, torque in three phase induction motor will produced due to interaction between
synchronously rotating magnetic field (r.m.f) Øs of stator and magnetic field produced in rotor Ør.
Rotor • Constant magnitude resultant flux Øs is produced in
Conductor Stator
stator winding, cross the air-gap and cut rotor
conductor when a three phase supply is connected to
Rotor the stator winding.
• Øs rotate in clockwise direction at synchronous speed
120𝑓
given by 𝑁𝑆 = .
Rotation of field 𝑃

Figure 1.4(a)
• For simplicity, consider one conductor on the stationary rotor as shown in Figure 1.4(a).
• A magnetic field moving clockwise has the effect as a conductor moving anticlockwise in a
stationary field.
• As Øs cut rotor conductor, according to Faraday’s law of Motion of
conductor
electromagnetic induction, emf will be produced in the conductor. relative to field

• From Flemings right hand rule generated emf comminf out from
the page. Shown by dot in figure 1.4(b).
• As rotor circuit is close either by end ring (cage) or by slip ring
(wound) current will flow in rotor conductor. Flux Direction

• Direction of rotor current will be same as direction of rotor emf. Figure 1.4(b)

Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 3
Unit-1 Induction Machines

• The current in the rotor conductor produces its own magnetic field
according to thumb rule as shown in Figure 1.4 (c).
• This rotor field Ør. produced in rotor circuit is due to induction
principle hence this motor is known as Induction Motor.
• This flux will interact with main flux.
Figure 1.4(C)
• We know that when a current carrying conductor put in a Stator

magnetic field a force is produced. This force is produced on

the rotor conductor. Rotor

• Force on conductor is developed as main flux is try to follow a

strength line and hence it push the rotor conductor in
Rotation of field
clockwise direwction as shown in figure 1.4(d).
Figure 1.4(d)
• The direction of this force can be calculated by using Flemings
Force as
conductor
left-hand rule as shown in Figure 1.4(e).
• The force acting on the conductor is in the same direction as the
direction of the rotating magnetic field.
Flux • The rotor conductor is in a slot on the circumference of the rotor,
the force acts in a tangential direction to the rotor and develops a
Figure 1.4(e)
torque in a rotor

Similarly, torque produces in all the rotor conductors.

Since, the rotor is free to move then it rotates in the same direction as the rotating magnetic field.
Thus, three phase induction motor is self-starting motor.

(C) Comparison of Squirrel Cage and Slip Ring Induction Motor: -

Squirrel Cage Slip ring (wound rotor)

Induction Motor Induction Motor
End Ring Winding
Laminated Conductors
Core Conductors

Shaft
Shaft

Brushes

Figure 1.2 Squirrel cage rotor

Figure 1.3 Wound rotor
Construction
• Rotor is simplest and rugged in • Compared to squirrel cage rotor the rotor
construction. construction is Complex.
✓ No External Circuit - Rotor Bar are used  External Circuit - Rotor is wound type hence
witch is short circuited with help of End connected with external circuit with
Ring. rotating Slip rings and steady Brushes.

Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 4
Unit-1 Induction Machines

Rotor Core & Rotor Winding

• Cylindrical laminated core rotor with Closed • Cylindrical laminated core rotor with Open
or semi closed slot. or Semi closed slot.
• Heavy bars of copper or aluminum or alloys • Thin flexible copper conductor is used for
are used for conductors. winding as per the number of stator poles.
• Rotor circuit are completed by short • Rotor circuit are completed by connecting
circuiting rotor conductors (Bar) with the rotor conductors with star connected
help of End Rings. external resistance or short circuited
conductor with the help of Slip Ring &
Brushes.
Rotor Resistance & Performance
External resistance can’t connect. External resistance can connect.
 No Speed Control from rotor side. ✓ Speed Control by rotor resistance
 No Torque Variation. control.
 Less Starting Torque (1.5 time full load ✓ Torque Variation.
torque). ✓ High Starting Torque (depends on
 High Starting current ( 5-7 time full external resistance value).
load current). ✓ Less Starting current.
 Slip power recovery is not possible. ✓ Slip power recovery is possible.
Maintenance & Efficiency
✓ Low maintenance as no moving parts (slip  High maintenance due to moving parts
ring). (slip ring and brushes).
✓ High efficiency as low rotor resistance and  Low efficiency as high rotor resistance and
no brushes & slip ring. brushes & slip ring.
Cost and Size (ratting)
✓ Cheaper cost.  Cost is slightly higher.
• Small size (fraction kW – few kW) • Medium to Large size (in kW – MW)

