University of Gondar 1

Institute of Technology

Department Of Electrical and Computer Engineering

Electrical machine and derive

LECTURE ON :-

INDUCTION MACHINES

BY:mebtu.F

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Chapter three: induction machine

Presentation layout:
1.1 Construction features
1.2 Rotating magnetic fields
1.3 Principle operation of 3-phase induction motor
1.4 Equivalent circuit model
1.5 Speed control of induction motor
1.6 Starting of induction motors

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Introduction

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ELECTROMECHANICAL
CONVERSION

 Three electrical Machines (dc, induction & synchronous) are used

extensively for electromechanical energy conversion.
 In this conversion three systems are involved (electrical, magnetic
and mechanical system).
 conversion of energy results from the following two electromagnetic
phenomena.
1. When a conductor moves in a magnetic field voltage is induced in the
conductor: (generator action)
2. When a current –carrying conductor is placed in a magnetic field, the
conductor experiences a mechanical force (Motor action)
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 Continued… 5

 In electrical system the primary quantities involved are voltage &

current while in mechanical system, the analogous quantities are
torque & speed. The coupling medium between these different
systems is the magnetic field.

fig: Electromechanical energy conversion

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Induction machines (IM)

 The induction machine is the most rugged and the most widely used
machine in industry.
 It has a stator and a rotor mounted on bearings and separated from the
stator by an air gap. However, in the induction machine both stator
winding and rotor winding carry alternating current.
 The alternating current (ac) is supplied to the stator winding machine.
 The induction machine can operate both as a motor and as a
generator. However, it is seldom used as a generator supplying
electrical power to a load.

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Continued…

 The performance characteristics as a generator are not satisfactory for

most applications.
 The induction machine is extensively used as a motor in many
applications.

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Advantages and Disadvantage
of IM
 It has very simple and extremely rugged, almost unbreakable
construction (especially squirrel cage type)
 Its cost is low and it is very reliable
 It has sufficiently high efficiency. In normal running condition, no
brushes are needed, hence frictional losses are reduced.
 It has a reasonably good power factor.
 It requires minimum of maintenance
 It starts up from rest and needs no extra starting motor and has not to
be synchronized. Its starting arrangement is simple especially – for
squirrel- cage type motor.
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Continued….

Disadvantage
 Its speed cannot be varied without sacrificing some of its efficiency.
 Just like a dc shunt motor, its speed decreases with increase in load
 Its starting torque is somewhat inferior to that of a dc shunt motor
The induction motor is used in various sizes:
 Large three-phase induction motors (in tens or hundreds of
horsepower) are used in pumps, fans, compressors, paper mills, textile
mills and so forth.

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Continued….

 Small single-phase induction motors (in fractional horsepower rating)

are used in many household appliances, such as blenders, lawn
mowers, juice mixers, washing machines, refrigerators, and stereo
turntables.
 Two-phase induction motors are used primarily as servomotors in a
control system.
 The linear version of the induction machine has been developed
primarily for use in transportation systems.
 The induction machine is undoubtedly a very useful electrical
machine.
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Construction features

 This type of motor has three main parts:

1) Stationary part called the stator
2) Rotating part called the rotor, supported at each end on bearings
3) Enclosure.
 The stator and the rotor are each made up of:
 An electric circuit, usually made of insulated copper or aluminum,
to carry current
 A magnetic circuit, usually made from laminated steel, to carry
magnetic flux
 The stator and rotor do the work, and the enclosure protects the stator
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1) Stator

 The main function of the stator core is to carry the alternating flux.
 In order to reduce the eddy current loss, the stator core is laminated.
These laminated types of structure are made up of stamping which is
about 0.4 to 0.5 mm thick
 All the stamping are stamped together to form stator core, which is
then housed in stator frame. The stamping is made up of silicon steel,
which helps to reduce the hysteresis loss occurring in the motor.
 The stator carries a 3-phase winding and is fed from a 3-phase supply
 number of poles being determined by the requirements of speed.

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Continued….

 It is wound for a definite number of poles, the number of poles being

determined by the requirements of speed.
 Greater the number of poles, lesser the speed and vice versa.
 The stator windings, when supplied with 3-phase currents , produce a
magnetic flux which is of constant magnitude but which revolves ( or
rotates) at synchronous speed (given by Ns=120 ).
 This revolving magnetic flux induces an emf in the rotor by mutual
induction.

