Dr.

Adel Gastli

Electromechanical Systems
& Actuators

INDUCTION
MACHINES

Three-Phase Induction Motors

™ Facts about IM
™ Application
™ Construction
™ Rotating Magnetic field
™ Principle of Operation
™ Equivalent Circuit
™ Performance Characteristics
™ Starting Methods
™ Speed Control

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 Facts about IM
„ About 65% of the electric energy in the United
States is consumed by electric motors.
„ In the industrial sector alone, about 75% is
consumed by motors and over 90% of them
are induction machines.

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Why IMs are popular?

„ They are rugged
„ Reliable
„ Easy to maintain
„ Relatively inexpensive.
„ Their power-to-density ratios (output power to
weight) are higher than some other motors.

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 Applications
„ Small single-phase induction motors are used
in many household appliances, such as
blenders, juice mixtures, washing machines,
refrigerators, etc.

„ Large three-phase induction motors are used

in pumps, fans, compressors, paper mills,
and so forth

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Applications (Cont’d)

Electromechanical Combination
Drive Drilling Rigs

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 Applications (Cont’d)

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Applications (Cont’d)

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 Construction
Stator
ib

ia
Rotor

Stator Windings
Rotor Windings

ic

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Construction (Cont’d)
1- STATOR
A three-phase windings is put in slots cut on the inner
surface of the stationary part. The ends of these windings
can be connected in star or delta to form a three phase
connection. These windings are fed from a three-phase ac
supply.

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 Construction (Cont.)
2- Rotor
it can be either:
a-Squirrel-cage (brushless)
¾ The squirrel-cage winding
consists of bars embedded in
the rotor slots and shorted at
both ends by end rings.
¾ The squirrel-cage rotor is the
most common type because
it is more rugged, more
economical, and simpler.

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Construction (Cont.)
b- Slip ring (wound-rotor)
The wound-rotor winding has
the same form as the stator
winding. The windings are
connected in star. The
terminals of the rotor
windings are connected to
three slip rings. Using
stationary brushes pressing
against the slip rings, the
rotor terminals can be
connected to an external
circuit.
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 Construction (Cont.)

Slip rings

Slip rings

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Rotating Magnetic Field

When three-phase balanced
currents are applied to a three-
phase winding, (aa', bb', cc',
displaced from each other by 120
electrical degrees in space), a
rotating magnetic flux is produced.
The speed at which the magnetic flux rotates is called
the synchronous speed ns,
120 f
ns =
p
Where f is the supply frequency and p is the total
number of poles.

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 Rotating
Field
Theory

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Rotating
Field Theory

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 Rotating Field Theory

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Rotating
Field
Theory

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 Principle of Operation
„ If the stator windings are connected to a three-phase
supply; a rotating field will be produced in the air-gap.
This field rotates at synchronous speed ns. This
rotating field induces voltages in the rotor windings.
Since the rotor circuit is closed, the induced voltages
in the rotor windings produce rotor currents that
interact with the air gap field to produce torque. The
rotor will eventually reach a steady-state speed n that
is less than the synchronous speed ns.
„ The difference between the rotor speed and the
synchronous speed is called the slip, S , and is
defined as
ns − n ω s − ω 2πn n in rpm
S= = ω =
ns ωs 60 ω in rad/s
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Definitions
„ n = the rotor speed (the motor speed) w.r.t. stator
„ ns = the speed of stator field w.r.t. stator or the synch. speed
„ nr = the speed of rotor field w.r.t rotor
„ S = the slip
„ f = the frequency of the induced voltage in the stator (stator
or supply frequency)
„ fr = the rotor circuit frequency or the slip frequency

nr =nS −n =snS S: slip rpm

p p p
fr = ( nr ) = ( nS − n ) = ( S nS ) = S f
120 120 120
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 Induced EMF
The instantaneous value of the induced voltage in N turns
coil is given by:
dφ
e = −N
dt
Let φ = φm sin(ω t )
∴ e = − N ω φm cos(ω t ) = N 2πf φm sin(ω t − 90°)
The r.m.s. value of the induced voltage per phase is
rms E = 4.44fN Φ K
ph p w
where
Nph is the number of turns in series per phase
f is the frequency
φp is the flux per pole
Kw is the winding factor
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Equivalent Circuit Per Phase

1-The Complete Equivalent Circuit per phase
Airgap & Load +
Stator Circuit Magnetic Circuit Rotor Circuit Rotation losses
' '
I1 R1 X Io X R
1 2
I’2 2

E1 Rc X (1 − S ) R '
2
V1 m
S

2-IEEE-Recommended Equivalent Circuit

R1 X1=2π f1L1 X2’ =2π f1L2

I1 IΦ I2’

V1 Xm=2πf1Lm
R 2‘ /S

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 Equivalent Circuit Per Phase (cont.)
„ At standstill (nm= 0 , S = 1)
The equivalent circuit of an induction motor at standstill is the same
as that of a transformer with secondary short circuited.

