Chapter 5 Induction Motors Final

3-PHASE INDUCTION
(ASYNCHRONOUS) MACHINES
Fall 2023
Originally prepared by Prof. Adel Gastli
Modified and
Presented by Dr. Atif Iqbal
9/16/23 Electrical Machines: Induction (Asynchronous) Machines 1

CHAPTER CONTENT
1 • Facts about IM
2 • Application
3 • Construction
4 • Rotating Magnetic field
5 • Principle of Operation
6 • Equivalent Circuit
7 • Performance Characteristics
8 • Starting Methods
9 • Speed Control

CHAPTER CONTENT
2 • Application
3 • Construction
9 • Speed Control

Magnetic field current
Synchronous is supplied by a
machines separate DC power
source
AC
machines Field current is
Induction supplied by magnetic
machines induction into their
field windings

Facts about IM
q In 1882, Nikola Tesla Tesla's AC Induction Motor is
discovered the rotating one of the 10 greatest
magnetic field, a fundamental discoveries of all time
principle in physics and one of
the greatest discoveries of all
times.
q Nowadays, about 65% of the
electric energy in the United
States is consumed by electric
motors.
q In the industrial sector alone,
about 75% is consumed by
motors and over 90% of them
are induction machines.

Why IMs are popular?
qThey are rugged
qReliable
qEasy to maintain
qRelatively inexpensive.
qTheir power-to-density ratios (output
power to weight) are higher than
some other motors.

CHAPTER CONTENT
2 • Application
3 • Construction
9 • Speed Control

Applications
qSmall single-phase induction motors
are used in many household
appliances, such as blenders, juice
mixtures, washing machines,
refrigerators, etc.
qLarge three-phase induction motors
are used in traction vehicles, lifts,
pumps, fans, compressors, paper
mills, etc.
Applications

Applications

Applications

CHAPTER CONTENT
2 • Application
3 • Construction
9 • Speed Control

Construction

Induction Motor Types
a
Air gap
Schematic Stator
Three-phase diagram of a
supply squirrel-cage rotor
induction motor Rotor
Stator Rotor
Winding Winding
c b
Three- phase Slip rings

Schematic diagram of a
supply wound- rotor induction
brushes motor
External
Stator Rotor Variable
Winding Winding resistors
Source: Prof. Lazhar Ben Brahim

Construction
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.

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

Construction
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.

CHAPTER CONTENT
2 • Application
3 • Construction
9 • Speed Control

Rotating Magnetic Field
https://www.youtube.com/watch?v=LtJoJBUSe28 4:43

https://www.youtube.com/watch?v=AQqyGNOP_3o

ia
ia ib ic ia > 0
t = t1 ì
íi =i < 0
îb c ib a
i <0 c’
t = t2 ì
íi c = i > 0 b’
îa
>
b ic rotor
t = t3 ì
i 0 b
íib =i < 0 c
îa c a’
ì ia > 0 ia < 0
t = t4 í
t1 t2 t3 t4 îib =i c  0
f
a a
b’ b’ f c c’
c’
fa fc
fb
f fa
c f c b
f
fb b
t=t1 a’ a’
Source: Prof. Lazhar Ben Brahim t=t2
ia ib ic
a c’ a a a
c’ c’ c’
b’ f b’ b’ b’ f
b f b
f b b
c c c c
a’ a’ a’ a’
t=t1 t=t2 t=t3 t=t4
t1 t2 t3 t4
T =
1
(s)
F makes 1 revolution in T sec.
f Þ Speed of rotation = f (rev/s)
p poles machine
f
120 f
nF = rps = rpm
p 2 p
Source: Prof. Lazhar Ben Brahim

Synchronous Speed formula
qOne cycle of current for one pole pair.
q1 revolution of flux in one current cycle for
one pole pair
q1 revolution of flux in two current Cycle for
two pole pair and so on
q1 revolution of flux in p current cycle for p
pole pairs.
qnumber of current cycles per flux
revolutions = p
qnumber of revolutions of flux per second = n

q frequency = number of current cycles per
second
qf = Number of Cycles / Sec.
qf

a'
When three-phase balanced currents are .
applied to a three-phase winding, (aa', bb', c + + b
cc', displaced from each other by 120
electrical degrees in space), a rotating b' . 120o
. c'
magnetic flux is produced. +
a
The speed at which the magnetic flux rotates is called the

synchronous speed Ns,
4pf
Ns = 120f/P
Synchronous ws = Angular Synchronous
Velocity (rad/sec)
Speed (rpm) p
Where f is the supply frequency and P is the total number
of poles.
The Rotating Magnetic Field
Conditions for producing rotating magnetic filed
Ø120 degree phase shift in the space
Ø120 degree phase shift in time
ia = I m cos(wt )
ib = I m cos(wt - 120 )
ic = I m cos(wt - 240 )
Net MMF along a spatial position ‘theta’
F (q ) = Fa (q ) + Fb (q ) + Fc (q )

Fa (q ) = Nia cos(q )
Fb (q ) = Nib cos(q - 120 )
Fc (q ) = Nic cos(q - 240 )
F (q ) = Nia cos(q ) + Nib cos(q - 120 )
+ Nic cos(q - 240 )
Substituting the expression of currents
F (q , t ) = NI m cos(wt ) cos(q ) + NI m cos(wt - 120 )

cos(q - 120 ) + NI m cos(wt - 240 ) cos(q - 240 )

