Asynchronous machines

Stator: magnetic circuit and polyphased

winding (usually 3-phase), with p pairs of
poles, with polyphased currents

Rotor: magnetic circuit and electric

circuit...

... or made of copper or aluminum bars,

short-circuited at each extremity of the
rotor ® squirrel-cage rotor

... either made of a polyphased winding,

(with star connection in order to avoid rings
currents between rotor phases)
connected to short-circuit rings on the
rotor axis; brushes connect these rings
to external resistances ® wound rotor

09/02/2020
Asynchronous machines 1
 General principle
Wound rotor machine initially at rest ... g =1 def
g = glissement
slip
Rotation speed
When 3-phase currents of pulsation w flow
in the stator windings they create a rotating w
magnetic flux density with p pairs of poles, q! = (1 - g ) 0 £ g £1
rotating with angular speed w/p.
p

Angular speed of the stator rotating field

with respect to the rotor
This field induces 3-phased e.m.f.s of
pulsation w in the (stationary) rotor w ! gw
windings, and thus 3-phase currents of -q=
p p
pulsation w.
e.m.f.s and induced currents with
The interaction betweem the rotating stator pulsation gw, and torque
flux density and the induced currents in the
rotor creates a torque, which puts the rotor g=0
w
into movement Synchronous speed q! s =
p
(asynchronous machine, or induction machine) no e.m.f., no current, no torque

Asynchronous machines 2
 General equations
Stator equation For one phase Rotor equation

Rotating magnetic flux Rotating magnetic flux

density in the airgap density in the airgap leads
leads to e.m.f. E1 in stator to e.m.f. E2 in rotor
winding, with pulsation w winding, with pulsation gw.

U1 = E1 + (R1 + j X1 ) I1 E 2 = ( R 2 + j g X 2 ) I2
X1 = Leakage reactance of one stator phase X2 = Leakage reactance of a rotor phase at pulsation w
R1 = Resistance of a stator phase R2 = Resistance of a rotor phase

E1 = - j w k1 Fr E 2 = - j g w k 2 Fr

Link equation E1 n tr k1 / k 2 = k '1 / k '2 = n tr ...

=
E2 g æ I ö
E1 = j Xµ çç I1 - 2 ÷÷
resulting m.m.f. n tr ø
Fr è
Fr = F1 + F2 = - k '1 I1 + k '2 I2 with Fr =
R ep Xµ = Magnetizing reactance
resulting flux
Asynchronous machines 3
 Equivalent circuit
U1 = E1 + (R1 + j X1 ) I1 (a)

E2 R ⎛ R ⎞ I
= ( 2 + j X 2 ) I2 E1 = ⎜ n tr2 2 + j n tr2 X 2 ⎟ 2
g g ⎝ g ⎠ n tr

E1 n tr
=
E2 g
€
æ R' ö
E1 = ç 2 + j X'2 ÷ I'2 (b)
è g ø
æ I ö magnetizing current
E1 = j Xµ çç I1 - 2 ÷÷ E1 = j Xµ (I1 - I'2 ) (c) Iµ = I1 - I'2
è n tr ø

Simplified equivalent circuit

R1, R '2 , X1, X'2 << Xµ (a) (c) (b)

/g
(ratios ~ 40 X, 600 R)

Asynchronous machines 4
 Equivalent circuit parameters

Experimental determination of the parameters

No load test g=0

Under nominal voltage and at synchronous speed

I1 << Þ PJoule primaire <<

U12
Pv = Pmag Qv = 3
Xµ
magnetic losses in the stator laminations

Short-circuit test g =1
Under reduced voltage at at zero speed (stationnary rotor)

U1 << Þ Iµ et Pmag <<

Pcc = 3 (R1 + R '2 ) I12 Qcc = 3 (X1 + X'2 ) I12

in the resistances in the leakage reactances
of the stator and rotor of the stator and the rotor
windings
Asynchronous machines 5
 Power, torque and efficiency
Electric power
æ R' ö
P = 3 U1 I1 cos j = 3 ç R1 I12 + 2 I'22 ÷
è g ø

Absorbed power

Stator Stator Joule losses 3 R1 I12

Pst ®rot Stator efficiency (1)
hstat =
Power transmitted R '2 2 P
from stator to rotor Pst ®rot = P - 3 R1 I12 = 3 I '2
Airgap g Rotor efficiency (2)
1- g
2
Rotor Joule losses 3 R '2 I'2
3 R '2 I'22
Rotor Pelm g
Electromagnetic power hrot = = =1- g
Pmec Pst ®rot 1 2
hmec = 3 R '2 I '2
Pelm g
1- g
Pelm = Pst ®rot - 3 R '2 I'22 = 3 R '2 I'22 Mechanical
g
efficiency (3) Asynchronous motor efficiency
Pelm 3 p R '2 2 (1)x(2)x(3)
Celm = = I '2
!q w g h = (1 - g ) hstat hmec < 1 - g
Electromagnetic torque Asynchronous machines 6
 Mechanical characteristic
Mechanical characteristic
Evolution of the electromagnetic torque C as a function of the
slip g (or the rotation speed), for a given stator voltage U1
and pulsation w