Que.-02 Derive the equation of electromagnetic torque for a three phase induction motor
with usual notations from first principle. OR Derive the torque equation for 3phase
Induction Motor.
Ans.-02 The Developed Torque or Induced Torque or Electromagnetic Torque in an induction
machine is define as the torque generated by the internal electro-mechanical power
conversion in the rotor.
Assuming loss less system, mechanical power developed in rotor is equal to electrical power
available in rotor.
Pmech = Pele where,
2πnsT = 3E 2 I 2 cos 2 ns = Synchronous Speed (r.p.s)2
3E I cos 2 T = Developed Torque (Nm)
T= 2 2
2πns E 2 = Rotor EMF per Phase at Stand Still (volts)
 3  I 2 = Rotor Current (amp.)
T =   ( E 2 I 2 cos 2 ) cos 2 = Rotor Power Factor
 2πns 
T = k  ( E 2 I 2 cos 2 ) ..........(1)

Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 5
 Unit-1 Induction Machines

From equation (1) its prove that, torque in three phase induction motor will produced due to
interaction between Flux per Stator pole (r.m.f) Øs and Rotor Flux Ør.. However, there is one more
factor taking in account is Rotor Power Factor.
As we know that,
Rotor emf per phase at standstill produce in rotor Rotor flux produced Ør in rotor is
is proportional to Flux per Stator pole (r.m.f) Øs proportional to Rotor current per phase I2
E 2  s I 2  r

Now putting values of I2 and cos Ø2 in equation we get torque developed in three phase IM.

T = k  ( E 2 I 2 cos 2 ) ..........(1) Here,

sE2
I2 =
Z2
 sE   R 
T = k  E2   2    2  cos 2 =
R2
 Z2   Z2  Z2
Z 2 = R2 2 + ( sX 2 ) 2
 sE2   R2 
T = k  E2     where
 R 2 + ( sX ) 2   R 2 + ( sX ) 2 
 2 2   2 2  sE2 = Rotor emf /  at running cond. (v)
R2 = Rotor resistance /  (  )
 sE 22 R2  Z 2 = Rotor impedance /  at running cond. (  )
T = k  2
 R2 + ( sX 2 ) 
2
Nm ..........( A) sX 2 = Rotor reactance /  at running cond. (  )
 
Equation (A) is required developed torque equation
Extra theory derived after above theory
Starting Torque Maximum Starting Torque Maximum Running Torque
(Tst) (Tmst) (Tmax)
Its obtain by putting S=1 in Its obtain by putting S=1 and Its obtain by putting R2=sX2
equation (A) R2=X2 in equation (A) in equation (A)
It because in starting speed of R2=X2 is obtain by R2=sX2 is obtain by
rotor is Zero hence, Slip is equal differentiating equation (B) differentiating equation (A)
to One wrt R2 equating it with Zero wrt S equating it with Zero

Tst T
=0 =0
R2 s

 E 22 R2   E 22   E 22 
Tst = k   2 = k  = k 
 R2 + ( X 2 )   2 R2   2 X 2 
2
Nm ...( B) Tmst Nm ...(C ) Tmax Nm ...( D)
     

Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 6
 Unit-1 Induction Machines

Que.-03 Explain procedure to construct circle diagram for 3 phase induction motor. OR
Explain the procedure to construct the circle diagram of induction motor. Also
describe the method to determine losses, efficiency and slip at full load condition
using circle diagram.
Ans.-03
Test performed to compute data required to draw circle diagram: -
(1) No Load Test Data:
No Load Voltage No Load Current No Load Power No Load PF
(rated voltage) (20-40 % rated current) (Constant Losses) (very poor)
Vo (Volt) Io (Amp) Wo (watt) W0
0 = ( )
3  V0  I 0
(2) Short Circuit Test Data:
Short Circuit Voltage Short Circuit Current Short Circuit Power Short Circuit PF
(reduced voltage) (full load current) (Variable Losses) Wsc
Vsc (Volt) Isc (Amp) Wsc (watt)
sc = ( )
3  Vsc  I sc
Short Circuit Current if rated voltage is applied. Short Circuit Power if rated voltage is applied.
(Current Scale will decide from this) (Power Scale will decide from this)
V  V 
I SN = I sc   WSN = Wsc   2
 Vsc   Vsc 
Procedure to Construct Circle Diagram: -
Draw Horizontal axis OX & Vertical axis OY. Here the vertical axis represents the
Step-01
voltage reference.
Step-02 With suitable current scale, draw phasor OA with length corresponding to I0 at an
angle Φ0 from the vertical axis. Draw a horizontal line AB (Constant Losses Line).
Step-03 With suitable current scale, draw OS equal to ISN at an angle ΦSC .
Step-04 Join AS (Output Line) & Draw the perpendicular bisector to AS to meet the horizontal
line AB at C.
With C as canter & CA or CS as radius, draw a semi-circle passing through A and S.
Step-05
This forms the circle diagram which is the locus of the input current.
From point S, draw a vertical line SL to meet the line AB.
Step-06
Fix the point K:-
Step-07
• Wound Rotor machines: where equivalent rotor resistance R2′ can be found out:
SK Equivalent Rotor Resistance
Divide SL at point K so that =
KL Stator Resistance
• Squirrel Cage rotor machines:
Find Stator copper loss using ISN and Stator winding resistance R1.
Rotor Copper loss = Total Copper loss - Stator Copper loss

Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 7
 Unit-1 Induction Machines

SK Rotor Copper loss

• Divide SL at point K so that =
KL Stator Copper loss
Note: If data for separating stator copper loss and rotor copper loss is not available
then assume that stator copper loss is equal to rotor copper loss. So divide SL at
point K so that SK= KL.
• Draw AK which represent torque line
For a given operating point P, draw a vertical line PEFGD as shown. In Figure-1.5
Step-08
PD = Input Power, PE = Output Power, EF = Rotor Copper Loss,
FG = Stator Copper Loss, GD = Constant Loss (Iron Loss + Mechanical Loss)
OP=Full Load Current.
Step-09
PE
Efficiency of the machine at the operating point P, η =
PD
Power factor of the machine at operating point P, is cos 
Step-10
EF
Step-11 Slip of the machine at the operating point P, s =
PF
To find the operating points corresponding to maximum power and maximum
Step-12
torque, draw tangents to the circle diagram parallel to the output line and torque
line respectively. The points at which these tangents touch the circle are respectively
the maximum Torque point (Tmax) and maximum output power point (Pmax).

Tmax
Pmax
S
Slip=1

P C’
Rotor copper
n e loss
u t li
tp
Ou
 K

sc
e
u e Lin Stator copper
Torq loss
E
0 F
L
B
A G C
Fixed loss
O D M
X
Figure 1.5 Circle Diagram of 3-phase Induction Motor

Importance of Circle Diagram:-

• The diagram provides information which is not provided by an ordinary phasor diagram.
• A phasor diagram gives relation between current and voltage only at a single circuit condition.
• If the condition changes, we need to draw the phasor diagram again. But a circle diagram may
be referred to as a phasor diagram drawn in one plane for more than one circuit conditions.

Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 8
 Unit-1 Induction Machines

• On the context of induction motor, which is our main interest, we can get information about its
power output, power factor, torque, slip, speed, copper loss, efficiency etc. in a graphical or in a
diagrammatic representation.
Que.-04 Explain cogging and crawling in 3 phase Induction Motor with their remedies.
Ans.-04
(a) Crawling
• Sometimes, squirrel cage induction motors exhibit a tendency to run at very slow speeds (as low
as one-seventh of their synchronous speed). This phenomenon is called as crawling of an
induction motor.
• This action is due to the fact that, flux wave produced by a stator winding is not purely sine
wave.
• It is a complex wave consisting a fundamental wave and odd harmonics like 3rd, 5th, 7th etc.
• The fundamental wave revolves synchronously at synchronous speed Ns whereas 3rd, 5th, 7th
N N N
harmonics may rotate in forward or backward direction at s , s , s speed respectively.
3 5 7
• Hence, harmonic torques are also developed in addition with fundamental torque.
• The 3rd and its multiple harmonics are absent in a balanced 3-phase system. So 3rd harmonics
do not produce rotating field and torque.
• The total motor torque now consists three components as:
• The fundamental torque with synchronous speed N s ,
Ns
• 5th harmonic torque with synchronous speed ,
5
N
• 7th harmonic torque with synchronous speed s (provided that higher harmonics are
7
neglected).

b le
Stable ta
ns
Torque

Constant Load Torque

Crawling Speed

1.0 0.8 0.6 0.4 0.2 0

Slip

0 0.2 0.4 0.6 0.8 1.0

Synchronous Speed

Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 9
Unit-1 Induction Machines

Figure 1.6 Crawling in Induction Motor

• Now, 5th harmonic currents will have phase difference of 5 ⨯ 120 = 600° =(2 ⨯ 360) − 120 =
N
−120°. Hence the revolving speed set up will be in reverse direction with speed s .
5
• The small amount of 5 harmonic torque produces breaking action and can be neglected.
th

• The 7th harmonic currents will have phase difference of 7 ⨯ 120 = 840° = (2 ⨯ 360) +120 = +
120°.
N
• Hence they will set up rotating field in forward direction with synchronous speed equal to s .
7
• If we neglect all the higher harmonics, the resultant torque will be equal to sum of fundamental
torque and 7th harmonic torque.
• The 7th harmonic torque reaches its maximum positive value just before1/7 th of N s .
• As shown in Fig. 1.6, If the mechanical load on the shaft involves constant load torque, the
torque developed by the motor may fall below this load torque. In this case, motor will not
accelerate up to its normal speed, but it will run at a speed which is nearly 1/7 th of its normal
speed. This phenomenon is called as crawling in induction motors.