Use the following trigonometirc relation:
1 1
cos( A) cos(B ) = cos( A - B ) + cos( A + B )
2 2
1 1
F (q , t ) = NI m cos(wt - q ) + NI m cos(wt + q ) +
2 2
1 1
NI m cos(wt - q ) + NI m cos(wt + q - 240 ) +
2 2
1 1
NI m cos(wt - q ) + NI m cos(wt + q + 240 )
2 2
3
= NI m cos(wt - q )
2
Note: Change the phase sequence and determine the Fnet
qThis shows a resultant mmf that rotates in the
airgap at a constant speed of w = 2pf

Space Vector

The synchronous speed ns depends on the number
of poles and the supply frequency.
Ns = 120f/P
Number of poles 2 4 6 8 12
ns (rpm) (f=60Hz) 3600 1800 1200 900 600
ns (rpm) (f=50Hz) 3000 1500 1000 750 500

CHAPTER CONTENT
2 • Application
3 • Construction
9 • Speed Control

Principle of Operation
https://www.youtube.com/watch?v=LtJoJBUSe28 4:43

q A rotor rod placed in the
rotating field is passed by
magnetic poles.
q The magnetic field of each pole
induces an emf and hence a
current in the rotor rod.
q The interaction between flux
and current create a force.
N Operational field and rotor
I
F
B
S
q The rod is thus influenced by force, (F).
q The next pole passing the rotor rod is of opposite polarity. It
induces a current in the opposite direction of the first one.
q However, as the direction of the magnetic field has changed
the force is still affecting the rod in the same direction.
q If the whole rotor is placed in the rotating field all the rotor
rods are thus influenced by forces making the rotor rotate.
q The rotor speed will not reach the speed of the rotational
field , as no currents are induced in the rotor rods when the
speeds are the same.
N S N
1
F F Induction in the
2
rotor rods
S
S N

qThe rotor will eventually reach a steady-
state speed n that is less than the
synchronous speed ns.
qThe difference between the rotor speed
and the synchronous speed is called the
slip, s , and is defined as
ns - n w s - w 2pn
s= = w= n in rpm
ns ws 60 ω in rad/s

qSNs=Ns-N; N = Ns (1-S)
qAt stand-still condition N= 0; hence S =1
qIf somehow, the speed of rotor is equal to
Ns then S = 0
qIf N>Ns then S<0—Generating Mode
qIf N is negative, S>1—Braking Mode

Induced EMF
The instantaneous value of the induced voltage in N turns
coil is given by:
df
e1 = - N1
dt
Let f = F m sin(wt )
\ e1 = - N1wF m cos(wt ) = N1 2pfF m sin(wt - p / 2)
The r.m.s. value of the induced voltage per phase is:
E1|rms = 4.44 fN1F p
where
N1 is the number of turns in series per stator phase winding
f is the supply voltage frequency
Fp is the flux per pole

Definitions
q N = the rotor speed in rpm (the motor speed) w.r.t. stator
q Ns = the speed in rpm of stator field w.r.t. stator or the
synch. speed
q Nr = the speed of rotor field w.r.t rotor in rpm
q s = the slip
q f = the frequency of the induced voltage in the stator (stator
or supply frequency)
q fr = the rotor circuit frequency or the slip frequency
120 f
Ns =
N r = N S - N = sN S Slip rpm P
P P P
fr = Nr = (NS - N ) = sN S = sf
120 120 120
EXAMPLE 1
A 3φ, 460 V, 100 hp, 60 Hz, four-pole induction
machine delivers rated output power at a slip of
0.05. Determine the:
a) Synchronous speed and motor speed.
b) Speed of the rotating air gap field.
c) Frequency of the rotor circuit.
d) Slip rpm.
e) Speed of the rotor field relative to the
i. rotor structure.
ii. stator structure.
iii. stator rotating field.

Solution

CHAPTER CONTENT
2 • Application
3 • Construction
9 • Speed Control

Equivalent Circuit
qIn principle the induction
motor consists of six coils. B A
qThree coils in the stator as

well as the short-circuit
rotor, which is magnetically C
acting as if it consisted of Air gap

three coils. I1
I2
qIt is possible to make an A
equivalent circuit diagram Stator Rotor

using one set of three coils.
Per-Phase Equivalent Circuit
qThis AC impedance of each I1
G
winding comprises: I2
– a resistance R and
– an inductive reactance X=2pfL,
and it is measured in Ohm [W]. L
is the inductance of the coil and Stator Rotor
it is measured in Henry [H].
qThe coils are loading
(interacting with) each other
through magnetic induction G.
– aThe rotor coil induces some
additional current in the stator
coil.

