Crawling and Cogging of Induction Motor

• The important characteristics normally shown by a squirrel cage induction

motors are crawling and cogging.
• These characteristics are the result of improper functioning of the motor that
means either motor is running at very slow speed or it is not taking the load.
• It has been observed that squirrel cage type induction motor has a tendency to
run at very low speed compared to its synchronous speed, this phenomenon is
known as crawling.
• The resultant speed is nearly 1/7th of its synchronous speed.
Now the question arises why this happens?
• This action is due to the fact that harmonics fluxes produced in the gap of the
stator winding of odd harmonics like 3rd, 5th, 7th etc.
• These harmonics create additional torque fields in addition to the synchronous
torque
 Crawling of Induction Motor
• The torque produced by these harmonics rotates in the forward or backward
direction at Ns/3, Ns/5, Ns/7 speed respectively.
• Here we consider only 5th and 7th harmonics and rest are neglected.
• The torque produced by the 5th harmonic rotates in the backward direction.
• This torque produced by fifth harmonic which works as a braking action is small
in quantity, so it can be neglected.
• Now the seventh harmonic produces a forward rotating torque at synchronous
speed Ns/7.
• Hence, the net forward torque is equal to the sum of the torque produced by 7th
harmonic and fundamental torque.
• The torque produced by 7th harmonic reaches its maximum positive value just
below 1/7 of Ns and at this point slip is high.
 Crawling of Induction Motor
• At this stage motor does not reach up to its normal speed and continue to rotate
at a speed which is much lower than its normal speed.
• This causes crawling of the motor at just below 1/7 synchronous speed and
creates the racket.
• The other speed at which motor crawls is 1/13 of synchronous speed.
Crawling of Induction Motor
TORQUE SLIP CHARACTERISTICS
 COGGING OF INDUCTION MOTOR
 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.
 COGGING OF INDUCTION MOTOR
• Apart from this, there is 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.
Methods to overcome 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.
 SPEED CONTROL OF INDUCTION MOTOR
• A three phase induction motor is basically a constant speed motor so it’s
somewhat difficult to control its speed.
• The speed control of induction motor is done at the cost of decrease in
efficiency and low electrical power factor.
• Before discussing the methods to control the speed of three phase induction
motor one should know the basic formulas of speed and torque of three phase
induction motor as the methods of speed control depends upon these formulas.
• Speed of Motor =N= 120 f
N s (1  s )  (1  s )
P
• Torque
sE 2 R2 k 1 s E 22 R 2
T  k1 E 2 
R  ( sX 2 )
2
2
2
R  ( sX 2 )
2
2
2 R 22  ( s X 2 ) 2
 SPEED CONTROL OF INDUCTION MOTOR
 The Speed of Induction Motor is changed from Both Stator and
Rotor Side.
Stator Side
 V / f control or frequency control.
 Changing the number of stator poles.
 Controlling supply voltage.
Rotor Side
 Adding external resistance on rotor side.
 Cascade control method.
 Injecting slip frequency emf into rotor side.
 Speed Control from Stator Side
V / f Control or Frequency Control
• Whenever three phase supply is given to three phase induction motor rotating
magnetic field is produced which rotates at synchronous speed
• In three phase induction motor emf is induced by induction similar to that of
transformer
• Now if we change frequency synchronous speed changes and can control the
speed of motor.
• But with decrease in frequency flux will increase and this change in value of flux
causes saturation of rotor and stator cores which will further cause increase in
no load current of the motor .
• So, its important to maintain flux , φ constant and it is only possible if we
