BEKE 4753 Electrical Drives

AC INDUCTION MOTOR THEORY

(Module 6)
 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

 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 (wound rotor)
• 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 the machine
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
CONSTRUCTION AND OPERATION
i. Stator Construction
The stator includes the following basic component:

 Stator core and windings

 The motor housing
 A terminal box. The houses for electrical connections.
The mounting bracket

5
CONSTRUCTION AND OPERATION
ii. Rotor Construction

A squirrel cage
induction rotor

Wound Rotors
6
 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. 7
 Rotor Showing Single Bars
Short Circuited by ‘End
Rings’

Similar Squirrel Cage Rotor to

Previous Slide Showing Bars
Just Below the Surface of the
Rotor Laminations

The Induction Motor 8

 Slip Ring Rotor,
Note Skewed Rotor as for Cage
Machine

Slip Rings from a

250kW 8 Pole Machine

The Induction Motor 9

 Comparison between squirrel cage and wound rotor IM
Basis for
Slip Ring Motor Squirrel Cage motor
Comparison
The rotor of the motor is constructed The rotor of the motor is a squirrel
Definition
as a slip ring type. cage type.
Cylindrical laminated core with
The slots of the rotor are not parallel,
Rotor parallel slots and each slot consist
but are skewed.
one bar.
Construction Complicated Simple
The rotor bar is permanently shorted
at the end of the ring, thus it is not
Resistance Added external to the rotor
possible to add any external
resistance.
The rotor resistance starter can be Rotor resistance starter can not be
Starter
used. used.
Starting Torque High Low
Brushes Present Absent
Maintenance Frequent maintenance required Less maintenance required
Copper Loss High Low
Efficiency Low High
Speed Control Possible Not Possible
Power Factor Low High
Cost Costly Cheap
The Induction Motor 10
Starting Current Low High
 Principle of Operation
Stator B field
Rotates at e/P • Stator produces a
e/P rotating field at
m Rotor R
Phase
e/P
Winding • Rotor is going
axis round at m
rotates at
m • Conductors on
rotor see a field
moving (electrical
frequency) at
• r/P = e/P - m
with r being the
electrical
The Induction Motor frequency on the 11
rotor
 Principle of Operation
Rotor R
• Rotor is short circuited
Phase
Winding so currents flow at a
axis frequency of r
rotates at • These currents
m produce a rotating field
at r/P relative to the
rotor.
• Rotor is going round at
m m
• Currents on rotor
e/P produce a field moving
r/P
at
r/P + m = e/P
Rotor B rotates at r/P RELATIVE to
the rotor • RESULT Synchronism
The Induction Motor 12
between Rotor I and
 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 13
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 14

 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 15

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 16

 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 17
 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 18
 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 19
 SLIP
 The rotor of an induction motor cannot run at
synchronous speed. If it were possible for the rotor to
attain the same speed as the rotating field, the flux
lines of the stator could not be cut by the rotor. There
would be no EMF induced in the rotor and no rotor
current.
 To induce an EMF, the rotor speed must be less than
synchronous speed. This difference between rotor
speed and synchronous speed is called slip.
 The slip of induction motor is expressed as the
percentage of synchronous speed.
Synchronous Speed  Rotor Speed
  slip (%)  x 100
Synchronous Speed
20
 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).
SE2
Ir 
Rr  jSX r
In Magnitude, for the rotor current (1), than can be rewritten as (2):
E2
SE2 Ir 
Ir  (1) 2 (2)
2
Rr  ( SX r ) 2  Rr  2
   Xr
 S 
The Induction Motor 21
 Steady State, Per Phase Equivalent Circuit
Rs jxs jxr’ Rr’
Is Ir’

Vs Rm jXm Rr’ (1-s)/s

Im

Stator Air 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 22
 Slipping Clutch Analogy

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

Power out
at m The lower the slip

Torque T The greater the efficiency

The Induction Motor 23
 Approximate equivalent Model
By rearranging the stator part to the right, the equivalent model can be
simplified as:

By assuming the core resistance is small, the model can be represent as:

24
 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:

Vs
Is 
Z in

where

 X m ( X s  X r )  jX m ( Rs  Rr / S )
Z in 
Rs  Rr / S  j ( X m  X s  X r )