q At any slip S
When the rotor rotates with speed nm and slip s, the
rotor circuit frequency will be:
Frequency of the flux
f 2 = sf1 relative to the rotor.
The induced back emf in the rotor will be:
E2 s = 4.44 N 2 f 2 F p
= s (4.44 N 2 f1F p ) Expressed using

supply frequency
= sE2
Similarly: X 2 s = 2pf 2 L2 = s(2pf1 L2 ) = sX 2

n Therefore, the rotor equivalent circuit per-phase will be:
sX2 X2 X2
I2 I2 I2 R2
sE2 R2 E2 R2/s E2
R2(1-s)/s
sE2 E2 R2 1- s
Where I2 = = = R2 + R2
R2 + jsX 2 ( R2 / s ) + jX 2 s s
q The interaction between the two electrical circuits can be

represented with a common link like the transformers.
q The common link consists of magnetic core loss resistance Rc
(transverse resistance), and magnetizing reactance Xm
(transverse reactance).
R1 X1 X2 R2/s
I2 ’ N1 : N2
I1 Ic I2
V1 E1 E2
Rc Xm
R1 X1 X2’ R2’ /s
I1 Ic I2’
V1 E1= E2’
Rc Xm
2
æ N1 ö æ N2 ö æ N1 ö
2
æ N1 ö
E = E2 çç
'
2
÷÷ I = I 2 çç
'
2
÷÷ R = R2 çç
'
2
÷÷ X = X 2 çç
'
2
÷÷
è N2 ø è N1 ø è N2 ø è N2 ø

R1 X1 X2’ R2’ /s
’
I1 Ic I2
’
V Rc Xc E1= E2
R1 X1 X2’ R2’
’
I1 Ic I2
E1= E2
’ R'2
V Rc Xc ( 1- s )
s
R'2 R '
= R'2 + 2 ( 1 - s )
s s
Per Phase Equivalent Circuit
Equivalent to transformer’s
secondary windings
R1 X1 X2’ R2’
I1 Ic I2’
V E1= E’2 R'2 ( 1- s )
Rc Xm s
Equivalent to transformer’s Equivalent to transformer’s

primary windings load

q Complete Equivalent Circuit (per phase)
R1 X1 X’2 R’2
I1 Ic I’2 1- s
R2'
s
Xm
V1
Rc
Stator Circuit Airgap & Rotor Circuit Mechanical

Magnetic Circuit Load &
Rotational
losses

qSimplifies Equivalent Circuits
1) IEEE-Recommended Equivalent Circuit
R1 X1 X2
’
I1 IF I2 ’
V1 Xm R 2‘ /s
Core loss resistance is removed but core power loss is still considered in
the calculation of the efficiency.

2) p-Type Equivalent Circuit
R1 X1 X2’ R2’
I1 Ic I’2
E1= E2
’ R'2 -
V1 Rc Xm (1 s )
s
R1 X1 X2’ R2’
I1
Ic I’2
Xm E1= E2’ R2'

V1 Rc (1- s )
s

Xeq Req
I1
Ic I2 ’
R'2
V Rc Xm ( 1- s )
s
'
Req =R1 + R2
'
X eq = X 1 + X2
3) Thevenin Equivalent Circuit
R1 X1 X’2
’
I1
IF I2’
V1 Xm R 2‘ /s
Thevenin Theorem
Rth Xth X’2
’
I’2
Vth R 2‘ /s

qIn order to simplify computations, V1, R1, X1, and
Xm can be replaced by the Thevenin Equivalent
Circuit values Vth, Rth, and Xth, as shown below.
Xm
Vth = V1 Rth Xth X2’
R + (X1 + X m )
2 2
1
I2 ’
If R12 << ( X 1 + X m )
2
Vth R’2/S
as is usually the case,

Air gap
Xm
Vth » V1 = K thV1
(X1 + X m )
qThe Thevenin impedance is:
X2’
jX m (R1 + jX 1 )
Rth Xth
Z th = I2’
R1 + j ( X 1 + X m ) Vth R’2/S
= Rth + jX th
If R << ( X 1 + X m ) 2
2 Air gap
1
2
æ Xm ö
as is usually the case, Rth » çç ÷÷ R1 = K th2 R1
è X1 + X m ø
and since X1<<Xm, X th » X 1

Testing of 3-phase IM
qDC test (to find R1)
qNo-load test
qBlocked-rotor test

Determination of Equivalent Circuit
Parameters
q 1. Measurement of dc Resistance of Stator Windings
W R1
Usually a bridge is used to
I.M. measure the dc resistance
R1
of the stator windings.
The measured value between the two terminals is

equivalent to 2R1

Øthen VDC
RDC =
I DC
ØIf the stator is Y-connected, the per phase

stator resistance is
RDC
R1 =
2
ØIf the stator is delta-connected, the per phase

stator resistance is
3
R1 = RDC
2
Parameters
q 2. No-Load Test ( S = 0 )
A W1
Ic
V Ir Im
I.M. V0 Rc Xm
No Load
W2
Measured values VNL , INL , and PNL = W1 ± W2

Calculate the per phase values V1 , I1 and P1= Ptot /3
VNL Prot = PNL - 3I12 R1
V1 =
3 V1 P1 X NL = Z NL2
- RNL
2
I1 = I NL Z NL = RNL = 2 = X1 + X m
I1 I1
Parameters
Performed at lower voltage, and
q 3. Blocked rotor Test (S =1) frequency (25% rated frequency).
A ’
I1R1+R 2 X1+X 2
W1 ’
V
I.M.
V1 ZBL
Blocked
W2
Measured values VBL < V1L , IBL , and PBL= W1 ± W2

