EEE3091F: ENERGY CONVERSION

Induction Machines II
(Chapter 5 – PC Sen)

1
Topics
➢ Principle of operation
➢ Equivalent circuit model of an IM
➢ Recall: Transformer equivalent circuit
➢ IM equiv. cct: Exact, IEEE, Thevenin, Approximate
➢ Determining of equivalent circuit parameters
➢ Recall: Transformer equiv. cct. parameter determination
➢ IM equiv. cct. parameter determination

2
 Principle of Operation of IM
▪ Torque production mechanism:
➢ When stator windings connected to (3-phase) mains
supply, currents drawn by each stator phase winding.
➢ Revolving field produced in air gap, which rotates at
synchronous speed.
➢ Voltages induced in stator and rotor windings (like
transformer).
➢ If rotor circuit closed, induced voltages in rotor
produces rotor currents.
➢ Rotor currents interact with revolving field, producing
torque on rotor structure.
➢ Rotor rotates in direction of revolving field, but at
speed less than synchronous speed (in motor mode).
Induction Machines 3
 Principle of Operation of IM
▪ Direction of Rotation of Rotor:
➢ Question: How can direction of rotation be changed?

Induction Machines 4
 Recall: Rotating magnetic field

For animation, see: http://people.ece.umn.edu/users/riaz/animations/abcvec.html

5
 Principle of Operation of IM
▪ Change direction of rotation of rotor???
➢ Ans: Change direction of rotation of revolving field
This will result in torque production in opposite
direction.
➢ How: Change phase sequence of supply to stator!
e.g. Swop currents in phase B and C windings
Thus, current in phase B lags C by 120 degr.
➢ Pls use Matlab code to visualize this

Induction Machines 6
Topics
✓ Principle of operation
➢ Equivalent circuit model of an IM
➢ Recall: Transformer equivalent circuit
➢ IM equiv. cct: Exact, IEEE, Thevenin, Approximate
➢ Determining of equivalent circuit parameters
➢ Recall: Transformer equiv. cct. parameter determination
➢ IM equiv. cct. parameter determination

7
Recall: “Inductor”/ Coil & Core
 = N

L =
i
L1 = NL1
m1 = Nm1 R1 L1
L1
L L1 =
i1
m1 V1 E1 Lm
L m1 =
i1

Transformers 8
 Recall: Exact Equiv CCT of
Transformer, Referred to Primary
I1 R1 Xl1 I'2=I2/a X'l2=a2Xl2 R'2=a2R2

Iᶲ1
Ic1 Im V'2=aV2 Z'2=a2Z2
V1 E1=E'2=aE2
Rc1 Xm

V1 E N1 I1 Xl1 Xl2 R2
= 1 = =a
R1 I2
V2 E2 N2
Iᶲ1 N1 N2
I1 1
= Ic1 Im V2 Z2
I2 a V1 E1 E2
Rc1 Xm
Z1
= a2
Z2 Transformers 9
Power flow in Stator: Motor Mode

Induction Machines 10
 STATOR
▪ Considering Power flow in the stator:

Pin

▪ Stator equivalent circuit parameters

- V1 = per-phase terminal voltage
- R1 = per-phase stator winding resistance
- L1 = per-phase stator leakage inductance
- E1 = per-phase induced voltage in the stator winding
- Lm = per-phase stator magnetizing inductance
- Rc = per-phase stator core loss resistance

Induction Machines 11
 ROTOR
▪ Recognising that the rotor circuit is at slip frequency, f2 :
@ 𝑓2
Recall:

@ standstill:
𝑬𝟐 = 𝟒. 𝟒𝟒 ∙ 𝒇𝟏 ∙ 𝑵𝟐 ∙ 𝝓𝒑 ∙ 𝑲𝒘𝟐

P2Cu @ steady-state operation with slip s

∴ 𝑬𝟐𝒔 = 𝟒. 𝟒𝟒 ∙ 𝒔 ∙ 𝒇𝟏 ∙ 𝑵𝟐 ∙ 𝝓𝒑 ∙ 𝑲𝒘𝟐
= 𝒔 ∙ 𝟒. 𝟒𝟒 ∙ 𝒇𝟏 ∙ 𝑵𝟐 ∙ 𝝓𝒑 ∙ 𝑲𝒘𝟐
∴ 𝑬𝟐𝒔 = 𝒔 ∙ 𝑬𝟐

▪ Rotor equivalent circuit parameters

- R2 = per-phase rotor winding resistance
- L2 = per-phase rotor leakage inductance
- E2 = per-phase induced voltage in rotor winding at standstill (i.e at stator frequency f1 )