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Continued….

 The slots on the periphery of the stator core of the three-phase

induction motor carry three phase windings. We apply three phase ac
supply to this three-phase winding.
 The three phases of the winding are connected either in star or delta
depending upon which type of starting method we use
 The stator is the outer stationary part of the motor, which consists of:
 The outer cylindrical frame of the motor, which is made either
of welded sheet steel, cast iron or cast aluminum alloy. This may
include feet or a flange for mounting.

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Continued….

 The magnetic path, which comprises a set of slotted steel

laminations pressed into the cylindrical space inside the outer
frame. The magnetic path is laminated to reduce eddy currents,
lower losses and lower heating.
 A set of insulated electrical windings, which are placed inside the
slots of the laminated magnetic path. The cross-sectional area of
these windings must be large enough for the power rating of the
motor. For a 3-phase motor, 3 sets of windings are required, one for
each phase

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Continued…

Stator and rotor laminations

Stator Winding or Field Winding

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2) Rotor

 The rotor also consists of laminated ferromagnetic material, with

slots punched out on the outer surface.
 The frequency of the rotor flux is very low; as a result thicker
laminations can be used without excessive iron losses.
 Two types of rotor construction is normally used for three phase
induction motor.
 Squirrel-cage rotor: Motors employing this type of rotor are known
as squirrel-cage induction motors.
 Phase-wound or wound rotor: Motors employing this type of rotor
are variously known as phase-wound motors or wound motors or
slip-ring motors. 5/6/2018
 Squirrel cage three phase induction 18
motor

 The absence of slip ring and brushes make the construction of Squirrel
cage three-phase induction motor very simple,rigged and robust and
hence widely used three phase induction motor
 The rotor of the squirrel cage three phase induction motor is
cylindrical in shape and have slots on its periphery
 The slots are not made parallel to each other but are bit skewed as the
skewing prevents magnetic locking of stator and rotor teeth and makes
the working of the motor more smooth and quieter.
 The squirrel cage rotor consists of aluminum, brass or copper bars
 These aluminum, brass or copper bars are called rotor conductors and
are placed in the slots on the periphery of the rotor. 5/6/2018
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Continued…

 Advantages of Squirrel Cage Induction Rotor

 Its construction is very simple and rugged.
 As there are no brushes and slip ring, these motors requires less
maintenance

 We use the squirrel cage induction motors in lathes, drilling machine,

fan, blower printing machines etc
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Continued…

Cut-away view of squirrel cage IM

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 Slip ring or wound rotor three 21
phase induction motor

 In this type of three phase induction motor the rotor is wound for
the same number of poles as that of the stator, but it has less number
of slots and has fewer turns per phase of a heavier conductor.
 The rotor also carries star or delta winding similar to that of the
stator winding. The rotor consists of numbers of slots and rotor
winding are placed inside these slots
 The three ends of three-phase windings are permanently connected
to these slip rings. The external resistance can be easily connected
through the brushes and slip rings and hence used for speed
controlling and improving the starting torque of three phase
induction motor. The brushes are used to carry current to and from
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the rotor winding

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Continued…

 These brushes are further connected to three phase star connected

resistances.
 At starting, the resistance is connected to rotor circuit and is gradually
cut out as the rotor pick up its speed. When the motor is running the
slip ring are shorted by connecting a metal collar, which connects all
slip ring together, and the brushes are also removed. This reduces
wear and tear of the brushes. Due to the presence of slip rings and
brushes the rotor construction becomes somewhat complicated
therefore it is less used as compare to squirrel cage induction motor.

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Continued…

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Continued…

 Advantages of Slip Ring Induction Motor

 It has high starting torque and low starting current.
 Possibility of adding additional resistance to control speed
 Slip ring induction motor are used where high starting torque is
required i.e. in hoists, cranes, elevator etc.