Calculate the per phase values V1 , I1 and P1 = PBL /3
P1 V1
RBL = R1 + R2¢ = 2
, Z BL = , X BL = X 1 + X 2¢ = Z BL
2
- RBL
2
I1 I1
X BL
\ R2¢ = RBL - R1 & X 1 = X 2¢ =
2
Parameters
q If the test is conducted at frequency fbl lower than the
rated frequency, then the values of the reactances must
be converted to rated frequency values by considering
that the reactance is proportional to frequency.
q However for normal motors (less than 20hp) the effects
of frequency are negligible and the blocked rotor test can
be performed directly at the rated frequency.
Comments: The rotor equivalent resistance R’2 plays an

important role in the performance of the induction
machine. A more accurate determination of R’2 is
recommended by the IEEE as follows:

q The blocked resistance RBL is the sum of R1 and an
equivalent resistance, say R, which is the resistance of
R’2 +jX’2 in parallel with Xm as shown below.
X m2
R = '2 R2
'
R2 + ( X 2' + X m ) 2
R
If 2
'2
<< ( X '
2 + X m ) 2
which is usually the case:
X m2 ( X '
+ X ) 2
More accurate
R» R2
'
R2' » 2 2 m R
( X 2' + X m ) 2 Xm value

EXAMPLE 2
The following test results are obtained from a 3φ, 60 hp,
2200 V, six-pole, 60 Hz squirrel-cage induction motor.
1. No-load test:
Supply frequency=60 Hz
Line voltage=2200 V
Line current=4.5 A
Input power=1600 W
2. Blocked-rotor test:
Frequency=15 Hz
Line voltage=270 V
Line current=25 A
Input power=9000 W

3. Average dc resistance per stator phase:
R1 =2.8 Ω
a) Determine the no-load rotational loss.
b) Determine the parameters of the IEEE-recommended
equivalent circuit.
c) Determine the parameters (Vth, Rth, Xth) for the Thevenin
equivalent circuit
R1 X1 X2’
IEEE-recommended
I1 IF I2’ equivalent circuit
V1 Xm R 2‘ /s
Rth Xth X2’
I2’ Thevenin
R’2/s
equivalent circuit
Vth

Solution

The blocked rotor resistance is

Since IEEE recommends more accurate determination of
R’2, then we need to proceed as follows
So,

(C) The Thevenin Equivalent circuit can be determined
from the IEEE recommended circuit as follows:
Xm
Vth » V1
(X1 + X m ) Rth Xth X2’
I2’
273.04
Vth » V1 Vth
(7.96 + 273.04) R’2/S
= 0.97V1
2
æ Xm ö
Rth » çç ÷÷ R1
è X1 + X m ø
( )2
Rth = 0.97 R1 = 0.97 ´ 2.8 = 2.63 W
2
X th » X 1 = 7.96 W
CHAPTER CONTENT
2 • Application
3 • Construction
9 • Speed Control

Power Flow
Input Power (Pin)
Stator Losses: Airgap Power (Pg)

Copper losses (Pcu1)
Core losses (Pcore)
Rotor Copper Losses (Pcu2) Developed Power (Pdev)
Rotational Losses (Prot) Output Power (Pout)

Power Flow
R1 X1 X’2 R’2
I1 Io I’2
V1 Ic Im E1=E’2 R2' (1 - s)
Pin = 3V1I1 cos f s
Rc Xm
jRc X m
Z m =
Rc + jX m
Pcu1 = 3I12 R1 I 2'2 R2'
Pag = Pin - Pcu1 - Pc = 3 Z m ( R2' / s + jX 2' )
s 
Z eq = ( R1 + jX 1 ) +
E12 Z m + ( R2' / s + jX 2' )
Pc = 3
Rc I1 = V1 / Z eq E1 = V1 - I1 ( R1 + jX 1 )
Pcu 2 = 3I 22 ' R2' = sPag 1- s Pdev Pag

Pdev = 3I R'2 '
= (1 - s ) Pag = Tdevwm Þ Tdev = =
wm w s
2 2
s
Pout
Prot Pout = Pdev - Prot Þ Tout =
wm

Power Flow
R1 X1 I 2’ X 2’ R 2’
If
I1 Ic Im I 2’
V1 Rc R2¢ (1 - s )
Xm
s
Pin Pag Pdev
R2¢
Pag = 3( I 2¢ ) 2 = Tdevw s
s
Pcu 2 = 3( I 2¢ ) 2 R2¢ = sPag \ Pag : Pcu 2 : Pdev = 1 : s : (1 - s )
R2¢ (1 - s )
Pdev = 3( I 2¢ ) 2 = (1 - s ) Pag Pag Pdev
s Tdev = =
= Tdevwm ws wm
Steps toward finding the induction
motor characteristics (Simplified)
qFor simplification, the IEEE equivalent circuit
is used.
qFirst, the circuit equivalent impedance is
calculated as follows:
æ R2' ' ö
jX m ç + jX 2 ÷÷
ç
 è s ø
Z eq = R1 + jX 1 + '
R2
s
+ j X m + X 2' ( )
R1 X1 X’2
I1 I F I’2
R’2 /s
V1 Xm

