Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

Topic 10

Three phase induction motor

Induction machines come under the category of ac rotating machines and they are capable of
operating as motors and generators like other rotating electrical machines, even though their wide use
is as motors. They are further classified as three phase and single phase induction machines, based
on the type of their electrical supply. All over the world, much more than 80% of total energy
conversion from electrical to mechanical is carried out by three phase induction motors, due to their
superiority over other motors.

(i) Simple and extremely rugged construction, (ii) low cost and reliability, (iii) minimum maintenance,
(iv) high efficiency, (v) reasonably good power factor and (vi) simple starting arrangement are the main
advantages of a three phase induction motor while its major disadvantages are (i) low starting torque,
(ii) speed drop on loading and (iii) high cost for speed control.

Constructional details
Stator and rotor are the two main parts of a three phase induction motor.

Stator core is a laminated hollow cylindrical steel structure of certain length, inner diameter and outer
diameter. It carries a three phase balanced winding of certain number of poles, housed in the slots cut
on its inner surface. As such, the stator construction of a three phase induction motor is same as that
of a synchronous machine.

There are two types of rotor construction namely (i) wound rotor and (ii) squirrel cage rotor. As such,
the rotor core of a three phase induction motor is a laminated cylindrical steel structure of certain
length and diameter, which is slightly less than the inner diameter of its stator core. The difference
between the wound rotor and the squirrel cage rotor is due to the rotor winding carried by it in the slots
cut on its outer surface.

Wound rotor is the one provided with a three phase, star-connected balanced winding of as many
poles as that of its stator winding, the terminals of which are brought out through three slip rings and
brushes and kept shorted as shown in the diagram given below. This provision enables the alteration
of the rotor circuit by way of connecting external resistances, impedances or even emf sources as and
when such requirement arises.
P Ananthakrishnan, EED, NIT Calicut
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Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

In the case of a squirrel cage rotor, one heavy bar of copper is placed in each of its slots and all these
bars are electrically welded or bolted to two heavy short circuiting end rings at the two ends as shown
in the diagram given below. This makes it with a permanently short circuited rotor winding, the shape
of which is analogous to that of a real squirrel cage, justifying the name given to it. Hence the rotor
circuit is not alterable in this case. Its structure being perfectly symmetrical, it is possible to represent
this permanently short circuited rotor winding with a balanced star-connected or delta-connected
equivalent circuit for the purpose of analysis.

Now, a three phase induction motor with a wound rotor is known as a three phase slip ring induction
motor or a three phase wound rotor induction motor and the one with a squirrel cage rotor is known as
a three phase squirrel cage induction motor.
P Ananthakrishnan, EED, NIT Calicut
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Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

Principle of operation and production of torque

Whenever a three phase winding is provided with a three phase current, it causes a rotating magnetic
field to set up in the air gap as seen illustrated in the diagrams given below. That rotating magnetic
field will have the same number of poles as that of the winding and its direction of rotation depends
upon the phase sequence of the current. Let P be the number of poles, f be the frequency of the
current in Hz and Ns be the speed of rotation of the magnetic field in rpm. As one revolution
corresponds to P/2 cycles and (Ns/60) revolutions per second correspond to f cycles per second, then f
cycles per second correspond to (Ns/60) x (P/2) cycles per second. Hence, the speed of the rotating
magnetic field is given by Ns = 120f/P and Ns is known as the synchronous speed of the motor in rpm,
since it is in synchronism with the frequency.

P Ananthakrishnan, EED, NIT Calicut

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Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

However, it is to be clearly noted that there is no actual revolution of the flux here. But it is only the
position of the resultant flux keeping on shifting synchronously around the air gap as the flux due to
each phase changes periodically according to the changes in the phase current.

Now, this rotating magnetic field causes to get an emf induced on the standstill rotor conductors due to
the relative speed between them and the rotating flux, the frequency of which will be the stator current
frequency itself. Since the rotor circuit is kept shorted at its terminals providing a path for current, rotor
current gets established, current carrying conductors experience force and torque in turn and the rotor
starts running in the same direction as that of the rotating magnetic field, as per the Lenz’s low.

Practically, the rotor fails to catch up the rotating magnetic field and continues to run at a speed, N rpm
slightly less than Ns, where the difference between the two speeds depends on the load on the motor.
As the three phase induction motors fail to run at its synchronous speed, they are also classified as
asynchronous motors.