▪ Note:
This circuit is at rotor frequency f2 and we need to transfer it to stator frequency f1 (the
supply frequency to IM):
Induction Machines 12
 ROTOR (Cont’d)
▪ Recall:
From the previous slide, the rotor
𝑓2 = 𝑠𝑓1
current I2 is:
𝐸2 𝑠𝑙𝑖𝑝 𝑎𝑡 𝑓2 = 𝑠𝐸2 (𝑠𝑡𝑎𝑛𝑑𝑠𝑡𝑖𝑙 𝑎𝑡 𝑓1 )
𝒔𝑬𝟐
𝑰𝟐 =
𝑹𝟐 + 𝒋𝒔𝑿𝟐
▪ Where “s” is Slip:
𝒏𝑺 − 𝒏 Which can be re-written as:
𝒔= 𝑬𝟐
𝒏𝑺 𝑰𝟐 =
(𝑹𝟐 /𝒔) + 𝒋𝑿𝟐
▪ n = rotor speed and nS, is
Therefore, the rotor circuit converted
synchronous speed:
to stator frequency f1 can be drawn as
𝟏𝟐𝟎𝒇𝟏
𝒏𝑺 = [rpm] shown below:
𝒑
𝑹𝟐 𝑹𝟐
▪ P = number of poles Note that = 𝑹𝟐 + 𝟏−𝒔
𝒔 𝒔

@ 𝑓2 @ 𝑓1
𝟐 𝑹𝟐
𝑷𝒂𝒈 = 𝑰𝟐
𝒔
𝑷𝒂𝒈 = 𝑷𝒎𝒆𝒄𝒉 + 𝑷𝑪𝒖(𝑹𝒐𝒕)
𝑰𝟐𝟐 𝑹𝟐
𝑷𝒂𝒈 = (𝟏 − 𝒔) + 𝑰𝟐𝟐 𝑹𝟐
𝒔

Induction Machines 13
Exact Equiv circuit: Induction Motor
▪ The stator and rotor equivalent circuits at the same
line frequency f1 can be joined
▪ Refer rotor to stator using turns ratio 𝑎 = N1 / N2 )
▪ Where N1 is number of turns of the stator windings and N2 in number
of turns of the rotor windings.

I1 R1 X1 I'2 X'2

Iᶲ R'2
V1 E'2
Rc Xm
R'2 (1-s)
s
Induction Machines 14
Power flow: Motor Mode

Induction Machines 15
(

Power flow: Motor Mode

➢ If V1 and f1 constant => P1_core Constant
➢ From no load to full load, 0 < s < srated ; where srated is: 3-7%
➢ P2_core increases from no load to full load, since f2= sf1
➢ Pfriction_&_windage decreases from no load to full load
➢ On average, sum of above losses remain constant
Stator Core Loss
Rotor Core Loss
[P1 Core] [P2 Core]
Friction &windage
Pag loss
Pmech
Pin Pout = Pshaft

Rotor Cu
Stator Cu
loss
loss
Induction Machines 16
 Power flow: Motor Mode
▪ Core Losses combined with Friction & Windage losses in
constant Rotational Loss

Induction Machines 17
 Power flow: Motor Mode
▪ Core Losses combined with Friction & Windage losses in
constant Rotational Loss

If IM 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, f2 increases and so does
the rotor core loss. The total core losses thus increase as the speed falls. On the other hand,
at no load, friction and windage losses are maximum, and as speed falls, these losses decrease.
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. 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 friction loss, Rc can be
removed from the equivalent circuit:
Induction Machines 18
 IEEE Recommended Circuit
I1 R1 X1 I'2 X'2

Iᶲ R'2

E1 R'2
V1 Xm
s
R'2 (1-s)
s

Pag
▪ Core loss included in Rotational loss

Induction Machines 19
 Performance Characteristics: Powers
I1 R1 X1 I'2 X'2

Iᶲ R'2

E1 R'2
V1 Xm
s
R'2 (1-s)
s

Pag But R '2

s = R '2 + R '2
s (1 − s)
P1 Cu P2 Cu Prot
Pag Pmech
Pin R '2 R '2
Pag = I '22 P2 Cu = I '22 R'2 Pmech = I '22 (1 − s )
Pshaft
s s
= sPag
= (1 − s ) Pag

Induction Machines 20
 Thevenin Equivalent Circuit:
I1 R1 X1 I'2 X'2
▪ Replace Stator in IEEE
equiv. cct. with Thevenin cct. Iᶲ
R'2
▪ V1, R1, X1, Xm replaced by:
V1 E1 Xm s