Steps toward finding the induction
motor characteristics
æ R2' ö
jX m çç + jX 2' ÷÷
s
1. Find equivalent impedance Z eq = R1 + jX 1 + ' è ø
R2
(
+ j X m + X 2' )
2. Find stator current: I = V1 = I f s
Z eq
1 1
3. Find power factor: cos f

Slip s should
be known
4. Find input power: Pin = 3V1I1 cos f
5. Find stator copper loss: Pcu1 = 3I12 R1
6. Find airgap power: I 2'2 R2'

Pag = Pin - P1 = 3 = Tdevw s
s
7. Find rotor copper loss: Pcu 2 = 3I 22 ' R2' = sPag
1- s P
8. Find developed power & Torque: Pdev = 3I 2'2 R2' = (1 - s) Pag Þ Tdev = dev
s wm
P
9. Find output power & Torque: Pout = Pdev - Prot Þ Tout = out
wr
EXAMPLE 3
A 3φ, 15 hp, 460 V, four-pole, 60 Hz, 1728 rpm
induction motor delivers full output power to a
load connected to its shaft. The windage and
friction loss of the motor is 750 W. Determine
the:
a) Mechanical power developed.
b) Air gap power.
c) Rotor copper loss.

Solution
(a) The shaft power is: Pshaft = Pout = 15 ´ 746 = 11,190 W
Mechanical power developed:

Pdev = Pout + Prot = 11,190 + 750 = 11,940 W
120 f 120 ´ 60
(b) The synchronous speed is: ns = = = 1800 rpm
p 4
ns - n 1800 - 1728
The slip is: s= = = 0.04
ns 1800
Pdev 11,940
The air gap power is: Pag = = = 12,437.5 W
1 - s 1 - 0.04
(c) Rotor copper loss is:
Pcu 2 = sPag = 0.04 ´12,437.5 = 1497.5 W

Torque-Speed Characteristics
Using the p-Type Simplified Equivalent Circuit
X eq R eq
I1
V1
I =
'
2
Io I 2’
2
R'2
æ '
R ö V1 Xm (1- s )
çç R1 + 2
÷÷ + X eq2 Rc s
è s ø
2
Pdev3( I 2' ) 2 R2' (1 - s ) 3V1 R2' (1 - s )
Tdev = = =
wm wm s éæ ' 2
R2 ö ù
swm êçç R1 + ÷÷ + X eq ú
2
êëè s ø úû

2
Pag 3V1 R2'
Tdev = =
Tdev ws éæ ' 2 ù
R2 ö
sw s êçç R1 + ÷÷ + X eq ú
2
Tmax êëè s ø úû
ns - n
s=
ns
Tst ws - w
=
ws
0 ns n
s 1 smax 0
Tdev
Maximum Torque
Tmax
Large Slip
Small Slip
Tst
Starting Torque
Slip at Maximum Torque
0 ns n
s 1 smax 0
Maximum Torque
3 V12 R2'
Tdev =
éæ ' ö
2 ù
R
sw s êç R1 + 2 ÷ + X eq
2 ú
êç ÷ ú
¶Tdev êëè
s ø úû
=0
¶s
2
R '
3V1
smax = 2
Tmax =
R +X
2 2
1 eq
2ws [ R1 + R + X ] 1
2 2
eq

Starting Torque
3V12 R2'
Tdev =
éæ ' 2
R2 ö ù
2
êëè s ø úû
During the starting: sst =1
2 '
3V R
Tst = 1 2
ws [( R1 + R ) + X eq ]
2 ' 2
2

Using the Thevenin Equivalent Circuit
Vth X2’
I =
'
2 2
Rth Xth
æ R2' ö
ç Rth + ÷ + ( X th + X 2¢ ) 2 I2’
è s ø R’2/S
Vth
Pdev Pag (1 - s )
Tdev = =
wm w s (1 - s ) Air gap
Pag 3( I 2¢ ) 2 R2¢
= =
ws ws 3Vth2 R2'
Tdev = 2
æ R ö '
sw s çç Rth + ÷÷ + ( X th + X 2¢ ) 2
2
è s ø

2
R '
V
Starting Torque (s=1): TSt = 3 2 th
ws (Rth + R2 ) + ( X th + X 2¢ ) 2
¢ 2
For maximum torque: dTdev

=0
ds
R2'
smax =
Rth2 + ( X th + X 2' ) 2
3 Vth2
Tmax =
2w S Rth + ( Rth ) 2 + ( X th + X 2' ) 2

Performance Characteristics
If the stator resistance is small, so Rth may be neglected.
R2' 3 Vth2
\ smax » and Tmax »
( X th + X 2' ) 2w S ( X th + X 2' )
and the ratio between the maximum torque and the torque
developed at any speed is given by:
Tmax ( R2' / s ) 2 + ( X th + X 2' ) 2 æ s ö ( R2' / s ) 2 + ( R2' / smax ) 2 æ s ö
= ' ç
' 2 ç
÷÷ = ' ç
2 ç
÷÷
T ( R2 / smax ) + ( X th + X 2 ) è smax ø ( R2 / smax ) + ( R2 / smax ) è smax ø
2 2 '
2
Tmax smax + s2
=
T 2 smax s
Torque/Speed Characteristics for varying R2
qThe maximum torque is 3 Vth2

Tmax »
independent of the rotor 2w S ( X th + X 2' )
resistance. R2'
S max »
qHowever, the value of the ( X th + X 2' )
rotor resistance determines
the slip at which the
maximum torque will occur.
qTo get maximum torque at
starting:
smax = 1
R2¢ = ( X th + X 2¢ )
Modes of Operation
qThe induction machine can be operated in
three modes: motoring, generating, and
plugging/braking.
qTo illustrate these three modes of operation,
consider an induction machine mechanically
coupled to a dc machine.

