Electrical Machines-II

[Ref. Electrical Machinery-Dr. P.S. Bimbhra]

1. Induction Motor (IM) as transformer:
Since rotor winding is open circuited, rotor current is zero. As a result, no electromagnetic torque is
developed [see Fig.1].

Fig.1. Three-phase wound rotor IM with star connected stator and rotor.
Let us suppose that stator supply frequency be f1 Hz. Here we will be using suffix 1 & 2 for stator
and rotor respectively.
So, speed of rotating magnetic field (RMF) as produced in the stator-rotor air gap corresponds to f1
Hz.
RMF cuts both the stator and rotor conductors at synchronous speed consequently emfs of line
frequency f1 induced in them.

Per phase induced emf in stator, 𝐸1 = √2𝜋𝑓1 𝑘𝑤1 𝑁1 𝜑

Similarly, Per phase induced emf in rotor, 𝐸2 = √2𝜋𝑓1 𝑘𝑤2 𝑁2 𝜑

𝜑 is the average value of rotating flux per pole.
E1 k w1 N1 N1′ Effective series turns for stator
∴ = = =
E2 k w2 N2 N2′ Effective series turns for rotor
Similar to voltage equation of a transformer, therefore wound rotor induction motor (WRIM) at
standstill is similar to a transformer at no-load.
In induction motor, synchronous rotating air gap flux is due to the combined action of both the stator
and rotor m.m.fs.
Rotating air gap flux generates counter emf (CEMF), E1 in stator winding.
On load, rotor m.m.f reacts on the stator winding in order to extract more power from the AC source.
In induction motor, no load current is 30% − 40% of full load current. This is due to the fact that
mutual flux has to cross the air gap between stator and rotor. Air gap has high reluctance.
mmf
Now, mutual flux = reluctance; constant for constant voltage

Since, air gap reluctance is more (much higher than that of iron core), so to maintain constant mutual
flux, m.m.f should be increased, therefore magnetising current required will be more.
Note: Induction motor operates at low power factor at no load (nearly at a value of 0.15). Explain.
2. Electromagnetic Torque in AC machines:
Fig.2 shows WRIM with pure resistive rotor conductor.

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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad
 Electrical Machines-II
[Ref. Electrical Machinery-Dr. P.S. Bimbhra]

(a) (b)

(c)
Fig.2. Slip-ring induction motor: for zero rotor leakage reactance: (a) flux density and mmf
phasors, (b) rotor developed view with flux density and rotor mmf waves, (c) phasor diagram.
Normally, rotor conductor does have some leakage inductance because of the iron core. This results
in leakage reactance (x2) in addition to resistance (r2).
Therefore, rotor induced current I2 lags the rotor induced voltage by an angle (θ2 ).
x2
∴ θ2 = tan−1 ( )
r2

Fig.3. Slip-ring induction motor: for non-zero rotor leakage reactance: (a) flux density and mmf
phasors, (b) rotor developed view with flux density and rotor mmf waves, (c) phasor diagram.

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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad
 Electrical Machines-II
[Ref. Electrical Machinery-Dr. P.S. Bimbhra]
λ = 90° + θ2
where, 𝜆 is the torque angle. θ2 is the rotor pf angle.

Fig.4. Production of torque in non-salient pole machine: (a) elementary two-pole machine and
(b) space phasor diagram for mmfs, Fs and Fr.
From Fig.4, the resultant magnitude of m.m.f is FR

∴ FR = √F12 + F22 + 2F1 F2 cos λ

where, λ is space angle between the peak values of stator m.m.f F1 and rotor m.m.f F2.
Therefore, the resultant air gap flux per pole (links both the stator and the rotor) is,
FR FR μ 0 A
φR = =
Air gap reluctance g
where, A is an area under one pole. g is an air-gap length.
R φ μ0
Therefore, the resultant flux density (BR) can be given as, BR = Area(A) = FR
g

Therefore, the peak energy density in the air-gap,

1 1 B2
= 2 BR HR = 2 μR [as BR = μ0 HR ]
0

1𝜇
= 2 𝑔02 𝐹𝑅2
11𝜇 1𝜇
The average energy density in the air-gap = 2 2 𝑔02 𝐹𝑅2 = 4 𝑔02 𝐹𝑅2

1
[As F1 & F2 are sine wave, so FR is also a sine wave,∴ Avg FR2 = 2 FR2 ]