R1 X1 I2’ X2’ R2’

Iφ
I1 Ic Im I2’
All values
V1 E1=E2’ are
Rc Xm
per phase

Where
E2 = per-phase induced voltage in the rotor at standstill
X2 = per-phase rotor leakage reactance at standstill

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Equivalent Circuit Per Phase

(cont.)
„ At any slip S
When the rotor rotates with speed nm the rotor circuit
frequency will be: f = S f
r S

„ Therefore induced voltage in the rotor at any slip S will

be E2S = S E2 , similarly: X2S = SX2
and the rotor equivalent circuit per-phase will be:
sX2 X2 X2

I2 I2 I2
R2
sE2
E2 R2/S E2
R2 R2(1-S)/S

SE 2 E2
Where I2 = =
R2 + jSX 2 ( R2 / s ) + jX 2
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 Combined Equivalent Circuit
R1 X1 X2 R2/s
I N1 : N2

I1 Ic I2
V Rc Xc E1 E2

R1 X1 X2’ R2’ /s

I1 Ic I2’
V Rc Xc E1= E2’

⎛N ⎞
2
⎛N ⎞ ⎛N ⎞
2
R'2 = R2 ⎜⎜ 1 ⎟⎟ I '2 = I 2 ⎜⎜ 2 ⎟⎟ X '2 = X 2 ⎜⎜ 1 ⎟⎟
⎝ N2 ⎠ ⎝ N1 ⎠ ⎝ N2 ⎠
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R1 X1 X2’ R2’ /s

’
I1 Ic I2
E1= E2
’
V Rc Xc

R1 X1 X2’ R2’

’
I1 Ic I2
E1= E2
’ R'2
V Rc Xc ( 1− s )
s

R '2 ' R '2

= R2 + (1− s )
s s
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 Equivalent Circuit Per Phase
(cont.)
R1 X1 X2’ R2’

I1 Ic I2’
V Rc Xc E 1= E 2’ R'2 ( 1 − s )
s

Equivalent to transformer’s
secondary windings

Equivalent to transformer’s
primary windings Equivalent to transformer’s
load

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Equivalent Circuit Per Phase

(cont.)
R1 X1 X2’ R2’

’
I1 Ic I2

E1= E2
’ R'2
V Rc Xc ( 1− s )
s

’ ’
R1 X1 X2 R2
I1

Ic I2’
E1= E2’ R'2
V Rc Xc ( 1− s )
s

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 Simplified Equivalent Circuit
Xeq Req
I1

Ic I2 ’
R'2
V Rc Xc ( 1− s )
s

Req =R1 + R'2

X eq = X 1 + X '2
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DETERMINATION OF THE EQUIVALENT

CIRCUIT PARAMETERS
„ 1. No-Load Test ( S = 0 )
Io
A W1 Ic
V Ir Im
I.M. V0 Rc Xc

No Load
W2
Measured values VL , IL , and Po = W1 ± W2
Calculate the per phase values V0 , Io and P0= Pot /3
Po
cos(Φ o ) = I r = I o cos(Φ o ) I m = I o sin(Φ o )
Vo I o
Vo Vo
Rc = Xc =
Io Im

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 DETERMINATION OF THE EQUIVALENT
CIRCUIT PARAMETERS (Cont’d)

„ 2. Blocked rotor Test (S =1)

A X1+X’2
W1 IbR1+R 2
’

V
I.M.
Vb Zb

Blocked
W2

Measured values Vb < V1L , Ib , and Pb= W1 ± W2

Calculate the per phase values Vb , Ib and Pb = Pot /3
P V
R b = R1 + R 2′ = b2 , Zb = b , X b = X 1 + X 2′ = Z b2 − R b2
Ib Ib
X
∴ R 2′ = R b − R1 & X 1 = X 2′ = b
2
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Power Flow
Input Power (Pin )