Modes of Operation

Unstable
Stable
-ns 0 ns

EXAMPLE 4
A three-phase, 460 V, 1740 rpm, 60 Hz, four-pole wound-rotor induction motor
has the following parameters per phase: R1=0.25W, R’2=0.2W, X1=X’2=0.5W,
Xm=30W. The rotational losses are 1700 watts. With the rotor terminals short-
circuited, find
a)
i. Starting current when started direct on full voltage.
ii. Starting torque.
b)
i. Full-load slip.
ii. Full-load current.
iii. Ratio of starting current to full-load current.
iv. Full-load power factor.
v. Full-load torque.
vi. Internal efficiency and motor efficiency at full load.
c)
i. Slip at which maximum torque is developed.
ii. Maximum torque developed.
d) How much external resistance per phase should be connected in the rotor
circuit so that maximum torque occurs at start?

Solution
460 1800 ´ 2p
(a) V1 = = 265.6 V ws = = 188.5 rad/sec
3 60
(i) At start s=1. The input impedance is:
R1 X1 X’2
I1
IF I’2
æ R2' ' ö R’2 /s
jX m ç + jX 2 ÷÷
ç V1 Xm
 è s ø
Z eq = R1 + jX 1 + '
R2
s
(
+ j X m + X 2' )
j 30(0.2 + j 0.5)
= 0.25 + j 0.5 + = 1.08 66o W
0.2 + j 30.5
The starting current is:
I = V1 265.6 = 245.9 - 66o A
Z eq 1.08 66o
st

(ii) We can use the Thevenin equivalent :
Xm Rth Xth X2’

Vth = V1
R12 + ( X 1 + X m )
2
I2 ’
Vth R’2/S
30 ´ 265.5
=
0.252 + 30.52
= 261.3 V
jX m (R1 + jX 1 ) j 30(0.25 + j 0.5) Rth = 0.24W

Z th = =
R1 + j ( X 1 + X m ) 0.25 + j 30.5
X th = 0.49W » X 1
= 0.55 63.9o =0.24 + j 0.49 = Rth + jX th
Vth 261.3
I 2' = = = 241.19 A
( Rth + R ) + ( X th + X )
' 2
2
' 2
2 (0.24 + 0.2) + (0.49 + 0.5)
2 2

Thus, the starting torque is:
Pag 3I 2'2 R2' ' / s
Tst = =
ws ws
3 ´ (241.19) 2 ´ 0.2 / 1
= = 185.2 Nm
188.5
(b)-(i) 1800 - 1740
s= = 0.0333
1800
R2' 0.2
(ii) = = 6.01W
s 0.0333
 j 30(6.01 + j 0.5)
Z eq = 0.25 + j 0.5 + = 6.2123 19.7 o W
6.01 + j 30.5
265.6
I FL = o
= 42 . 745 - 19 . 7 o
A
6.2123 19.7

Pout
h= ´100 = 87.5%
Pin
Pag
Eff internal = = (1 - s ) = 1 - 0.0333 = 0.967 ® 96.7%
Pdev

(c)-(i)
R2' 0.2
smax = = = 0.1963
Rth2 + ( X th + X 2' ) 2 0.24 2 + (0.49 + 0.5) 2
(ii) 3 Vth2
Tmax =
2w S Rth + ( Rth ) 2 + ( X th + X 2' ) 2
3 é 261.32 ù
= ê ú
2 ´188.5 ê 0.24 + 0.24 2 + (0.49 + 0.5) 2 ú
ë û
= 431.68 Nm
Tmax 431.68
= = 2.65
TFL 163.11

(d)
0.2 + Rext
'
smax = = 1 Þ Rext
'
= 1.0186 - 0.2 = 0.8186 W / phase
0.24 2 + 0.99 2
q Note that for parts (a) and (b), it is not necessary to use
the Thevenin’s equivalent circuit.
q Calculation in part can be done based on the IEEE
equivalent circuit as follows:

CHAPTER CONTENT
2 • Application
3 • Construction
9 • Speed Control

Starting of IM
qProblems:
– High starting current Slip is unity
– Low starting torque
V1 3 V1 R2'
2
I =
'
Tst =
(R + R ) ws [(R1 + R )
2 st
' 2 ' 2
1 2 +X 2
eq 2 + X eq2 ]