VTH, RTH, XTH

▪ Reason: simplified Thevenin equiv cct has referred rotor

current, which can now be calculated easily
RTH XTH I'2 X'2

R'2
VTH
s

Pag 21
Induction Machines
 Thevenin Equivalent Circuit:
𝑉𝑡ℎ = 𝑂𝑝𝑒𝑛 𝐶𝑖𝑟𝑐𝑢𝑖𝑡 𝑣𝑜𝑙𝑡𝑎𝑔𝑒 𝑎𝑐𝑟𝑜𝑠𝑠 𝑋𝑚 I1 R1 X1 I'2 X'2

𝑉𝑜𝑐 Iᶲ
𝑍𝑡ℎ = R'2
𝐼𝑠𝑐 V1 E1 Xm s

𝑗𝑋𝑚
𝑉𝑡ℎ = .𝑉
𝑅1 + 𝑗 𝑋1 + 𝑋𝑚 1

𝑋𝑚 RTH XTH I'2 X'2

𝑉𝑡ℎ = . 𝑉1
𝑅1 2 + 𝑋1 + 𝑋𝑚 2

R'2
VTH
s
𝑉1 𝑉1
𝐼𝑆𝐶 = =
𝑍1 𝑅 + 𝑗𝑋1
Pag
𝑉𝑜𝑐 𝑗𝑋𝑚 𝑉1 𝑗𝑋𝑚 𝑅1 + 𝑗𝑋1
𝑍𝑡ℎ = = .𝑉 ൘ = = 𝑅𝑡ℎ + 𝑗𝑋𝑡ℎ
𝐼𝑠𝑐 𝑅1 + 𝑗 𝑋1 + 𝑋𝑚 1 𝑅 + 𝑗𝑋1 𝑅1 + 𝑗 𝑋1 + 𝑋𝑚
Induction Machines 22
Equivalent Cct Parameter Determination
▪ 2 Tests are performed
➢No-load test (Open cct test)
➢Locked rotor test (Short cct test)
I1 R1 X1 I'2 X'2

Iᶲ R'2

E1 R'2
V1 Xm
s
R'2 (1-s)
s

Pag
23
 No-load Test of Induction Motor
▪ IM uncoupled from load
▪ Rated voltage on stator at line frequency
▪ Measure: input voltage, current, power

𝑁𝑜 𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑙𝑜𝑎𝑑
𝑐𝑜𝑢𝑝𝑙𝑒𝑑

Transformers 24
 No-load Test
I1 R1 X1 I'2 X'2

Iᶲ R'2

E1 R'2
V1 Xm
s
R'2 (1-s)
s

Pag

▪ Power loss at no-load:

• Stator copper loss (not rated)
• Rotational loss = Core loss + friction & windage
Transformers 25
 No-load Test
▪ Wiring schematic: ▪ Winding resistance measurement:
Stator winding resistance is measured when
the machine is disconnected from the supply

▪ No-load Equivalent Cct: PRot = PNL −3I12R1

𝑷𝑵𝑳
𝑹𝑵𝑳 =
𝟑𝑰𝟐𝟏
𝑽𝟏
𝒁𝑵𝑳 =
𝑰𝟏
𝑿𝑵𝑳 = 𝒁𝟐𝑵𝑳 − 𝑹𝟐𝑵𝑳
𝑿𝟏 + 𝑿𝒎 = 𝑿𝑵𝑳

Transformers 26
 Locked Rotor Test
▪ IM rotor locked
▪ Low voltage on stator, but rated current
▪ Measure: input voltage, current, power

▪ Wiring schematic:

Sample locking mechanism

Transformers 27
Locked Rotor Test
I1 R1 X1 I'2 X'2

Iᶲ R'2

E1 R'2
V1 Xm
s
R'2 (1-s)
s

Pag

▪ Power loss with locked rotor:

• Stator copper loss
• Rotor copper loss
Transformers 28
 Locked rotor Test
I1 R1 X1 I'2 X'2

Iᶲ R'2 𝑃𝐵𝐿
𝑅𝐵𝐿 =
V1 E1 Xm
R'2 3𝐼12
s 𝑉1
R'2 (1-s)
𝑍𝐵𝐿 =
s 𝐼1

*Note that PBL is total three phase input

Pag Locked-rotor real power.
*Note that V 1 is phase voltage.

▪ Locked rotor Equiv Cct: 𝑋𝐵𝐿 = 2

𝑍𝐵𝐿 2
− 𝑅𝐵𝐿
𝑋𝐵𝐿
𝑋1 = 𝑋2′ =
2

From no load test we had “ 𝑋1 + 𝑋𝑚 = 𝑋𝑁𝐿 “,

so:

𝑋𝑚 = 𝑋𝑁𝐿 − 𝑋1

And using the blocked rotor equivalent cct

𝑅2′ = 𝑅𝐵𝐿 − 𝑅1

Transformers 29