Slip, frequency of rotor current and rotor MMF

The difference between the synchronous speed, Ns and the actual speed of the rotor, N is known as
slip. Normally, the slip, s is expressed as a ratio: s = (Ns-N)/ Ns. It may me mentioned either as per unit
slip or as % slip. Hence the speed of the motor, N = Ns (1-s). Speed, N = 0 corresponds to slip, s = 1
and it is known as the standstill slip or slip at starting. Speed, N = Ns corresponds to slip, s = 0 and it is
only a limiting case. As the speed, N is going to be very near Ns under normal running conditions, s is
going to be very small falling just above zero and less than 5% approximately.

When the rotor starts rotating, the frequency of the rotor current which depends on the relative speed
between the rotor conductors and the rotating flux will fall down. If f2 is the rotor current frequency, it
can be given as (120 f2)/ P = (Ns-N), the slip speed. Then the rotor current frequency, f2 = sf.

The three phase rotor current of frequency, f 2 develops a rotating magnetic field, whose speed relative
to rotor is given as (120 f2)/ P = (120 sf)/ P = sNs. As the rotor itself is running at a speed, N relative to
space, speed of the rotor field relative to space = sNs + N = sNs + Ns (1-s) = Ns, which is same as the
speed of the stator field relative to space. Hence it is to be noted that the stator MMF and rotor MMF
are stationary with respect to each other. These two synchronously rotating magnetic fields
superimpose on each other and give rise to the resulting rotating magnetic field corresponding to the
magnetising current of the stator winding.

P Ananthakrishnan, EED, NIT Calicut

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Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

Mechanical power developed, losses and power flow

Let Pi be the Stator input, Pir be the rotor input, Pd be the mechanical power developed and Po be the
shaft output. As the stator iron losses depend on supply current frequency and the flux density in the
stator core, it is practically constant. However, the rotor iron losses will be negligibly small as the rotor
current frequency is very small under normal running conditions. If I1 is the stator current per phase, I2
is the rotor current per phase, r1 is the stator resistance per phase and r2 is the rotor resistance per
phase, then the stator and rotor copper losses will be given as 3(I1)2r1 and 3(I2)2r2 respectively. The
mechanical losses comprising of friction and windage losses depend on speed of operation and hence
will be practically constant as the speed of operation is almost constant. Then,

Rotor input (Pir) = Stator input (Pi) - (Stator copper losses + Stator iron losses) and

Mechanical power developed (Pd) = Rotor input (Pir) - (Rotor copper losses).

Shaft output (Po) = Mechanical power developed (Pd) - (Mechanical losses).

Now, Td be the torque developed and Tsh be the shaft torque. Then,

Pir = 2π NsTd/ 60, Pd = 2π NTd/ 60 and Po = 2π NTsh / 60. Then,

Mechanical losses = Pd - Po = 2π N(Td-Tsh)/ 60 and

Rotor copper losses = Pir - Pd = 2π (Ns-N)Td)/ 60 = 2π sNsTd/ 60 = s Pir = s x Rotor input.

Mechanical power developed = Rotor input - s x Rotor input = (1-s) x Rotor input.

Or, Rotor input : Rotor copper losses : Mechanical power developed = 1 : s : (1-s).

Torque developed
Let V1 be stator voltage per phase, E1 be the stator induced emf per phase, E20 be the standstill rotor
induced emf per phase, E2 be the rotor induced emf per phase at any running condition, x20 be the
standstill rotor reactance per phase, x2 be the rotor reactance per phase at any running condition, N1
be the stator number of turns per phase and N2 be the rotor number of turns per phase. Then,

E20 / E1 = N2/ N1 = k, the transformation ratio where, E20 is also known as transformer emf.

Now,

E2 = s E20 and x2 = s x20 as f2 = sf. Then,

I2 = E2/ [r22 + x22]0.5 = sE20/ [r22 + s2x202]0.5

P Ananthakrishnan, EED, NIT Calicut

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Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

Rotor copper losses = 3(I2)2r2

= 3 s2 E202 r2 / (r22 + s2x202)

Then, Rotor input = Rotor copper losses/ s

= 3 s E202 r2 / (r22 + s2x202) = 2πNsTd/ 60. Hence,

Td = (60/ 2πNs) x 3 s E202 r2 / (r22 + s2x202)

= k1 s E202 r2 / (r22 + s2x202), where the constant k1 = (3 x 60/ 2πNs).