Starting by Reducing Voltage
2
3 V1
Tdev Tmax =
2w s[ R1 + R12 + X eq2 ]
Tmax1 V1
V1
I =
'
Tmax2 V2<V1
(R + R )
2 st
' 2
1 2 + X eq2
Tmax3 V3<V2<V1
Tst1
Tst2 2
3 V1 R2'
Tst =
ws [(R1 + R2' ) + X eq2 ]
Tst3 R'2 2
smax =
R12 + X eq
2
0 ns n
s 1 smax 0
Starting by Reducing Voltage
qStarting current is reduced (good)
qStarting torque is reduced (cannot
start heavy loads)
qMaximum torque is reduced (Motor
acceleration is low)
qSpeed at maximum torque is
unchanged

Starting by Increasing Rotor
Resistance
2
Tdev 3 V1
Tmax =
2w s[ R1 + R12 + X eq2 ]
Tmax Radd=0
Tst3
Radd1
Tst2 Radd2>Radd1
V1
I 2' st =
Tst1
(R + R
1
'
2 )2
+ Radd + X eq2
smax =
R + Radd
'
2 Tst =
2
3V1 R2' + Radd ( )
R12 + X eq2 ws [( R1 + R2' + Radd ) 2 + X eq2 ]
0 ns n
s 1 smax2 smax1 0
Starting by Increasing Rotor Resistance
(Cont’d)
qStarting current is reduced (good)
qStarting torque is increased (good)
qMaximum torque is unchanged
(Motor acceleration is high)
qSpeed at maximum torque is reduced

Classes of squirrel-cage motors
q According to the National Electrical Manufacturing
Association (NEMA) criteria, squirrel-cage motors are
classified into class A, B, C or D.
q The torque-speed curves and the design characteristics
for these classes are :
350
Class Starting Starting Rated D
Current Torque Load Slip 300 A
Percent of full-load torque

250
A Normal Normal < 5% C B
200
z
B Low Normal < 5%
150
C Low High < 5% 100

Class A Class C
50 Class B Class D
D Low Very High 8-13 %
0
0 20 40 60 80 100
Percent of synchronous speed

Classes of squirrel-cage motors
350
D
Percent of full-load torque 300 A
250
C B
200
z
150
100
Class A Class C
50 Class B Class D
0 100
0 20 40 60 80
Percent of synchronous speed
EXAMPLE 6
The rotor current at start of a three-phase,
460 V, 1710 rpm, 60 Hz, four-pole, squirrel-
cage induction motor is six times the rotor
current at full load.
a) Determine the starting torque as
percent of full-load torque.
b) Determine the slip and speed at which
the motor develops maximum torque.
c) Determine the maximum torque
developed by the motor as percent of
full-load torque.
Solution
Note that the equivalent circuit parameters are not
given. Therefore, the equivalent circuit parameters
cannot be used directly for computation.
(a) The synchronous speed is:

120 f 120 ´ 60
ns = = = 1800 rpm
p 4
The full-load slip is:
1800 - 1710
sFL = = 0.05 or 5%
1800
The full-load torque is:
Pag
3I R2 I 2 2
TFL = = µ 2 2
ws sw s s
Thus:
2
Tst æç I 2 ( st ) ö÷ s FL
=
TFL çè I 2 ( FL ) ÷ø 1
Tst = 6 ´ 0.05 ´ TFL = 1.8TFL = 180%TFL

2

T 2 smax
Using the following equation: = 2 2 s
Tmax s + smax
Thus:
TFL 2 smax Tst 2 smax
= 2 s FL =
Tmax s FL + smax
2
Tmax 1 + smax
2
Tst s +s 2 2
= max
= 1.8 FL
TFL s FL (1 + s ) 2
max
s + 0.0025
2 0.0875
max
= 1.8 s = 2
max
0.05 ´ (1 + smax )
2
0.91
smax = 0.31
The speed at maximum torque is:
nmax = (1 - smax )ns = (1 - 0.31) ´1800
= 1242 rpm
Tst 2 smax
(c) From the previous equation: =
Tmax 1 + smax
2
1+ s2
1 + 0.31 2
Tmax = max
Tst = ´1.8TFL
2 smax 2 ´ 0.31
Tmax = 3.18TFL or 318%TFL

CHAPTER CONTENT
2 • Application
3 • Construction
9 • Speed Control

Speed Control
The speed of an induction motor can be

varied by varying:
1. The synchronous speed of the rotating
field.
• Frequency
• Number of poles
2. The slip s when varying:
• Stator voltage
• Rotor resistance
• Rotor voltage (slip energy recovery)
Speed Control
q1- Stator voltage Control
Ta Vs2
3 V 2 R2'
Tdev =
éæ R2' ö
2
ù
sws êçç R1 + ÷÷ + X eq ú
2
êëè s ø úû
Rotor
T
i i
1
L a
A
vA T
N
4
T
B i Rotor
N 3
vB b
T
vC N
C
6 T
N i
5
c
T
2