Stator Losses: Airgap Power (Pg )

Copper losses (Pcu 1 )
Core losses (Piron )

Rotor Copper Losses (Pcu 2 ) Developed Power (P d )

Rotational Losses (Protational ) Output Power (P out)

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 Power Flow (Cont’d)
R1 X1 X’2 R’2
Pin = 3V1 I1 cos φ
I1 Io I’2

V Ic Im E1=E’2 R2' (1 − s)
Rc Xm s

Pcu1 = 3I12 R1 I 2'2 R2'

Pag = Pin − Pcu1 − Pm = 3
V12 s
Pm = 3
Rm

P2 = 3I 22' R2' = sPag 1− s P

Pdev = 3I 2'2 R2' = (1 − s) Pag = Tdevωm ⇒ Tdev = dev
s ωm

Pout
Pout = Pdev − Prot ⇒ Tout =
Prot ωm

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Steps toward finding the induction motor

characteristics:
⎛ R' ⎞
jX m ⎜⎜ 2 + jX 2' ⎟⎟
1. Find the equivalent impedance Z eq = R1 + jX 1 + ' ⎝
s ⎠
R2
(
+ j X m + X 2' )
2. Find the stator current: V s
I1 = 1 = I1 φ
Z eq
3. Find the power factor: cos φ
Slip s should
be known
4. Find the input power: Pin = 3V1 I1 cos φ

5. Find stator copper loss: P1 = 3I12 R1

6. Find the airgap power: I 2'2 R2'

Pag = Pin − P1 = 3
s
7. Find the rotor copper loss: P2 = 3I 22' R2' = sPag
1− s P
8. Find the developed power and Torque: Pdev = 3I 2 R2 = (1 − s) Pag ⇒ Tdev = dev
'2 '

s ωm
P
9. Find the output power & Torque: Pout = Pdev − Prot ⇒ Tout = out
ωr

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 Speed-Torque Characteristics
X eq R eq
I1
V1
I 2' = ’
2 Io I2
⎛ R ⎞
'
⎜⎜ R1 + ⎟⎟ + X eq2
2
V1 Rc Xm
R '2
(1− s )
⎝ s ⎠ s

2
3( I 2' ) 2 R2' (1 − s )
Pd 3 V1 R2' (1 − s )
Td = = =
ω ω s ⎡⎛ R2 ⎞' 2 ⎤
sω ⎢⎜⎜ R1 + ⎟⎟ + X eq ⎥2

⎢⎣⎝ s ⎠ ⎥⎦

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Speed-Torque Characteristics
(Cont’d)
2
Pd 3 V1 R2'
Td = =
ω ⎡⎛ ' 2
R2 ⎞ ⎤
s n sω s ⎢⎜⎜ R1 + ⎟⎟ + X eq ⎥
2

⎢⎣⎝ s ⎠ ⎥⎦
0 ns − n
ns
s=
smax ns
ωs − ω
=
ωs

1
Tst T Torque
max
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 Speed-Torque Characteristics
(Cont’d)
s Small Slip

0 Maximum Torque

smax

Large Slip

1
Tst Tmax Torque

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Maximum Torque
Pd 3 V 2 R2'
Td = =
ω ⎡⎛ R2 ⎞
' 2
⎤
∂ Td sω s ⎢⎜⎜ R1 + ⎟⎟ + X eq ⎥
2
=0 ⎢⎣⎝ s ⎠ ⎥⎦
∂s

2
R ' 3V
smax = 2
Tmax= 1
R +X 2ωs [R1 + R12 + X eq2 ]
2 2
1 eq

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 Starting of IM
„ Problems:
„ Highstarting current Slip is unity
„ Low starting torque

2
I = ' V1 3 V1 R2'
Tst =
(R + R ) ω s [(R1 + R2' ) + X eq2 ]
2 st 2
' 2
1 2 +X 2
eq

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Starting by Reducing Voltage

n V1
I 2' st =
V2 < V1 (R + R )
1
' 2
2 + X eq2
ns V1
2
3 V1
s max Tmax =
[
2ω s R1 + R12 + X eq2 ]
2
3 V1 R2'
Tst =
[
ω s (R1 + R2' ) + X eq2
2
]
T Torque R'2
Tst 2 Tst 1
max smax =
R12 + X eq
2