(b) Cogging (Magnetic locking or teeth locking)

• This characteristic of induction motor comes into picture when motor refuses to start at all.
• Sometimes it happens because of low supply voltage. But the main reason for starting
problem in the motor is because of cogging in which the slots of the stator get locked up
with the rotor slots.
• As we know that there is series of slots in the stator and rotor of the induction motor.
• When the slots of the rotor are equal in number with slots in the stator, they align
themselves in such way that both face to each other and at this stage the reluctance of the
magnetic path is minimum and motor refuse to start.
• This characteristic of the induction motor is called cogging.
• One more reason for cogging, if the harmonic frequencies coincide with the slot frequency
due to the harmonics present in the supply voltage then it causes torque modulation. As a
result, of it cogging occurs. This characteristic is also known as magnetic teeth locking of
the induction motor.

o Methods to eliminate cogging

• The number of slots in rotor should not be equal to the number of slots in the stator.
• Skewing of the rotor slots, that means the stack of the rotor is arranged in such a way that
it angled with the axis of the rotation.

Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 10
 Unit-1 Induction Machines

Que.-05 Draw the schematic diagram and Explain the working principle of Induction
Generator. Also discuss the applications of Induction generator.
Ans.-05
• Same like a DC and Synchronous Machine, an Induction Machine can be used as an induction
motor as well as an induction generator, without any internal modifications.
• If we rotate induction motor greater than synchronous speed, then its convert mechanical
power supply by prime mover into electrical power and work as an induction generator
(asynchronous generators).

Working of Grid Connected Induction Generator:-

• Consider, an AC supply is connected to the stator terminals of an induction machine. Rotating
magnetic field produced in the stator pulls the rotor to run behind it (the machine is acting as
a motor).
• Now, if the rotor is accelerated to the synchronous speed by means of a prime mover, the slip
and rotor current will be zero and hence the net torque will be zero.
• If the rotor is made to rotate at a speed greater than the synchronous speed, the slip
becomes negative. A rotor current is generated in the opposite direction, due to the rotor
conductors cutting stator magnetic field.
• This generated rotor current produces a rotating magnetic field in the rotor which
pushes (forces in opposite way) onto the stator field.
• This causes a stator voltage which pushes current flowing out of the stator winding against the
applied voltage. Thus, the machine is now working as an induction generator (asynchronous
generator).

R Y B

Coupling P
(Active Power)

Prime
Mover

Q
(Reactive Power)
Induction
Rated
Machine
3-Phase
AC
Supply

Figure 2.1 Schematic diagram of Grid Connected Induction Generator.

• Induction generator is not a self-excited machine. Therefore, when running as a generator, the
machine takes reactive power(Q) from the AC power line and supplies active power(P) back
into the line. Reactive power is needed for producing rotating magnetic field. The active power
supplied back in the line is proportional to slip above the synchronous speed.

Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 11
 Unit-1 Induction Machines

Working of Self-Excited Induction Generator:-

• It is clear that, an induction machine needs reactive power for excitation, regardless whether it
is operating as a generator or a motor.
• When an induction generator is connected to a grid, it takes reactive power from the grid.
• But what if we want to use an induction generator to supply a load without using an external
source?
A capacitor bank can be connected across the stator terminals to supply reactive power to the
machine as well as to the load.
• When the rotor is rotated at an enough speed, a small voltage is generated across the stator
terminals due to residual magnetism.
• Due to this small generated voltage, capacitor current is produced which provides further
reactive power for magnetization.

Coupling P
(Active Power)

Prime Load
Mover

Induction
Machine Q Q

Capacitor Bank

Figure 2.2 Schematic diagram of Self Excited Induction Generator.

Applications of Induction Generators:-

• It is used where the prime mover does not run at a constant speed such as hydro power plants
and wind farm.
• Wind mills or Wind energy recovery system for large scale power generation.
• For breaking purpose in railways.
• In small power stations, to feed a mains supply without attendant.

Advantages:-
• It has robust construction and low maintenance.
• It has small size per kW output power.
• Require few auxiliaries.
• Does not require to be synchronized with the supply, unlike a synchronous generator.

Disadvantages:-
• It cannot generate reactive power. Actually, it requires reactive power from supply. So, it has
limited application.
• Efficiency is poor.
• It cannot control output voltage.
Assi. Prof. Bhavesh. A. Dave, Electrical Engineering Department Electrical Machines – II (3150910) 12