Speed Control (Cont’d)
n 2- synchronous speed control
f
ns = 120
p
Change f Continuous variation
120 f
Changing ns =
p Change p Step variation

n 2-a) Examples of pole-changing 2:1
Series S Series A 4 poles
N N
N S N S N S N S
S
8 poles C B
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 becomes heavier and more expensive.
q 2-b) Stator Frequency Control
f
ns = 120
p
3 V 2 R2'
Tdev =
éæ ' 2
R2 ö ù
sws êçç R1 + ÷÷ + X eq ú
2
êëè s ø úû Torque-Speed curves at different

stator frequencies with constant
voltage supply
i
A L
Rectifier Inverter
B Rotor
N AC → DC DC → AC
filter
f Control
2
2 3 V1 R2'
3V1 Td =
Tmax = éæ ' 2
R2 ö ù
2w s[ R1 + R + X ]
1
2 2
eq
2
êëè s ø úû
T
Tmax1 f
Increasing
frequency 2
3V1 R2'
Tst =
w s [(R1 + R )
Tmax2 ' 2
2 + X eq2 ]
Tmax3
Tst1 Tmax4
Tst2 Tmax5
Tst3
Tst4
Tst5
ns1 ns2 ns3 ns4 ns5 n
Speed control of IM using variable voltage
variable frequency (VVVF): V/f control
(Constant flux operation, Constant slip)
2
2 3 V1 R2'
3V1 Td =
Tmax = éæ ' 2
R2 ö ù
2w s[ R1 + R12 + X eq2 ] sw s êçç R1 + ÷÷ + X eq ú
2
êëè s ø úû
torque
Tst4=Tmax f3 <f2 <f1 V/f

Tst3
2
3V1 R2'
Synchronous Tst =
w s [(R1 + R ' 2
) + X eq2 ]
Tst2 Tst1
speed ns 2
nr
0 ns3 ns2 ns1 ns

q3. 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: (high starting • Slow control
torque & low starting current) • Unbalance problems: if the
three resistors are unequal.

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

Slip-Energy Recovery
Three-phase supply
Nb
Transformer Nb:Na
Id Na
Rotor
+ Ld +
Vd Vdc
Slip power
_ _
Diode rectifier Controlled inverter

Speed Control
Neglecting stator & rotational loss:
Pout Pdev
h= » = 1- s
Pin Pag
Because the efficiency of the motor is approximately

proportional to (1-s), any method of speed control that
depends on the variation of the slip is inherently
inefficient.
Remark: The most efficient method of speed control is by

changing the voltage amplitude and the frequency at the
same time.
EXAMPLE 5
A three-phase, 460 V, 60 Hz, six-pole wound-rotor
induction motor drives a constant load of 100 Nm
at a speed of 1140 rpm when the rotor terminals
are short-circuited.
It is required to reduce the speed of the motor to
1000rpm by inserting resistances in the rotor
circuit.
Determine the value of the resistance if the rotor

winding resistance per phase is 0.2 W.
Neglect rotational losses. The stator-to-rotor turns

ratio is unity.
Solution
The synchronous speed is:
120 f 120 ´ 60
ns = = = 1200 rpm
p 6
Slip at 1140 rpm:
1200 - 1140
s1 = = 0.05 or 5%
1200
Slip at 1000 rpm:
1200 - 1000
s2 = = 0.167 or 16.7%
1200
R1 X1 X’2
I1 I I’2
F
R’2 /s
V1 Xm
q From the equivalent circuits, it is obvious that if

the value of R’2/s remains the same, the rotor
and stator currents will remain the same, and
the machine will develop the same torque.
q Also, if the rotational losses are neglected, the
developed torque is the same as the load
torque.

q Therefore, for unity turns ratio:
R '
R +R ' '
Constant
=2 2 ext
Load Torque
s1 s2
0.2 0.2 + Rext

'
=
0.05 0.167
Unity turn
Rext = R '
ext = 0.468 W/phase ratio

qThe End of Chapter-5

Chapter 5 Induction Motors Final

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3-PHASE INDUCTION

9/16/23 Electrical Machines: Induction (Asynchronous) Machines 1

9/16/23 Electrical Machines: Induction (Asynchronous) Machines 2

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Three- phase Slip rings

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The speed at which the magnetic flux rotates is called the

Net MMF along a spatial position ‘theta’

9/16/23 Electrical Machines: Induction (Asynchronous) Machines 26

F (q , t ) = NI m cos(wt ) cos(q ) + NI m cos(wt - 120 )

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9/16/23 Electrical Machines: Induction (Asynchronous) Machines 45

qThree coils in the stator as

acting as if it consisted of Air gap

qIt is possible to make an A

equivalent circuit diagram Stator Rotor

9/16/23 Electrical Machines: Induction (Asynchronous) Machines 47

The induced back emf in the rotor will be:

= s (4.44 N 2 f1F p ) Expressed using

Similarly: X 2 s = 2pf 2 L2 = s(2pf1 L2 ) = sX 2

q The interaction between the two electrical circuits can be

9/16/23 Electrical Machines: Induction (Asynchronous) Machines 50

Equivalent to transformer’s Equivalent to transformer’s

9/16/23 Electrical Machines: Induction (Asynchronous) Machines 52

Stator Circuit Airgap & Rotor Circuit Mechanical

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9/16/23 Electrical Machines: Induction (Asynchronous) Machines 54

Xm E1= E2’ R2'

9/16/23 Electrical Machines: Induction (Asynchronous) Machines 55

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as is usually the case,

and since X1<<Xm, X th » X 1

9/16/23 Electrical Machines: Induction (Asynchronous) Machines 59

9/16/23 Electrical Machines: Induction (Asynchronous) Machines 60

The measured value between the two terminals is