Therefore, total magnetic energy stored in the air-gap is,

1μ
Wfld = 4 g20 FR2 (Air − gap volume)
1μ
Wfld = 4 g20 FR2 (2πrlg)

where, r is radius of rotor. l is length of rotor

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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad
 Electrical Machines-II
[Ref. Electrical Machinery-Dr. P.S. Bimbhra]
1 μ0 𝜋𝑟𝑙
Wfld = 2 FR2
g

1 μ0 𝜋𝑟𝑙
Wfld = 2 (𝐹12 + 𝐹22 + 2𝐹1 𝐹2 cos λ)
g

𝛿𝑊𝑓𝑙𝑑 μ0 𝜋𝑟𝑙
For 2-pole machine, 𝑇𝑒 = =− 𝐹1 𝐹2 sin λ
𝛿λ g

𝛿𝑊𝑓𝑙𝑑 𝛿𝑊𝑓𝑙𝑑 𝛿𝜆
For P-pole machine, 𝑇𝑒 = = (𝛿𝜆 )
𝛿𝜗𝑚 𝛿𝜆 𝑚

𝑃 𝑑𝜆 𝑃
∵𝜆= 𝜆𝑚 ⇒ =
2 𝑑𝜆𝑚 2
𝑃 μ0 𝜋𝑟𝑙
𝑇𝑒 = (− 𝐹1 𝐹2 sin λ)
2 g
4 4
Now, 𝜑𝑅 = 𝑃 𝐵𝑝𝑒𝑎𝑘 𝑙𝑟 or, 𝜑𝑅 = 𝑃 𝐵𝑅 𝑙𝑟

Again, from Fig.4(b),

𝐹1 sin λ = 𝐹𝑅 sin 𝜃𝑟
𝐵𝑅 𝑔
𝐹1 sin λ = sin 𝜃𝑟
𝜇0
𝑃𝜑𝑅 𝑔
𝐹1 sin λ = ( ) sin 𝜃𝑟
4𝑙𝑟
𝜋
Or 𝑇𝑒 = − 8 𝑃2 𝜑𝑅 𝐹2 sin 𝜃𝑟

3. Rotor Frequency:
Let, rotor starts rotating in the direction of rotating magnetic field, with speed ns, where, ns is the
speed of rotating magnetic field w.r.t stator, no emf will be induced in the rotor.
When rotor is at standstill, rotor conductors are being cut by rotating flux wave at synchronous speed
ns rps (measured w.r.t stator).
Therefore, rotor induced emf frequency, 𝑓2 = 𝑓1
2𝑓1
where, f1 is stator supply frequency in Hz, P is stator/rotor poles, 𝑛𝑠 = rps
𝑃

Now, let us suppose rotor speed be nr rps in the direction of rotating flux.
Relative speed between rotating flux and rotor conductor = ( 𝑛𝑠 − 𝑛𝑟 ) rps w.r.t rotor.
𝑃(𝑛𝑠 −𝑛𝑟 )
Therefore, the frequency of rotor induced emf, 𝑓2 = Hz
2
𝑛𝑠 −𝑛𝑟
Let, slip, 𝑠 = pu ⇒ 𝑛𝑠 − 𝑛𝑟 = 𝑠𝑛𝑠
𝑛𝑠

𝑃(𝑠𝑛𝑠 )
⇒ 𝑓2 =
2
⇒ 𝑓2 = 𝑠𝑓1
2𝑓2 2𝑠𝑓1
As a result of f2, rotor will also develop a rmf with rotational speed w.r.t rotor as, = = = 𝑠𝑛𝑠
𝑃 𝑃

Therefore, speed of rmf produced by rotor w.r.t stator is,

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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad
 Electrical Machines-II
[Ref. Electrical Machinery-Dr. P.S. Bimbhra]
= 𝑛𝑟 + 𝑠𝑛𝑠 = (𝑛𝑠 − 𝑠𝑛𝑠 ) + 𝑠𝑛𝑠 = 𝑛𝑠
Therefore, stator and rotor fields are stationary w.r.t each other at possible rotor speed.
Note: Why rotor of an IM cannot attain synchronous speed??
In case rotor speed becomes synchronous speed, then the rotor conductor would be stationary
wrt synchronously rotating magnetic field. As a result, no emf would be generated in rotor conductors
and therefore, rotor mmf would be zero. But the existence of the rotor mmf is essential for the
production of electromagnetic torque. That’s why, operating speed of the rotor can never be equal to
the synchronous speed.
4. Induction Motor equivalent circuit:
Rotor emf, current and power:
For any slip s, per phase rotor induced emf is, = 𝑠𝐸2
This can be done by following,
𝐸2
[𝑛𝑠 ⟶ 𝐸2 ] ⇒ [𝑠𝑛𝑠 ⟶ 𝑠𝑛 ] = 𝑠𝐸2
𝑛𝑠 𝑠
Let, l2 be the leakage inductance per phase, H
Therefore, rotor leakage reactance at stand still (s.s) = 2𝜋𝑓2 𝑙2 Ω per phase
At s.s, 𝑓2 = 𝑓1
Therefore, rotor leakage reactance at s.s = 2𝜋𝑓1 𝑙2 Ω = 𝑥2 (say)
Now, Rotor leakage reactance at any speed = 2𝜋𝑓2 𝑙2 Ω per phase
Therefore, rotor leakage reactance at any speed = 2𝜋𝑠𝑓1 𝑙2 Ω = 𝑠𝑥2

