5/9/2019

Induction Motors

Introduction
• Three-phase induction motors are the most common
and frequently encountered machines in industry
– simple design, rugged, low-price, easy maintenance
– wide range of power ratings: fractional horsepower to 10
MW
– run essentially as constant speed from no-load to full load
– Its speed depends on the frequency of the power source
• not easy to have variable speed control
• requires a variable-frequency power-electronic drive for optimal
speed control

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Construction
• An induction motor has two main parts
– a stationary stator
• consisting of a steel frame that supports a hollow,
cylindrical core
• core, constructed from stacked laminations,
• having a number of evenly spaced slots, providing the
space for the stator winding

Stator of IM

Construction
– a revolving rotor
• composed of punched laminations, stacked to create a series of rotor
slots, providing space for the rotor winding
• one of two types of rotor windings
• conventional 3-phase windings made of insulated wire (wound-rotor) »
similar to the winding on the stator
• aluminum bus bars shorted together at the ends by two aluminum rings,
forming a squirrel-cage shaped circuit (squirrel-cage)
• Two basic design types depending on the rotor design
– squirrel-cage: conducting bars laid into slots and shorted at both
ends by shorting rings.
– wound-rotor: complete set of three-phase windings exactly as the
stator. Usually Y-connected, the ends of the three rotor wires are
connected to 3 slip rings on the rotor shaft. In this way, the rotor
circuit is accessible.

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Construction
Squirrel cage rotor

Wound rotor

Notice the
slip rings

Construction
Slip rings

Cutaway in a
typical wound-
rotor IM.
Notice the
brushes and the
slip rings

Brushes

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Rotating Magnetic Field

• Balanced three phase windings, i.e.
mechanically displaced 120 degrees
form each other, fed by balanced three
phase source
• A rotating magnetic field with constant
magnitude is produced, rotating with a
speed
120 f e
nsync  rpm
P
Where fe is the supply frequency and
P is the no. of poles and nsync is called the
synchronous speed in rpm (revolutions
per minute)

Synchronous speed
P 50 Hz 60 Hz
2 3000 3600
4 1500 1800

6 1000 1200
8 750 900
10 600 720
12 500 600

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Rotating Magnetic Field

Rotating Magnetic Field

Bnet (t )  Ba (t )  Bb (t )  Bc (t )

 BM sin(t )0  BM sin(t  120)120  BM sin(t  240)240

 BM sin(t )xˆ
3
[0.5BM sin(t  120)]xˆ  [ BM sin(t  120)]yˆ
2
3
[0.5BM sin(t  240)]xˆ  [ BM sin(t  240)]yˆ
2

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Rotating Magnetic Field

Principle of operation
• This rotating magnetic field cuts the rotor windings and
produces an induced voltage in the rotor windings
• Due to the fact that the rotor windings are short circuited, for
both squirrel cage and wound-rotor, and induced current
flows in the rotor windings
• The rotor current produces another magnetic field
• A torque is produced as a result of the interaction of those
two magnetic fields
 ind  kBR  Bs

Where ind is the induced torque and BR and BS are the magnetic
flux densities of the rotor and the stator respectively

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kWh
The kilowatt hour (symbol kWh, kW⋅h or kW h)
is a unit of energy equal to 3.6 megajoules. If
energy is transmitted or used at a constant rate
(power) over a period of time, the total energy
in kilowatt hours is equal to the power in
kilowatts multiplied by the time in hours.

Induction motor speed

At what speed will the IM run?
– Can the IM run at the synchronous speed, why?
– If rotor runs at the synchronous speed, which is the
same speed of the rotating magnetic field, then the
rotor will appear stationary to the rotating magnetic
field and the rotating magnetic field will not cut the
rotor. So, no induced current will flow in the rotor and
no rotor magnetic flux will be produced so no torque
is generated and the rotor speed will fall below the
synchronous speed
– When the speed falls, the rotating magnetic field will
cut the rotor windings and a torque is produced

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Induction motor speed

• So, the IM will always run at a speed lower than
the synchronous speed
• The difference between the motor speed and the
synchronous speed is called the Slip
nslip  nsync  nm

Where nslip= slip speed

nsync= speed of the magnetic field
nm = mechanical shaft speed of the motor

The Slip
nsync  nm
s
nsync
Where s is the slip
Notice that : if the rotor runs at synchronous speed
s=0
if the rotor is stationary
s=1
Slip may be expressed as a percentage by multiplying the above
eq. by 100, notice that the slip is a ratio and doesn’t have units

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Induction Motors and Transformers

• Both IM and transformer works on the principle of
induced voltage
– Transformer: voltage applied to the primary windings
produce an induced voltage in the secondary windings
– Induction motor: voltage applied to the stator windings
produce an induced voltage in the rotor windings
– The difference is that, in the case of the induction motor,
the secondary windings can move
– Due to the rotation of the rotor (the secondary winding of
the IM), the induced voltage in it does not have the same
frequency of the stator (the primary) voltage