change voltage.
 Speed Control from Stator Side
V / f Control or Frequency Control
• So, here we are keeping the ratio of V/f as constant.
• For controlling the speed of three phase induction motor by V/f method we
have to supply variable voltage and frequency which is easily obtained by using
converter and inverter set.
 Speed Control from Stator Side
Changing The Number of Poles
• In this method of speed control of three phase induction motor, we
provide two separate windings in the stator.
• These two stator windings are electrically isolated from each other and
are wound for two different numbers of poles.
• Using a switching arrangement, at a time, supply is given to one winding
only and hence speed control is possible.
• Disadvantages of this method are that the smooth speed control is not
possible.
• This method is more costly and less efficient as two different stator
windings are required.
• This method of speed control can only be applied to squirrel cage motor.
 Speed Control from Rotor Side
Adding External Resistance on Rotor Side
• In this method of speed control of three phase induction motor external
resistance are added on rotor side. The equation of torque for three phase
induction motor is sE 22 R 2
T  2
R 2  ( sX 2 ) 2
• The three-phase induction motor operates in a low slip region.
• In low slip region term (sX)2 becomes very very small as compared to R2. So, it
can be neglected and also E2 is constant. So the equation of torque after
simplification becomes, s
T 
R2
• Now if we increase rotor resistance, R2 torque decreases but to supply the same
load, torque must remain constant. So, we increase slip, which will further
result in the decrease in rotor speed.
 Speed Control from Rotor Side
Adding External Resistance on Rotor Side
• Thus by adding additional resistance in the rotor circuit, we can decrease the
speed of the three-phase induction motor.
• The main advantage of this method is that with an addition of external
resistance starting torque increases.
• But this method of speed control of three phase induction motor also suffers
from some disadvantages :
 The speed above the normal value is not possible.
 Large speed change requires a large value of resistance, and if such
large value of resistance is added in the circuit, it will cause large
copper loss and hence reduction in efficiency.
 Presence of resistance causes more losses.
 This method cannot be used for squirrel cage induction motor.
 Speed Control from Rotor Side
Cascade Control Method
 In this method of speed control of three phase induction motor,
the two three-phase induction motors are connected on a
common shaft and hence called cascaded motor.
 Speed Control from Rotor Side
Cascade Control Method
• One motor is the called the main motor, and another motor is called the auxiliary
motor.
• The three-phase supply is given to the stator of the main motor while the
auxiliary motor is derived at a slip frequency from the slip ring of the main
motor.
• Let
• NS1 be the synchronous speed of the main motor.
• NS2 be the synchronous speed of the auxiliary motor.
• P1 be the number of poles of the main motor.
• P2 be the number of poles of the auxiliary motor.
• f1 is the supply frequency.
• f2 is the frequency of rotor induced emf of the main motor.
• N is the speed of set, and it remains same for both the main and
auxiliary motor as both the motors are mounted on the common shaft.
 Speed Control from Rotor Side
Cascade Control Method
120 f 2
Speed of Motor M1 and M2 are , N 1  120 f1 (1  s1 ) and N 2  (1  s 2 )
P1 P2
But the shafts are mechanically coupled, therefore N1=N2 and f2=s1f1
120 s1 f1
Hence substituting the value of f2 we get N2  (1  s 2 )
P2
Equating the expression for N1 and N2 and solving for s1we get
120 f1 120 s1 f1
(1  s1 )  (1  s 2 )
P1 P2
P2 P2
s1  
P1  P1 P2  P2 P1 (1  P2 )  P2