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

 R 
Z eq   Rs  r   j X s  X r 
 S 

The Induction Motor 25

 Performance characteristics
• Stator copper loss:
Psu  3I s2 Rs
• Rotor copper loss:
Pru  3I r2 Rr
• Core loss: (if we want to consider)
Vs2
Pc 
Rm
• Gap power ( Power passing from the stator to the rotor
through the air gap)
Rr
Pg  3I r 
2

S
• Develop power:
Rr
Pd  Pg  Pru  3I r  (1  S )  Pg 1  S 
2

S
Approximate per phase equivalent circuit
 Performance characteristics
• Thus the developed torque T can be found by dividing this
power by synchronous speed
• Develop Torque:
Pd Pg 1  S  Pg
Td   
m  s (1  S ) s

• Substituting Eq. 4 in Eq. 2 and Eq 3, then we get:

Rr
3( I r ) 2
Td  S  3( I ) 2 Rr
r
s S s
• Combine Eq. 5 and Eq. 1, we get the new develop torque
equation as:
3RrVs2
Td 
 R 
S s ( Rs  r ) 2  ( X s  X r ) 2 
 S 
 Performance characteristics
• Input power:
Pin  Pc  Psu  Pg  3Vs I i cos  m
Where  m is the angle between I i and Vs

• Output power:
Po  Pd  Pnoload

• Efficiency:
Po Pd  Pnoload Pg  Pru  Pnoload
  
Pi Pc  Psu  Pg Pc  Psu  Pg
 Torque-speed induction motor

• There are three regions of operation:

Ns  Nr
- Forward Motoring: 0 ≤ S ≤ 1 s
Ns
- Forward Regenerating : S < 0 (-ve)
- Plugging : 1 ≤ S ≤ 2
 Torque-speed induction motor
Motoring region:
 The motor rotates in the
same direction as the field.
As the slip increases, the
torque also increases while
the air gap flux remains
constant.
 Once the torque reaches its
maximum value, Tem at S=
Sm , the torque decreases
with the increases in slip due
to reduction of a air-gap flux.
 Torque-speed induction motor
• From eqn (6), the starting torque is:
3RrVs2
Td 
 R 
S s ( Rs  r ) 2  ( X s  X r ) 2 
 S 

• At starting, the motor speed is initially ωr=0 and

S=1. From eqn (6), the starting torque is:
3RrVs2
Td 

 s ( Rs  Rr ) 2  ( X s  X r ) 2 
 Torque-speed induction motor
The slip for maximum torque Sm can be determined by
setting dTd/ds =0: Rr
Sm  
R 2
s  ( X s  X r )2 
1/ 2

+Sm → maximum torque during motoring

-Sm → maximum torque during regenerating
• Substituting S= +Sm, The maximum torque is :
3Vs2
Tmm 
2 s  Rs  Rs  ( X s  X r ) 2 
2

 

• Substituting S= -Sm, The maximum torque is :
3Vs2
Tmn 
2 s  Rs  Rs  ( X s  X r ) 2 
2

 

 Three Phase Motor
Characteristic Of Three-phase Induction
Motor
 Torque speed characteristic of typical three-phase
squirrel cage induction motor.

33
 Torque-speed induction motor
Regenerating region:
• The motor speed ωr is
greater than the
synchronous speed ωs with
ωs and ωr in the same
direction and the slip is
negative. Therefore, Rr/S is
negative.
• This means that power is
flow from the motor shaft to
the rotor circuit and motor
operates as a generator.
• The Torque speed characteristic is same with motoring
but having negative torque.
 Torque-speed induction motor
Plugging region:
• The speed is opposite to the
direction of the field and the
slip is greater than unity.
This may happen if the
sequence of the supply
source is reversed while
forward motoring.
• The developed torque is in
the same direction as the
field, opposes the motion
and acts as braking torque.
• The motor current is high
but the developed torque is
low.
Example 1
Example 2
Simple 4 kW Motor Model
4 kW
2 Pole
Motor
Rs = 1
xs = 4
xr = 4
Xm = 100
Rm = 1000
Star

The Induction Motor 39

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

The Induction Motor 40

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

The Induction Motor 41

 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 42
 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
reactance)

• The direct on line (DOL) starting current

can be limited using these reactances.

The Induction Motor 43

 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

• VERY DIFFERENT TO THE DC

MACINE. Our 35 kW example had 25
times full load DOL current
The Induction Motor 44
 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 45

 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 46