As the standstill rotor emf, E20 also is a constant,

Td α s r2 / (r22 + s2x202).

Here it is worth to note that the torque, Td is proportional to ∅ II2I Cos ∅2 in line with the case of a dc
motor, where Td α ∅ Ia, since E20 α ∅ and I2 Cos ∅2 is the relevant component of current to replace Ia.

Torque-slip characteristics
When s = 0, Td = 0. For low values of slip, (s2x202) becomes very small and Td α s or torque is
proportional to slip. On the other hand, r2 becomes very small compared to sx20 and Td α 1/ s or torque
is inversely proportional to slip for higher values of slip. Hence the torque-slip characteristic of a three
phase induction motor takes the shape as shown in the diagram given below.

P Ananthakrishnan, EED, NIT Calicut

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Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

It is to be confirmed by way of plotting the curve with a sample set of values for r 2 and x20. Further it is
to be verified how the characteristic gets modified when (i) r2 changes with a constant value of x20 and
(ii) x20 changes with a constant value of r2.

Condition for maximum torque

Torque developed, Td = k1 s E202 r2 / (r22 + s2x202).
Differentiating this expression with respect to slip (s) and equating it to zero, the condition for
maximum torque is obtained as r2 = sx20 or s = r2/ x20 .

Then the maximum torque, Tmax = k1 (r2/ x20) E202 r2 / (r22 + (r2/ x20) 2x202) = [k1 E202 / (2 x20)] N-m.

Hence, it is possible to observe the following points in this regard.

1. The maximum torque is independent of the rotor resistance as such.
2. The speed or slip corresponding to maximum torque is determined by the rotor resistance.
3. Maximum torque can be made to occur at any slip by varying the rotor resistance.
4. Maximum torque is inversely proportional to the standstill reactance and it should be kept small.
5. Maximum torque is proportional to the square of the applied voltage.
6. The rotor resistance must be made equal to rotor reactance, to get maximum torque at starting.

Operating torque and maximum torque

Torque at any operating condition, T α s r2 / (r22 + s2x202) where the operating slip is s.

Maximum (breakdown or pull-out) torque, Tmax α 1/ (2 x20).

Then, T/ Tmax = [s r2 / (r22 + s2x202)]/ [1/ (2 x20)] = 2 r2 x20 s / (r22 + s2x202)

Dividing the numerator and the denominator by x202 and taking (r2/ x20) = a,

T/ Tmax = 2 a s / (a2 + s2), where a = (r2/ x20).

If sf is the full load slip and Tf is the full load torque, it becomes

Tf / Tmax = 2 a sf / (a2 + sf2), where a = (r2/ x20).

If Tst is the starting torque, it becomes

Tst / Tmax = 2 a / (1 + a2), where a = (r2/ x20) as the stand still slip = 1.

Also the torque at any operating slip, s can be expressed in terms of maximum torque, T max as

T = Tmax 2 / [(sm/ s) + (s/ sm)], where sm is the slip corresponding to Tmax or sm = a.

P Ananthakrishnan, EED, NIT Calicut

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Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

Equivalent circuit and phasor diagram

The exact per phase equivalent circuit of a three phase induction motor is as given below, its
parameters being r0, x0, r1, x1, r2 and x2 where x2 = sx20 as f2 = sf. Here, the stator current, I1 comprises
'
of no load component, I0 and load component I2 . Further, no load component, I0 comprises of

magnetising component, Iµ and loss component Iω. Stator induced emf, E1 and standstill rotor induced
emf, E20 are governed by the emf equations, exactly similar to that of a transformer as mentioned
earlier. Difference between the stator voltage, V1 and E1 is then given as I1 (r1 + j x1). As seen earlier,
V2 = 0 and E2 = s E20 is then given as I2 (r2 + j x2) since the terminals of the rotor winding are kept
shorted. All parameters and variables marked in the diagrams are to read as defined here.

For the purpose of transferring the rotor portion of the above equivalent circuit to the stator side and
obtaining a simplified equivalent circuit, the rotor portion is first modified by way of dividing E2, r2 and
x2 by slip, s. Such modified rotor circuit will be a series combination of (r2/ s) and x20 supplied with E20.
This is again represented by another equivalent series combination of r2, x20 and RL = r2 [(1-s)/s]
supplied with E20, for the purpose of further simplification.