When the rheostat is short-circuited s2 approaches to zero, so we get,

P2 N  N1
s1   S1
P1  P2 N S1
Solving for N1 we get
P1 120 f1
N1  N S1 
P1  P2 P1  P2
 Speed Control from Rotor Side
Injecting slip frequency emf into rotor side
 The speed control of three phase induction motor is done by connecting an
external source of emf of slip frequency to the rotor circuit.
 The injected emf can either oppose the rotor induced emf or aids the rotor
induced emf.
 If it opposes the rotor induced emf, the total rotor resistance increases and
hence the speed is decreased and if the injected emf aids the main rotor emf the
total decreases and hence speed increases.
 Therefore by injecting induced emf in the rotor circuit, the speed can be easily
controlled.
 The main advantage of this type of speed control of three phase induction
motor is that a wide range of speed control is possible whether it is above
normal or below normal speed.
 Double Cage Induction Motor
• The starting torque of an induction motor is proportional to rotor resistance R2
• For higher starting Torque R2 should be high , but if SCIM motor is designed for
higher value of rotor resistance , copper losses are more and motor gives poor
efficiency.

High Resistance
High Starting
Torque Desired Characteristic

Low Resistance

Poor Starting
Torque

N=Ns
 Double Cage Induction Motor
Why Starting Torque is Poor in Squirrel Cage Induction Motor?
 The resistance cannot be varied in squirrel cage rotor as it is possible in slip
ring induction motor.
 The fixed low resistance of the rotor of the squirrel cage induction motor is very
low.
 At the starting moment, the induced voltage in the rotor has same frequency as
the frequency of the supply. Hence the starting inductive reactance gets higher
value at stand still condition.
 The rotor induced current in spite of having higher value lags the induced
voltage at a large angle.
 So this causes poor starting torque at the stand still condition. This torque is
only 1.5 times of the full load torque though the induced current is 5 to 7 times
of the full load current.
 For desired Characteristic at starting High Resistance and Low Reactance is the
need while running Low Resistance and Low reactance is needed
 Double Cage Induction Motor
What is the Solution?
 Designed two Rotors One having High Resistance which required for high
starting Torque and other rotor having Low resistance which gives low copper
losses under running condition. ??????
 Or designed a single rotor such as at starting, it should offer High resistance and
low reactance and under running condition, low resistance and low reactance.
 First solution is not feasible
 We should concentrate on second solution, it has been aim to design a rotor
 Having High resistance and low reactance at starting so that good
starting torque
 Under running condition it should offer low resistance so that
excellent running performance.

Solution is Double Cage Induction Motor

 Double Cage Induction Motor
 In DCIM there are two layers of rotor bars.
Outer layer has the bars of small cross
sections.
This outer winding has relatively large
resistance.
The bars are shorted at the both ends.
The flux linkage is thus very less.
The
And hence inductance is very low.
Resistance in outer squirrel cage is
relatively high.
Resistance to inductive reactance ration
is high.
 Double Cage Induction Motor
Operational Principle of Double Cage Induction Motor
 At the stand still condition the inner and outer side bars get
induced with voltage and current with the same frequency of the
supply.
 Now the case is that the inductive reactance (XL = 2πfL) is offered
more in the deep bars or inner side bars due to skin effect of the
alternating quantity i.e. voltage and current. Hence the current
tries to flow through the outer side rotor bars.
 The outer side rotor offers more
resistance but poor inductive
reactance. The ultimate resistance
is somewhat higher than the
single bar rotor resistance. The
higher valued rotor resistance
results more torque to be
developed at the starting.
 Double Cage Induction Motor
• When the speed of the rotor of the increases, the frequency of the induced EMF
and current in the rotor gets gradually decreased.
• Hence the inductive reactance (XL) in the inner side bars or deep bars gets
decreased and the current faces less inductive reactance and less resistance as a
whole.
• Now no need for more torque because the rotor already has arrived to its full
speed with running torque.
Double Cage IM

Outer Cage

N=Ns
 Double Cage Induction Motor
Comparison between Single Cage and Double Cage Motors
• A double cage rotor has low starting current and high starting torque.
Therefore, it is more suitable for direct on line starting.
• Since effective rotor resistance of double cage motor is higher, there is larger
rotor heating at the time of starting as compared to that of single cage rotor.
• The high resistance of the outer cage increases the resistance of double cage
motor. So full load copper losses are increased and efficiency is decreased.
• The pull out torque of double cage motor is smaller than single cage motor.
• The cost of double cage motor is about 20-30 % more than that of single cage
motor of same rating.
THANK YOU