C=
3 p R '2 2
I '2 ìU1 = constante
C = f (g ) with
avec í
w g îw = constante
E1 U1
with I'2 = » Maximum torque ¹ f(R'2)
2
æ R '2 ö R '22
çç ÷÷ + X'22 2
+ X'22 3 p U12
è g ø g 3p g U12 Cmax =
Cg << = w 2 X'2
w R '2
R '2
g=±
3p g U12 generator notor
at
X'2
C= R '2 2 2 2
w R '2 + g X '2

Nonzero startup
above synchronous speed (g < 0) torque (g = 1)
Zero torque at
synchronous speed (g = 0)
Asynchronous machines 7
 Stability zone
dC dC dC dC
=- <0 =- >0
dq! dg dq! dg

Stable Unstable

A decrease (resp. increase) in speed, or an increase

A decrease (resp. increase) in speed, or an increase
(resp. decrease) in the slip g, leads to a decrease
(resp. decrease) in the slip g, leads to an increase
(resp. increase) of the motor torque, from point N®N'
(resp. decrease) of the motor torque, from point
(resp. N®N''). The machine will thus decelerate
M®M' (resp. M®M''). The machine will thus
(resp. accelerate), further increasing the mismatch
accelerate (resp. decelerate) to reach back point M,
between the resistant and motor torques (resp. leading
where the motor and resistant torques match
to an evolution towards the stable stable N''®M)
Þ stable.
Þ unstable.

Asynchronous machines 8
 Speed control
Modification of the rotor resistance R'2
Reduction of speed at the cost of efficiency (h < 1–g)

Modification of the voltage U1

Cmax constant Small variation range

Fixed limit

Modification of the frequency

Interest in keeping the magnetic flux

(hence U1/w) constant... Xµ Iµ E1 U1
F r = l µ Iµ = = »
w w w
Asynchronous machines 9
 Asynchronous motor startup
Startup torque (g = 1)

3p g U12
C= R '2 2
w R '2 + X'22
usually quite small, since R'2 <<
Sartup current
U1
Id =
(R1 + R '2 )2 + (X1 + X'2 )2 very large, should be limited…

Squirrel cage motor Wound rotor ... resistances in series with the
... thanks to reduced voltage rotor winding (progressively
(transformer, electronic converter, removed)
transient star coupling)

Startup torque
increases and
startup current
Startup torque
decreases
divided by 3

Startup possible only for small resistant torque at

low speed (e.g. pumps, ventilators, air
conditioners) Asynchronous machines 10
 Special asynchronous motors
Double cage rotor 3p g U12
C e ,i = R 'e,i 2
w R 'e,i +g 2 X'e2,i
Exterior (e) and
interior (i) Startup (g=1):
R'i,e << gX'e << gX'i
R'e >> R'i Þ Ce >> Ci

X'e << X'i Nominal speed (g <<):

R'e >> R'i >> g X'i,e
Þ Ci >> Ce

Skin effect rotor

Elongated rectangular rotor

Startup (g=1):
conductors
high apparent resistance
Þ same behavior as double cage Þ large C
Nominal speed (g <<):
low apparent resistance
Asynchronous machines 11
 Circle diagram
U1 = j X I'2 +(R1 + R '2 / g ) I'2 U1 = constante (0)
X = X1 + X'2
U1 R + R '2 / g
= I'2 + 1 I'2 Þ Locus of I'2 is a circle of
jX jX diameter U1/X
(2)-(3)
Active power (4) Stator Joule losses
P = 3 U1 I1 cos j = 3 U1 AM U
I1 = Iµ + I'2 PJs = 3 R1 I'22 = 3 R1 OA 1
(0) X
P
AM = (5) (5) (5c) PJs R
3 U1 AB = = 1 OA
(3) 3 U1 X
(5b)
Reactive power U1 (5a) (5a)
Iµ =
Q = 3 U1 I1 sin j = 3 U1 O' A j Xµ
(7a) (7b) Rotor Joule losses
(1)
Q (7) (2) U
O' A = PJr = 3 R '2 I'22 = 3 R '2 OA 1
3 U1 (7) = (7a) + (7b) X
BC
g= (6) PJr R'
QXµ + QX æ I' U /Xö BM BC = = 2 OA
O' A = = O' O + OA çç 2 = 1 ÷÷... 3 U1 X
3 U1 è OA I'2 ø
Reactive power in Xµ and X (5b)
Electromagnetic power
CM (5c)
Asynchronous machines 12
 Operating modes
The machine The machine
• absorbs electric power (A1M1 ³ 0) ; • absorbs electric power (A3M3 ³ 0) ;
• produces mechanical power (C1M1 ³ 0). • absorbs mechanical power (C3M3 £ 0).

Radiator
Asynchronous motor

The machine
• produces electric power (A2M2 £ 0) ;
• absorbs mechanical power (C2M2 £ 0).

Asynchronous generator

Asynchronous machines 13