1

Lecture 16

Induction Machines: Steady State
Torque Speed Characteristic
ECE 492/592
Electric Motor Drives
2
Definitions of Motor Parameters
electrical speed in rad/sec
mechanical speed in rad/sec
mechanical speed in rpm
rotor mechanical speed in rad/sec
stator mechanical speed in rad/sec
electrical synchronous speed in rad/se
r
s e
e
N
n
N
N N
e
e

=
c
electrical mechanical speed in rad/sec
,
2 2
r
s s r r
P P
N N
e
e e

= =
3
Last Time

Developed the induction motor
single phase equivalent circuit

Motor Model Referred to the Primary
V
+
-
R
1
X
1
I
1
E
2
+
-
X
2
R
2
/s
I
r
R
c
+
-
E
1
X
m
I
I
m
4
Power Flow in an Induction Motor
) (P power Input
in
) (P losses Core
) (P losses Copper
: losses Stator
iron
cu,1 ) (P power
Airgap
g
) (P losses
copper Rotor
cu,2
) (P power
Developed
d
) (P losses
Rotational
rotational
) (P power
Output
out
1 1
3 cos
in
P VI u =
2
,1 1 1
3
cu
P I R =
2
3
iron
c
V
P
R
~
'
' ' ' 2
2
2 2 2 2
3 cos 3( )
g
R
P E I I
s
u = =
' 2 '
,2 2 2
3( )
cu g
P I R sP = =
,2
- (1 )
d g cu g g g e r
P P P P sP P s T N = = + = =
-
out d rotational
P P P =
5
Example

A three-phase. two-pole, 6O-Hz induction motor is observed to be
operating at a speed of 3502 r/min with an input power of 15.7 kW
and a terminal current of 22.6 A. The stator winding resistance is
0.20 /ph. Calculate the /
2
R power dissipated in rotor.
2
, 1 1
,
3 306
15.7 0.3 15.4
120
3600
(3600 3502) / 3600 0.0272
0.0272 15.4 419
cu stator
gap input stator
s e
cu rotor gap
P I R W
P P P kW
n f rpm
P
s
P sP x kW W
= =
= = =
| |
= =
|
\ .
= =
= = =
6
Torque Characteristics
( )
( )
'
2
2
'
2
'
2
1 1 2
2 '
2
2
'
2
'
2
1 1 2
Ignoring the magnetizing branch
3
2
s
s
e
s
V
I
R
R X X
s
V R P
T
R
s R X X
s
e
=
| |
+ + +
|
\ .
=

| |
+ + +

|
\ .


( )
'
' 2
2
2
'
' 2
2
2
' '
' 2 ' 2
2 2
2 2
(1 ) 3( ) (1 )
3( ) (1 )
1
3( ) 3 ( )
2
d g e r
e r
r s
e
s s
R
P P s I s T N
s
R
T I s N
s
N s N
R P R
T I I
sN se
= = =
| |
=
|
\ .
=
= =
7
Torque vs. Speed Characteristics
( )
( )
2 '
2
2
'
2
'
2
1 1 2
2 '
2
2
'
2
'
2
1 1 2
3
2
3
s
e
s
s
e
s
V R P
T
R
s R X X
s
V R
T
R
sN R X X
s
e
=

| |
+ + +

|
\ .


=

| |
+ + +

|
\ .

The equation below defines the torque-speed relation for the
induction motor for a given input voltage and frequency, considering
that the motor parameters are constants.
8
Torque vs. Speed Characteristic
(Simplifications)
At start up, the equivalent impedance is
dominated by the inductive reactance since s=1:
Taking that into account, simplifies T
start

to:
To calculate T
max

, take the first derivative of T
e

with respect to
slip and set it equal to zero, then solve for the slip. Finally
plug in s
max

into the T equation to get T
max

.
( )
2
'
2
' 2
2
1 1 2 eq
R
R X X X
s
| |
+ << + =
|
\ .
2 '
2
,
2
3
e start
s eq
V R
T
s X e
~
2
max
2 2
1 1
3
2
s eq
V
T
R R X e
=

+ +

'
2
max
2 2
1
0
d
eq
dT R
s
ds
R X
= =
+
9
Torque vs. Speed Characteristic
(Simplifications)
'
2
1
2
, 0
'
2
3
eq
e s
s
R
R X
s
V s
T
R N

<< >>
~
At speeds near synchronous, the slip s is
close to zero.