Frequency
• The frequency of the voltage induced in the
rotor is given by Pn
fr 
120
Where fr = the rotor frequency (Hz)
P = number of stator poles
n = slip speed (rpm)
P  (ns  nm )
fr 
120
P  sns
  sf e
120

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Frequency
• What would be the frequency of the rotor’s
induced voltage at any speed nm?

f r  s fe
• When the rotor is blocked (s=1) , the frequency
of the induced voltage is equal to the supply
frequency
• On the other hand, if the rotor runs at
synchronous speed (s = 0), the frequency will be
zero

Torque
• While the input to the induction motor is electrical
power, its output is mechanical power and for that
we should know some terms and quantities
related to mechanical power
• Any mechanical load applied to the motor shaft
will introduce a Torque on the motor shaft. This
torque is related to the motor output power and
the rotor speed

 load 
Pout
N .m
and 2 nm
m m  rad / s
60

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Horse power
• Another unit used to measure mechanical
power is the horse power
• It is used to refer to the mechanical output
power of the motor
• Since we, as an electrical engineers, deal with
watts as a unit to measure electrical power,
there is a relation between horse power and
watts
hp  746 watts

Example
A 208-V, 10hp, four pole, 60 Hz, Y-connected
induction motor has a full-load slip of 5
percent
1. What is the synchronous speed of this motor?
2. What is the rotor speed of this motor at rated
load?
3. What is the rotor frequency of this motor at
rated load?
4. What is the shaft torque of this motor at rated
load?

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Solution
120 f e 120(60)
1. nsync    1800 rpm
P 4

nm  (1  s )ns
2.
 (1  0.05)  1800  1710 rpm

f r  sf e  0.05  60  3Hz
3.
Pout Pout
 load  
m 2 m
n
4. 60
10 hp  746 watt / hp
  41.7 N .m
1710  2  (1/ 60)

POWER AND TORQUE IN

INDUCTION MOTORS
• Losses and the Power-Flow Diagram

An induction motor can be basically described as a

rotating transformer. Its input is a three-phase system of
voltages and currents. For an ordinary transformer, the
output is electric power from the secondary windings.
The secondary windings in an induction motor (the rotor)
are shorted out, so no electrical output exists from
normal induction motors. Instead, the output is
mechanical. The relationship between the input electric
power and the output mechanical power of this motor is
shown in the power-flow diagram in Figure on next slide.

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Losses and the Power-Flow Diagram

The power-flow diagram of an induction motor.

Losses and the Power-Flow Diagram

The input power to an induction motor Pin is in the form of
three-phase electric voltages and currents. The first losses
encountered in the machine are I2R losses in the stator
windings (the stator copper loss PSCL ). Then some amount of
power is lost as hysteresis and eddy currents in the stator
(Pcore ). The power remaining at this point is transferred to the
rotor of the machine across the air gap between the stator
and rotor. This power is called the air-gap power PAG of the
machine. After the power is transferred to the rotor, some of
it is lost as I2R losses (the rotor copper loss PRCL), and the rest
is converted from electrical to mechanical form (Pconv). Finally,
friction and windage losses PF&W and stray losses Pmisc are
subtracted. The remaining power is the output of the motor
Pout.

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Example 6-2

Example 6-2

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Power and Torque in an Induction

Motor

The per-phase equivalent circuit of an induction motor.

Figure shows the per-phase equivalent circuit of an induction motor. If the

equivalent circuit is examined closely, it can be used to derive the power
and torque equations governing the operation of the motor.

Power and Torque in an Induction

Motor

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Power and Torque in an Induction

Motor

Power and Torque in an Induction

Motor

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Power and Torque in an Induction

Motor

Power and Torque in an Induction

Motor

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Power and Torque in an Induction

Motor

Problem 6.5

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Solution

(a) The easiest way to find the line current (or armature current) is to get the equivalent
impedance Z of the rotor circuit in parallel with jXM , and then calculate the current as the
F

phase voltage divided by the sum of the series impedances, as shown below.

Solution

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Solution

Solution

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Example 6.3

I1sync = speed of the magnetic fields

Where fse is the system frequency applied to the stator in hertz and

Example 6.3

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Example 6.3

Example 6.3

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Example 6.3

Example 6.3

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Example 6.3

Example 6-4

Where fse is the system frequency applied to the stator in hertz and

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Example 6-4

Example 6-4

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Example 6-5
• Reading Assignment

6-9 SPEED CONTROL OF INDUCTION

MOTORS
Until the advent of modern solid-state drives, induction
motors in general were not good machines for
applications requiring considerable speed control. The
normal operating range of a typical induction motor
(design classes A, B, and C) is confined to less than 5
percent slip, and the speed variation over that range is
more or less directly proportional to the load on the
shaft of the motor. Even if the slip could be made
larger, the efficiency of the motor would become very
poor, since the rotor copper losses are directly
proportional to the slip on the motor.