Rotor impedance at any speed= √𝑟22 + (𝑠𝑥2 )2 Ω per phase

where, r2 is the rotor resistance per phase.
Hence,
𝑠𝐸2
Rotor current per phase, 𝐼2 =
√𝑟22 +(𝑠𝑥2 )2

𝐸2
Rotor current per phase, 𝐼2 = 2
[see Fig.5]
√(𝑟2⁄𝑠) +𝑥 2
2

𝑥
Rotor pf angle, 𝜃2 = tan−1 ( 𝑟2 )
2

Fig.5. IM Rotor equivalent circuit.

Let Pg be the per phase rotor power input.
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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad
 Electrical Machines-II
[Ref. Electrical Machinery-Dr. P.S. Bimbhra]
∴ 𝑃𝑔 = 𝐸2 𝐼2 cos 𝜃2
𝑟2⁄
𝑠
⇒ 𝑃𝑔 = 𝐸2 𝐼2
√(𝑟2⁄𝑠) + (𝑥2 )2
2

𝑟2
⇒ 𝑃𝑔 = 𝐼22 ; transferred power from stator to rotor through air gap.
𝑠

Hence, Pg is called as air-gap power.

Now,
𝑟2 1−𝑠
𝑃𝑔 = 𝐼22 = 𝐼22 𝑟2 + 𝐼22 𝑟2 ( )
𝑠 𝑠

∴ 𝑃𝑔 = 𝑟𝑜𝑡𝑜𝑟 𝑜ℎ𝑚𝑖𝑐 𝑙𝑜𝑠𝑠( 𝑃𝑐𝑢 ) + 𝑖𝑛𝑡𝑒𝑟𝑛𝑎𝑙 𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑝𝑜𝑤𝑒𝑟 𝑑𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑖𝑛 𝑟𝑜𝑡𝑜𝑟(𝑃𝑚 )

∴ 𝑃𝑔 = 𝑠𝑃𝑔 + (1 − 𝑠)𝑃𝑔
1−𝑠
∴ 𝑃𝑚 = (1 − 𝑠)𝑃𝑔 = 𝐼22 𝑟2 ( )
𝑠
and,
𝑠
𝑃𝑐𝑢 = ( ) 𝑃 = 𝑠𝑃𝑔 = 𝑠(𝑝𝑜𝑤𝑒𝑟 𝑖𝑛𝑝𝑢𝑡 𝑡𝑜 𝑟𝑜𝑡𝑜𝑟)
1−𝑠 𝑚
Internal or gross torque developed per phase:
𝑃𝑚 (1 − 𝑠)𝑃𝑔 𝑃𝑔
𝑇𝑒 = = =
𝜔𝑟 (1 − 𝑠)𝜔𝑠 𝜔𝑠
where, 𝜔𝑟 is a rotor speed in mech. rad/sec. 𝜔𝑠 is a synchronous speed in mech. rad/sec.
3𝑃𝑚 3𝑃𝑔 3 𝑟2 3
∴ Total torque, 𝑇𝑒 = = = 𝜔 𝐼22 = 𝑠𝜔 𝐼22 𝑟2 N-m
𝜔𝑟 𝜔𝑠 𝑠 𝑠 𝑠

Output or shaft power per phase,

𝑃𝑠ℎ = 𝑃𝑚 − 𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑙𝑜𝑠𝑠(𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛, 𝑤𝑖𝑛𝑑𝑎𝑔𝑒 𝑙𝑜𝑠𝑠𝑒𝑠)
𝑃𝑠ℎ = 𝑃𝑔 − 𝑟𝑜𝑡𝑜𝑟 𝑜ℎ𝑚𝑖𝑐 𝑙𝑜𝑠𝑠 − 𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑙𝑜𝑠𝑠