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Continued…

Cut away view of wound rotor IM Cut-away view of wound-rotor IM

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Continued…

 Difference between Slip Ring and Squirrel Cage Induction Motor

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Continued…

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3) Enclosure

 The enclosure consists of a frame (or yoke) and two end brackets (or
bearing housings). The stator is mounted inside the frame. The rotor
fits inside the stator with a slight air-gap separating it from the stator.
 There is no direct physical connection between the rotor and the
stator. The enclosure protects the internal parts of the motor from
water and other environmental elements.
 The degree of protection depends upon the type of enclosure

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Principle operation of 3-phase
induction motor
 In a DC motor, supply is needed to be given for the stator winding as
well as the rotor winding. But in an induction motor only the stator
winding is fed with an AC supply.
 Alternating flux is produced around the stator winding due to AC
supply. This alternating flux revolves with synchronous speed. The
revolving flux is called as "Rotating Magnetic Field" (RMF).
 The relative speed between stator RMF and rotor conductors causes
an induced emf in the rotor conductors, according to the Faraday's law
of electromagnetic induction. The rotor conductors are short circuited,
and hence rotor current is produced due to induced emf. That is why
such motors are called as induction motors. 5/6/2018
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Continued…

 This action is same as that occurs in transformers, hence induction motors

can be called as rotating transformers.)
 Now, induced current in rotor will also produce alternating flux around it.
This rotor flux lags behind the stator flux. The direction of induced rotor
current, according to Lenz's law, is such that it will tend to oppose the cause
of its production.
 As the cause of production of rotor current is the relative velocity between
rotating stator flux and the rotor, the rotor will try to catch up with the stator
RMF. Thus the rotor rotates in the same direction as that of stator flux to
minimize the relative velocity. However, the rotor never succeeds in
catching up the synchronous speed. This is the basic working principle of
induction motor of either type, single phase of 3 phase. 5/6/2018
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Continued…

 Synchronous speed: The rotational speed of the rotating magnetic field is

called as synchronous speed.
f
𝑁𝑠 = 120 ∗ (RPM) ,where, f = frequency of the supply
p

P = number of poles
 Slip: Rotor tries to catch up the synchronous speed of the stator field, and
hence it rotates. But in practice, rotor never succeeds in catching up.
 If rotor catches up the stator speed, there will not be any relative speed
between the stator flux and the rotor, hence no induced rotor current and no
torque production to maintain the rotation. However, this will not stop the
motor, the rotor will slow down due to lost of torque, the torque will again
be exerted due to relative speed. 5/6/2018
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Continued…

 The difference between the synchronous speed Ns and the actual

speed N of the rotor is known as slip in revolutions/ second.

 Sometimes, Ns – N is called the slip speed. Obviously, rotor (or

motor) speed is N = Ns(1-S)
 When the rotor is stationary, the frequency of the rotor current is the
same as the supply frequency. But when the rotor starts revolving,
then the frequency depends upon the relative speed or on slip-speed.

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Continued…

 Frequency of rotor current: When the rotor is stationary, the

frequency of the rotor current is the same as the supply frequency. But
when the rotor starts revolving, then the frequency depends upon the
relative speed or on slip-speed.
 Let at any slip speed, the frequency of the rotor current be fr . Then

 Dividing one by the other, we get,

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Equivalent circuit model

 The induction motor consists of a two magnetically connected systems

namely, stator and rotor. Like a transformer having primary and
secondary.
 consider a three-phase wound-rotor induction machine a shown in
Figure

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Continued…

 The stator is supplied by a balanced three-phase voltage that drives a

three-phase current through the winding. This current induces a
voltage in the rotor.
 The applied voltage (V1) across phase A is equal to the sum of the
 induced voltage (E1).
 voltage drop across the stator resistance (I1R1).
 voltage drop across the stator leakage reactance (I1 j X1).

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Continued…

 The stator winding can be represented as shown:

Where V1 = per-phase terminal voltage

R1 = per-phase stator winding resistance
X1 = per-phase stator leakage reactance
E1 = per-phase induced voltage in the stator winding
Xm = per-phase stator magnetizing reactance
Rc = per-phase stator core loss resistance 5/6/2018
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Continued…

 Note that there is no difference in form between this equivalent circuit

and that of the transformer primary winding. The difference lies only
in the magnitude of the parameters.
 For example, the excitation current Io is considerably large in the
induction machine because of the air gap.
 In induction machines it is as high as 30 to 50 percent of the rated
current, depending on the motor size where as it is only 1to 5 percent
in transformers.