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6-9 SPEED CONTROL OF INDUCTION

MOTORS
There are really only two techniques by which the speed
of an induction motor can be controlled.
• One is to vary the synchronous speed, which is the
speed of the stator and rotor magnetic fields, since the
rotor speed always remains near nsync.
• The other technique is to vary the slip of the motor for
a given load. Each of these approaches will be taken up
in more detail.

The synchronous speed of an induction motor is given by

Where fse is the system frequency applied to the stator in hertz

6-9 SPEED CONTROL OF INDUCTION

MOTORS
so the only ways in which the synchronous speed
of the machine can be varied are
(1) by changing the electrical frequency and
(2) by changing the number of poles
on the machine.
Slip control may be accomplished by varying either the
rotor resistance or the terminal voltage of the motor.

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Induction Motor Speed Control by Pole

Changing
There are two major approaches to changing the
number of poles in an induction motor:
1. The method of consequent poles
2. Multiple stator windings
The method of consequent poles is quite an old method for speed
control, having been originally developed in 1897. It relies on the fact
that the number of poles in the stator windings of an induction motor
can easily be changed by a factor of 2: 1 with only simple changes in
coil connections. Figure 6-40 shows a simple two-pole induction
motor stator suitable for pole changing. Notice that the individual
coils are of very short pitch (60 to 90°). Figure 6-41 shows phase a of
these windings separately for more clarity of detail.

Figure 6-40 A two-pole stator winding for pole changing. Notice

the very small rotor pitch of these windings.

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Induction Motor Speed Control by Pole

Changing
Figure 6-41a shows the current flow in phase a of the
stator windings at an instant of time during normal
operation. Note that the magnetic field leaves the
stator in the upper phase group (a north pole) and
enters the stator in the lower phase group (a south
pole). This winding is thus producing two stator
magnetic poles.

A close-up view of one phase of a pole-changing

winding. (a) In the two-pole configuration, one
coil is a north pole and the other one is a south
pole

Induction Motor Speed Control by Pole

Changing
Now suppose that the direction of current flow in
the lower phase group on the stator is reversed
(Figure 6-41b). Then the magnetic field will leave
the stator in both the upper phase group and the
lower phase group-each one will be a north
magnetic pole. The magnetic flux in this machine
must return to the stator between the two phase
groups, producing a pair of consequent south
magnetic poles. Notice that now the stator has four
magnetic poles- twice as many as before.

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When the connection on one of the two coils is reversed, they

are both north poles, and the magnetic flux returns to the stator
at points halfway between the two coils. The south poles are
called consequent poles, and the winding is now a four-pole
winding

Induction Motor Speed Control by Pole

Changing
The major disadvantage of the consequent-pole method
of changing speed is that the speeds must be in a ratio of
2:1. The traditional approach to overcoming this
limitation was to employ multiple stator windings with
different numbers of poles and to energize only one set at
a time. For example, a motor might be wound with a
four-pole and a six-pole set of stator windings, and its
synchronous speed on a 60-Hz system could be switched
from 1800 to 1200 r/min simply by supplying power to
the other set of windings. Unfortunately, multiple stator
windings increase the expense of the motor and are
therefore used only when absolutely necessary.

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Possible connections of the stator coils in a pole-changing motor, together with the
resulting torque-speed characteristics: (a) Constant-torque connection-- the torque
capabilities of the motor remain approximately constant in both high-speed and low-
speed connections. (b) Constant horsepower connection- the power capabilities of the
motor remain approximately constant in both high-speed and low-speed connections.

(c) Fan torque connection-the torque capabilities of the motor

change with speed in the same manner as fan-type loads.

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Induction Motor Speed Control by Pole

Changing
By combining the method of consequent poles
with multiple stator windings, it is possible to
build a four-speed induction motor. For
example, with separate four- and six-pole
windings, it is possible to produce a 60-Hz motor
capable of running at 600, 900, 1200, and 1800
rpm.

Speed Control by Changing the Line

Frequency
If the electrical frequency applied to the stator
of an induction motor is changed, the rate of
rotation of its magnetic fields nsync will change in
direct proportion to the change in electrical
frequency, and the no-load point on the torque-
speed characteristic curve will change with it.

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Speed Control by Changing the Line

Frequency
When running at speeds below the base speed
of the motor, it is necessary to reduce the
terminal voltage applied to the stator for proper
operation. The terminal voltage applied to the
stator should be decreased linearly with
decreasing stator frequency. This process is
called derating. If it is not done, the steel in the
core of the induction motor will saturate and
excessive magnetization currents will flow in the
machine.

Speed Control by Changing the Line

Frequency
To understand the necessity for derating, recall
that an induction motor is basically a rotating
transformer. As with any transformer, the flux in
the core of an induction motor can be found
from Faraday's law:

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Speed Control by Changing the Line

Frequency

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Speed Control by Changing the Line

Voltage

Speed Control by Changing the Rotor

Resistance

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Quiz # 4

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