When a resistance, reactance or impedance on the rotor side is transferred and represented on the
stator side, it must be with an equivalent value given by (1/k 2) times of its original value on the rotor
side. Similarly, when a voltage or current on the rotor side is transferred and represented on the stator
side, it must be with an equivalent value given by (1/k) or (k) times of its original value on the rotor
' ' '
side, respectively. Hence, E20, r2, x20 and RL = r2 [(1-s)/s] on the rotor side will become E20 , r2 , x20 and
' '
RL = r2 [(1-s)/s] on the stator side on transfer from rotor side, as given below.

P Ananthakrishnan, EED, NIT Calicut

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Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

'
E20 = (1/k) E20 = E1
'
r2 = (1/k2) r2
'
x20 = (1/k2) x20 and
' '
RL = r2 [(1-s)/s] = (1/k2) r2 [(1-s)/s]

Thus, transferring the rotor portion of the equivalent circuit to the stator side accordingly and shifting
the position of r0 and x0, the approximate equivalent circuit of the machine takes the form as shown
' '
below. Combining r1 and x1 with r2 and x20 respectively, this approximate equivalent circuit will have a
' ' ' ' '
series branch comprising of R01 = (r1 + r2 ), X01 = (x1 + x20 ) and RL = r2 [(1-s)/s] with I2 along with the

parallel combination of r0 and x0 with I0, across V1.

' '
(Note: U1, Il, Im, Rl, Xm, Rt1, Xt1, Zt1 and R2 are to be V1, Iω, Iµ, r0, x0, R01, X01, Z01 and r2 respectively)

Here, r0 represents the constant losses comprising of iron and mechanical losses, while x0 represents
'
the magnetising current. R01 represents the total copper losses and then RL represents the shaft

output (Po). Once the parameters, r0, x0, R01 and X01 of a motor are obtained on conducting suitable
' '
tests along with r1, RL = r2 [(1-s)/s] at any slip can be deduced. An analysis of the equivalent circuit
'
with V1 as IV1I∠0º reveals the magnitudes of Iω, I2 and I1 along with ∅1, the phase angle between V1

and I1. Thus the stator input (Pi), constant losses comprising of iron and mechanical losses, total
copper losses and shaft output (Po) are obtained at any operating slip, out of which the torque and
efficiency can be deduced. Thus this equivalent circuit becomes a powerful tool for the performance
analysis of a three phase induction motor.

P Ananthakrishnan, EED, NIT Calicut

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Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

The phasor diagram of a three phase induction motor is as shown below with reference to its exact per
phase equivalent circuit considered here.

Examples
1. A 3-phase, slip-ring induction motor with a standstill rotor impedance of (0.6 + j4) Ω per phase has
an emf of 60V between slip-rings at standstill. Calculate the rotor current (i) at starting when a star-
connected impedance of (5 + j2) Ω per phase is connected to the rotor terminals and (ii) when
running at a slip of 4% with the rotor terminals short circuited.
E20 = 60/ √3 = 34.64V
At starting, z2 = r2 + j x20 = (0.6 + j4) Ω and additional rotor impedance = (5 + j2) Ω. Hence,

II2I = IE20I/ [5.62 + 62]0.5 = 34.64/ [5.62 + 62]0.5 = 4.22A.

When running at s = 0.04 with the rotor terminals short circuited, E2 = s E20 and x2 = s x20. Hence,

II2I = 0.04 x 34.64/ [0.62 + (0.04 x 4)2]0.5 = 2.23A.

P Ananthakrishnan, EED, NIT Calicut
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Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

2. The power input to a 3-phase, 50Hz induction motor is 60kW and its total stator loss is 1kW.
Calculate the total mechanical power developed and the rotor copper loss, if it is observed that the
rotor emf makes 120 complete cycles per minute.
Stator input (Pi) = 60kW, Total stator loss = 1kW
Rotor input (Pir) = Stator input (Pi) - Total stator loss = 60 - 1 = 59kW
Rotor emf frequency, f2 is given as 120 cycles per minute = (120/60) c/s = 2Hz.
Hence, s = f2/ f = 2/ 50 = 0.04 and
Mechanical power developed (Pd) = (1-s) x Rotor input = (1-0.04) x 59 = 56.64kW.
Rotor copper losses = s x Rotor input = 0.04 x 59 = 2.36kW.