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Continued…

 The leakage reactance X1 is large because of the air gap and also
because the stator and rotor windings are distributed along the
periphery of the air gap rather than concentrated on a core, as in the
transformer.
 Rotor Equivalent Circuit:

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Continued…

 The rotor equivalent circuit at slip s :

where E2= per-phase induced voltage in rotor at standstill (i.e. at

stator frequency f1)
R2= per–phase rotor circuit resistance
X2= per–phase rotor leakage reactance at standstill

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Continued…

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Continued…

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Continued…

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Continued…

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Continued…

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Continued…

 The equivalent circuit shown in Fig.2e is not convenient to use for

predicting the performance of the induction machine .
 As a result, several simplified versions have been proposed in various
textbooks on electric machines.
 There is no general agreement on how to treat the shunt branch( i.e.,
Rc and Xm ), particularly the resistance RC representing the core loss
in the machine

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Approximate Equivalent Circuit

 If the voltage drop across R1and X1is small and the terminal voltage V1does
not appreciably differ from the induced voltage E1, the magnetizing branch
(i.e. Rc and Xm ) can be moved to the machine as shown in fig.3a:

 This approximation of the equivalent circuit will considerably simplify

computation, because the excitation current (Io) and the load component
(I'2) of the machine current can be directly computed from the terminal
voltage V1by dividing it by the corresponding impedance. 5/6/2018
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Continued…

 Note that if the induction machine is connected to a supply of fixed

voltage and frequency the stator core loss is fixed.
 At no load, the machine will operate close to synchronous speed.
Therefore, the rotor frequency f2 is very small and hence rotor core
loss is very small.
 At a lower speed f2increases and so does the rotor core loss. The total
core losses thus increase as the speed falls.
 On the other hand, at no load, frication and windage losses are
maximum and as speed falls these losses decreases.
 Therefore, if a machine operates from a constant voltage and constant-
frequency source, the sum of core losses and friction and windage
losses remains essentially constant at all operating speeds. 5/6/2018
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Continued…

 These losses can thus be lumped together and termed the constant
rotational losses of the induction machine.
 If the core loss is lumped with the windage and frication loss Rc can
be removed from the equivalent circuit, as shown in fig.3b

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IEEE recommended equivalent
circuit

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Continued…

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Continued…

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Performance characteristics

 The equivalent circuits derived in the preceding section can be used to

predict the performance characteristics of the induction machine.
 The important performance characteristics in the steady state are:
the efficiency
 power factor
 Current

 starting torque
 maximum (or pull-out) torque and

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Continued…

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Continued…

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Power losses and flow in Induction
machines

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Continued…

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Continued…

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Continued…

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Continued…

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Continued…

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Continued…

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Continued…

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Continued…

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Starting torque of squirrel cage IM

 The resistance of SQ motor is fixed and small as compared to its

reactance which is very large especially at start b/c at standstill, the
frequency of the rotor currents equal the supply frequency.
 Hence, the starting current I2 of the rotor through very large in
magnitude, lags by a very large angle behind E2 with the result that
the starting torque per ampere is very poor.
 It is roughly 1.5 times the full load torque, although the starting
current is 5 to 7 times the full load current. Hence such a motors are
not useful where the motor has to start against heavy loads.

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Starting torque of slip ring IM

 The starting torque of such a motor is increased by improving its

power factor by adding external resistance in the rotor circuit from
star connected rheostat.
 The rheostat resistance being progressively cut out as the motor gather
speed. Addition of external resistance, however, increase rotor
impedance and so reduce the rotor current.
 At first, the effect of improved power factor predominates the current
decreasing effect of impedance.
 Hence, starting torque is increased ,but after a certain point, the effect
of increased impedance predominance the effect of improved power
factor and so the torque starts decreasing. 5/6/2018
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Continued…

 Clearly, the torque is very sensitive to any change in supply voltage. A

change of 5% in supply voltage, for example, will produce a change
of approximately 10% in rotor torque. This fact is of importance in
star-delta and autotransformer starter.