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 Starting by Reducing Voltage
(Cont’d)
„ Starting current is reduced (good)
„ Starting torque is reduced (cannot
start heavy loads)
„ Maximum torque is reduced (Motor
acceleration is low)
„ Speed at maximum torque is
unchanged

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Starting by Increasing Rotor

Resistance
n Radd3 > Radd2 > Radd1 V1
I 2' st =
ns
Radd3 Radd2
Radd1
(R + R
1
'
2 + Radd )
2
+ X eq2
2
3 V1
s max Tmax =
[
2ω s R1 + R12 + X eq2 ]
2
(
3 V1 R2' + Radd )
Tst =
[
ωs (R1 + R2' + Radd ) + X eq2
2
]
Tst3=Tmax Torque R2' + Radd
Tst1 Tst2 smax =
R12 + X eq2

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 Starting by Increasing Rotor Resistance
(Cont’d)
„ Starting current is reduced (good)
„ Starting torque is increased (good)
„ Maximum torque is unchanged
(Motor acceleration is high)
„ Speed at maximum torque is
reduced

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Classes of squirrel-cage motors

„ According to the National Electrical Manufacturing Association
(NEMA) criteria, squirrel-cage motors are classified into class
A, B, C or D. The torque-speed curves and the design
characteristics for these classes are :
D
Class Starting Starting Rated Load A
Current Torque Slip
C
A Normal Normal < 5%

Low Normal < 5% B

B
C Low High < 5%

D Low Very High 8-13 %

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 Speed Control
„ 1- Stator voltage Control

Rotor

T
i i
1
A L a
vA T
4T
N
B i Rotor
N 3
vB b
T
vC N

Tα Vs2
6T
C N i
5
c
T
2

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Speed Control (Cont’d)

„ 2- synchronous speed control

f
ns = 120
p
Change f Continuous variation
120f
Changing ns =
p Change p Step variation

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 Speed Control (Cont’d)
„ 2-a) Examples of pole-changing 2:1
Series S Series A 4 poles

N N
S N S N S N S

S
C B
8 poles
Parallel
Parallel 2 poles
N
S N S N A B

4 poles S
C
For more than 2 speeds change, more windings like those above
are required. Machine become heavier and more expensive.

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Speed Control (Cont’d)

„ 2-b) Stator Frequency Control
f
ns = 120
p

i
A L

Rectifier Inverter
B
AC → DC Rotor
N DC → AC

C
Torque-Speed curves at different
filter stator frequencies with constant
voltage supply
f Control

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 Speed Control (Cont’d)
Speed 2
3 V1
ns1
f1
f2
f1 > f2 > f3
Tmax =
[
2ω s R1 + R12 + X eq2 ]
2
ns2 3 V1 R2'
f3 Td =
ns3 ⎡⎛ R2' ⎞
2
⎤
sω s ⎢⎜⎜ R1 + ⎟⎟ + X eq ⎥
2

⎢⎣⎝ s ⎠ ⎥⎦
2
3 V1 R2'
Tst =
[
ω s (R1 + R2' ) + X eq2
2
]
Torque
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Speed Control (Cont’d)

„ 3. Rotor voltage Control (Slip-Energy Recovery)
For wound rotor induction motor only
a- Classical technique:
Variation of rotor circuit resistance

Advantages: Drawbacks:
• Very simple • Low efficiency:extra losses
• Very useful at starting: • Slow control
(high starting torque & low starting current) • unbalance problems if the three
resistors are unequal.

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 Speed Control (Cont’d)

b- An alternative methods of varying rotor-circuit resistance

Using three-phase diode bridge and a single variable resistor

Stator

Rotor Rex

Motor Three-phase Resistor

diode bridge

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Speed Control (Cont’d)

Three-phase supply

Nb
Transformer Nb:Na
Id Na
Rotor
+ Ld +

Vd Vdc

Slip power
_ _

Diode rectifier Controlled inverter

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 Chapter Summary
„ See summary in your textbook at
pages 555-559
„ Review questions on page 560

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Typical Problem Solving

„ Textbook Problems: Study the
examples first
„ Pb. 9.7
„ Pb. 9.8
„ Pb. 9.17
„ Pb. 9.22
„ Pb. 9.24
„ Pb. 9.29

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