Output or shaft torque per phase,

𝑃𝑠ℎ 𝑃𝑠ℎ
𝑇𝑠ℎ = =
𝑟𝑜𝑡𝑜𝑟 𝑠𝑝𝑒𝑒𝑑(𝜔𝑟 ) (1 − 𝑠)𝜔𝑠
Again, 𝑃𝑔 = 𝑠𝑡𝑎𝑡𝑜𝑟 𝑝𝑜𝑤𝑒𝑟 𝑖𝑛𝑝𝑢𝑡 − 𝑠𝑡𝑎𝑡𝑜𝑟 𝑜ℎ𝑚𝑖𝑐 𝑙𝑜𝑠𝑠 − 𝑠𝑡𝑎𝑡𝑜𝑟 𝑐𝑜𝑟𝑒 𝑙𝑜𝑠𝑠

Stator equivalent circuit:

The rotating air-gap flux wave generates CEMF (𝐸1 ) in all the 3-phases of stator (primary) winding.
The stator voltage 𝑉1 has to overcome the CEMF 𝑉1′ = −𝐸1, and stator impedance drop 𝐼1 (𝑟1 + 𝑗𝑥1 )

∴ 𝑉1 = 𝑉1′ + 𝐼1 (𝑟1 + 𝑗𝑥1 )

where, 𝐼𝑒 is an exciting current. 𝐼𝑐 is a core loss component of current. 𝐼𝜑 is a magnetizing component
of current.

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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad
 Electrical Machines-II
[Ref. Electrical Machinery-Dr. P.S. Bimbhra]

Fig.6. stator equivalent circuit of polyphase IM

Complete equivalent circuit of IM

Fig.7. Exact equivalent circuit of polyphase IM

2 2
𝑁′ 𝑁′ 𝑁′ 1−𝑠 𝑁′ 1−𝑠
where, 𝐸2 (𝑁1′ ) = 𝐸1 , 𝐼2 (𝑁2′ ) = 𝐼2′ , (𝑟2 + 𝑗𝑥2 ) (𝑁1′ ) = 𝑟2′ + 𝑗𝑥2′, 𝑟2 ( ) (𝑁1′ ) = 𝑟2′ ( )
2 1 2 𝑠 2 𝑠

5. Induction Motor Phasor Diagram:

The rotor m.m.f 𝐹2 reacts on the stator resulting a compensating load component of stator current 𝐼1′
such that stator m.m.f,
𝐹1′ = 𝑟𝑜𝑡𝑜𝑟 𝑚𝑚𝑓𝐹2
𝐼1′ 𝑁1′ = 𝐼2 𝑁2′
𝑁2′
𝐼1′ = 𝐼2 ( ′ )
𝑁1

If hysteresis is neglected, then 𝜑 is in phase with resultant air-gap m.m.f 𝐹𝑟 . The no-load current is in
phase with 𝐹𝑟 .

Fig.8 (a). Phasor diagram (with non-zero

Fig.8(b). Phasor diagram of IM at no-load
rotor leakage reactance).
condition with core loss neglected.

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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad
 Electrical Machines-II
[Ref. Electrical Machinery-Dr. P.S. Bimbhra]

Fig.8(c). Phasor diagram of IM at s.s.

Fig.8(d). Phasor diagram of IM at any slip.

6. Losses and Efficiency:

Fig.9. Power distribution in a 3-phase IM.

Fig.10.Power flow diagram for a 3-phase IM.

𝑃𝑠ℎ
Efficiency, 𝜂 = 𝑃 × 100
𝑠ℎ +𝑃𝑓 +𝑃𝑜ℎ

𝑃𝑓 = 𝑓𝑖𝑥𝑒𝑑 𝑙𝑜𝑠𝑠 = 𝑐𝑜𝑟𝑒 𝑙𝑜𝑠𝑠 + 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑎𝑛𝑑 𝑤𝑖𝑛𝑑𝑎𝑔𝑒 𝑙𝑜𝑠𝑠

𝑃𝑜ℎ = 𝑠𝑡𝑎𝑡𝑜𝑟 𝑎𝑛𝑑 𝑟𝑜𝑡𝑜𝑟 𝑜ℎ𝑚𝑖𝑐 𝑙𝑜𝑠𝑠𝑒𝑠 + 𝑏𝑟𝑢𝑠ℎ 𝑐𝑜𝑛𝑡𝑎𝑐𝑡 𝑙𝑜𝑠𝑠

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Prof. Sukanta Das, EE, IIT(ISM), Dhanbad