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Torque speed characteristics

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Continued…

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Continued…

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Continued…

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Torque speed characteristic

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Continued…

 From the graph above;

 The induced torque is zero at synchronous speed.
 The curve is nearly linear between no-load and full load. In this range,
the rotor resistance is much greater than the reactance, so the rotor
current, torque increase linearly with the slip.
 There is a maximum possible torque that can’t be exceeded. This
torque is called pullout torque and is 2 to 3 times the rated full-load
torque.
 The starting torque of the motor is slightly higher than its full-load
torque, so the motor will start carrying any load it can supply at full
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load.
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Continued…

 The torque of the motor for a given slip varies as the square of the
applied voltage.
 If the rotor is driven faster than synchronous speed it will run as a
generator, converting mechanical power to electric power.
 Maximum torque occurs when the power transferred to R2/s is
maximum. This condition occurs when R2/s equals the magnitude of
the impedance

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Continued…

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Modes of operation of a 3-phase
induction machines

 The three phase induction machine has the following three modes or
operating regions of operations depending upon the values of slips:
a) Motoring Mode : 1 ≥S ≥ 0 Under normal operation, rotor revolves
in the direction of rotating field produced by the stator currents. As such,
the slip varies from 1 at standstill to zero at synchronous speed, i.e. 1 > S
> 0. The corresponding speed values are zero (S=1) and synchronous
speed (S=0).
b) Generating Mode: S < 0. For this operating modes, slip is negative,
i.e. S<0. An induction motor will operate in this region only when its
stator terminals are connected to constant-frequency voltage source and
its rotor is driven above synchronous speed by prime mover.
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Continued…

 The connection of stator terminals to voltage source is essential in

order to establish the rotating air gap field at synchronous speed. In
case stator is disconnected from voltage source and rotor is driven
above synchronous speed by the prime mover, no generating action
takes place.
c) Braking Mode: S > 1. For this mode, slip is greater than 1. A slip
more than one can be obtained by driving the rotor , with a prime mover,
opposite to the direction of rotating field. But such a use in practice is
rare. A practical utility of slip more than 1 is obtained by bringing the
rotor to a quick stop by braking action, called plugging.

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Continued…

 For obtaining S>1, or for obtaining plugging, any two stator terminal
leads are interchanged. With this the phase sequence is reversed and,
therefore, the direction of rotating magnetic field becomes suddenly
opposite to that of the rotor rotation. The electromagnetic torque T,
now acting opposite to rotor rotation, produces the braking action.
Thus the motor can be quickly brought to rest by plugging, but the
stator must be disconnected from the supply before the rotor can start
rotate in the other direction.

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Stator current

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Continued…

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Input power factor

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Efficiency

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Continued…

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Continued…

 Sometimes 𝜂 (ideal) is also called the internal efficiency as it

represents the ratio of the power output to the air gap power. The ideal
efficiency as a function of speed is shown in Figure below.
 It indicates that an induction machine must operate near its
synchronous speed if high efficiency is desired. This is why the slip is
very low for normal operation of the induction machine.
 If other losses are included, the actual efficiency is lower than the
ideal efficiency of Eq.(2) as shown in Figure below.
 The full-load efficiency of a large induction motor may be as high as
95 percent
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Continued…

Figure : Efficiency as a function of speed

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Continued…
page 30 of text book

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Speed control of induction motors

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Continued…

a) by changing the number of poles (Pole changing method)

 In pole changing induction motors, the stator winding of each phase is
divided into two equal groups of coils.
 These coil groups are connected in series and parallel with the current
direction being reversed only in one group, to create two different numbers
of poles (even) in the ratio 2:1 respectively.
 When the connection is changed from series to parallel or vice versa, the
current in one group of coils is also reversed at the same time.
 This technique, termed the consequent pole method, is applied to all three
windings (phases).
 This type of induction motor has always the squirrel cage rotor, which
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can
adapt to any number of stator poles.
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Continued…

b) by varying the line (input) frequency)

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Continued…

 The maximum torque also remains constant under this condition.

 However, the voltage is not varied proportionally in the lower
frequency range to account for the voltage drop in the winding
resistance.
 This type of control (constant V/f) is used for speed control below
base frequency (line frequency of 50Hz).
 As the voltage increase above rated value, when the input frequency
goes above base frequency, only constant (rated) voltage with variable
frequency (frequency control) is used for speed control.
 Under this condition, both flux and maximum torque decrease as the
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frequency is increased.
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Continued…

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Continued…

c) Varying the line voltage

 the torque developed in an induction motor is proportional to the
square of the terminal voltage.
d) Varying the rotor resistance
 The speed of a wound-rotor induction machine can be controlled by
connecting external resistance in the rotor circuit through slip-rings.