3. An 8-pole, 50Hz, 3-phase slip ring induction motor has an effective rotor resistance of 0.08 Ω per
phase. If its stalling speed is 650rpm, what resistance per phase must be inserted in the rotor
circuit to obtain the maximum torque at starting?
Synchronous speed, Ns = 120f/P = 120 x 50/8 = 750rpm and N = 650rpm
Stalling speed being the speed corresponding to maximum torque, the slip corresponding to Tmax,
sm = (750-650)/750 = 0.1333 and r2 = 0.08Ω
As the slip corresponding to Tmax, sm = r2/ x20, x20 = r2/ sm = 0.08/ 0.1333 = 0.6Ω
Now, Tst/ Tmax = 2 a / (1 + a2), where a = (r2/ x20) as the stand still slip = 1.

To obtain the maximum torque at starting or to have (Tst/ Tmax) = 1, let a = (r2 + r) / x20, where r is
the resistance per phase to be inserted in the rotor circuit.
For Tst/ Tmax = 2 a / (1 + a2) = 1, a = 1 or 1 = (0.08 + r) / 0.6 and hence, r = 0.52Ω.

4. A 240V, 50Hz, 6-pole, 3-phase, star-connected induction motor, the per phase rotor resistance and
standstill reactance of which are 0.12Ω and 0.85Ω respectively has a full load slip of 4%. If its
stator to rotor turns ratio is 1.8, calculate the developed torque at full load, maximum torque and
speed corresponding to maximum torque.
E20 = (240/ √3) x (1/1.8) = 76.98V, as k = 1/ 1.8. Also it is given that sf = 0.04.
Synchronous speed, Ns = 120f/P = 120 x 50/6 = 1000rpm
Tf = (60/ 2πNs) x 3 sf E202 r2 / (r22 + sf2x202)
= (60/ 2π x 1000) x 3 x 0.04 x 76.982 x 0.12 / (0.12 2 + 0.042 x 0.852) = 52.38 N-m.
Tmax = k1 E202 / (2 x20), where k1 = (3 x 60/ 2πNs). Hence
Tmax = (3 x 60/ 2π x 1000) x 76.982/ (2 x 0.85) = 99.86 N-m.
Slip corresponding to maximum torque, s = r2/ x20 = 0.12/ 0.85 = 0.141. Then,
Speed corresponding to maximum torque, N = (1-s) Ns = (1-0.141) x 1000 = 859rpm.

P Ananthakrishnan, EED, NIT Calicut

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Course: EE2013E ELECTRICAL MACHINES II Semester: Winter/ 2024-’25

Exercise
1. The power input to a 4 pole, 50Hz, 3-phase induction motor is 42kW at a speed of 1455rpm.
Calculate (i) the rotor input, (ii) the rotor copper loss and (iii) the efficiency, if the stator losses and
the mechanical losses are 1.2kW and 1.8kW respectively.
2. If the power input and the stator losses of a 3-phase induction motor are 60kW and 1kW
respectively, what will be the mechanical power developed and the rotor copper losses when it is
running at a slip of 3%?
3. If the power output, mechanical losses and stator losses of a 3-phase induction motor running at
50% of its synchronous speed are 41.03kW, 1.492kW and 3.5kW respectively, what will be the
rotor copper losses and the efficiency of the motor?
4. With an output of 37kW, a 3-phase induction motor has an efficiency of 0.9, its stator iron loss,
stator copper loss and rotor copper loss are equal and the stator iron loss is twice the mechanical
loss. Calculate the slip.
5. If the starting torque and the maximum torque of a 4-pole, 50Hz, 3-phase induction motor are
160% and 200% of the full load torque respectively, determine its full load speed and the speed
corresponding to maximum torque.
6. A 4-pole, 50Hz, 3-phase slip ring induction motor has an effective rotor resistance of 0.2 Ω per
phase. If its speed corresponding to maximum torque is 1365rpm, what resistance per phase must
be inserted in the rotor circuit to obtain half the maximum torque at starting?
7. A 4-pole, 50Hz, 3-phase induction motor, the per phase rotor resistance and standstill reactance of
which are 0.3Ω and 1.2Ω respectively has a full load slip of 5%. Find the ratio of maximum torque
to full load torque and the speed at which maximum torque occurs.

P Ananthakrishnan, EED, NIT Calicut

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