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Starting of induction machines

 In large induction motors, large starting current are allowed in two respects:
 First, the mains supplying the induction motor may not be of a sufficiently
large capacity.
 Second, because of large starting current, the voltage drops in the lines may
be excessive, resulting in reduced voltage across the motor.
 Starting of Squirrel-Cage Motors
 For cage motors, the choice of any particular method of starting depends
on
(i) size and design of the motor
(ii) capacity of the power lines and
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(iii) type of the driven load.
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Continued…

 There are two methods of starting squirrel-cage induction motors:

a) full-voltage starting (DOL) and
b) reduced-voltage starting.
1) Stator resistor (reactor) starting
2) Auto-transformer starting
3) Star-delta starting
a) Direct-on-line (across-the-line) starting.
It involves the direct switching of poly phase stator on to the supply
mains. The motor takes low-power factor starting current of 5 to 8 times
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its full-load current, depending upon its size and design
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Continued…

 The relation between starting torque Tst and full-load torque Tfl is
now obtained. Let Ist and Ifl be the per-phase stator currents drawn
from the supply mains corresponding to starting and full-load
conditions respectively.

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Continued…

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Continued…

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Continued…

1) Stator resistor (reactor) starting

 In this method, a resistor or a reactor is inserted in between motor
terminals and the supply mains, as illustrated in Figure.

Figure :Reactor (or resistor) starting of squirrel cage induction motor

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Continued…

 At the time of starting, some voltage drop occurs across the starting
resistor or reactor and, therefore, only a fraction x (less than 1) of the
supply voltage appears across the stator terminals. This reduces the
per-phase starting current Ist drawn by the motor from the supply
mains. The per-phase starting current Ist is given by


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Continued…

 Series reactor is more costly than the series resistor, but the former has
lower energy loss and is more effective in reducing the voltage,
because the induction-motor power factor at starting is quite low.
2) Auto-transformer starting
 A fraction of xV1 of the supply voltage V1 is applied to the stator
terminals at the time of starting by means of an autotransformer.
 Per phase starting current from the supply mains
 This shows that the motor starting current per phase is reduced only to
x times the direct switching current Isc; but the per phase starting
current from the supply mains is reduced to x2 times the direct
switching Isc.
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3) Star-delta starting
 This method starting can be employed to provide reduced voltage of
start. In this method, the normal connection of the stator windings is
delta while running.
 If these windings are connected in star at start, the phase voltage is
reduced, resulting in less current of starting. As the motor approaches
its full-speed, the windings will be connected in delta.

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This shows that the current drawn from the line under a star connection
is only one-third (1/3)
of that under delta connection. On the other hand, the ratio of the current
in the stator windings is 5/6/2018
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Continued…

This shows the star-delta starter also reduce the starting torque to one-third of that produced
by direct switching in delta.

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Starting of wound-rotor motors

 The methods used for starting squirrel cage motors can also be employed for
starting wound-rotor motors, but it is usually not done so because the
advantages of wound-rotor induction motors can't be fully realized. The
simplest and cheapest method of starting wound-rotor induction motors is by
means of added rotor resistance, with full-line voltage across the stator
terminals.
 At the time of start, the addition of external resistance in the rotor circuit of a
wound-rotor induction motor:
i. decreases its starting current
ii. increases its starting torque (for a suitable external resistance) and
iii. Improves its starting power factor
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Applications of polyphase
induction motors
 For loads requiring low starting torques and substantially constant speeds,
squirrel-cage induction motor is the best choice, because of its ruggedness,
simplicity, low cost and reduced maintenance charges.
 Squirrel cage motor may be designed with low rotor resistance or with high
rotor resistance. As stated before, a high rotor resistance gives better starting
conditions but poor running performance. On the other hand, a cage motor
with low rotor resistance gives poor starting conditions but better running
performance.
 .

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Continued…

 Squirrel cage motors with relatively low rotor

resistance (full-load slip 3 to 5%) are used for
fans, centrifugal pumps, most machinery tools,
wood-working tools etc. Cage motors with
relatively high rotor resistance (full-load slip 3
to 7%) are used for compressors, crushers,
reciprocating pumps. Squirrel cage motors with
still higher values of rotor-circuit resistance
(full-load slip 7 to 16%) are used for
intermittent loads like punching presses,
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Thank you
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