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    Induction Motor

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    ropef82117

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    © All Rights Reserved
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    CHAPTER ST Three-Phase Induction Motors 4.1 IntRobucTION Three-phase induction motor is the most popular type of a.c. motor. It is very commonly used for industrial drives since it is cheap, robust, efficient and reliable. It has good speed regulation and high starting torque. It requires little main- tenance. It has a reasonable overload capacity. 4.2 CONSTRUCTION A three-phase induction motor essentially consists of two parts : the stator and the rotor. The stator is the stationary part and the rotor is the rotating part. The stator is built up of high-grade alloy steel laminations to reduce eddy- current losses. The laminations are slotted on the inner periphery and are insulated from each other. These laminations are supported in a stator frame of cast iron or fabri- cated steel plate. The insulated stator conductors are placed in these slots. The stator conductors are connected to form a three-phase winding. The phase winding may be either star or delta-connected Fig. 4.1(@)). Fig. 42 (@ Induction motor stator with double-layer winding partly wound, (303) 304 Electric Machines The rotor is also built up of thin laminations of the same material as stator. The laminated cylindrical core is mounted directly on the shaft or a spider carried by the shaft, These laminations are slotted on their outer periphery to receive the rotor conductors. There are tivo types of induction motor rotors (a) Squirrel-cage rotor or simply cage rotor. (b) Phase wound or wound rotor. Motors using this type of rotor are also called slip-ring motors. 4.2.1 Cage Rotor It consists of a cylindrical laminated core with slots nearly parallel to the shaft axis, or skewed. Each slot contains an uninsulated bar conductor of aluminium or copper. At each end of the rotor, the rotor bar conductors are short-circuited by heavy end rings of the same material. The conductors and the end rings form a cage of the tyre which was once commonly used for keeping squirrels ; hence its name. A cage rotor is shown in Fig, 4.1(b). End ring, (lightly skewed) Fig.4.1 Cage rotor. The skewing of cage rotor conductors offers the following advantages : 1. More uniform torque is produced and the noise is reduced during operation. 2. The locking tendency of the rotor is reduced. During locking, the rotor and stator teeth attract each other due to magnetic action. 4.2.2 Wound Rotor or Slip Ring Rotor The wound rotor consists of a slotted armature. Insulated conductors are put in the slots and connected to form a three-phase double layer distributed winding similar to the stator winding. The rotor windings are connected in star. The open ends of the star circuit are brought outside the rotor and connected to three insulated slip rings. The slip rings are mounted on the shaft with brushes resting on them. The brushes are connected to three variable resistors connected in star. The purpose of slip rings and brushes is to provide a means for connecting external resistors in the rotor circuit. Three-Phase Induction Motors, 305 The resistors enable the variation of each rotor phase resistance to serve two purposes : (@) to increase the starting torque and decrease the starting, current from the supply. () to control the speed of the motor. A slip ring induction motor is shown in Fig. 4.2(a) and (b). tase supy awh ww} Ww pore a shat Fig. 42 Slip ring induction motor. 4.3 COMPARISON OF CAGE AND WOUND ROTORS The advantages of the cage rotor are as follows : (a) Robust construction and cheaper (b) The absence of brushes reduces the risk of sparking. (0) Lesser maintenance. (d) Higher efficiency and higher power factor. The wound rotors have the following merits : (a) High starting torque and low starting current. (b) Additional resistance can be connected in the rotor circuit to control speed. 306 Electric Machines Se 4.4. PRODUCTION OF ROTATING FIELD When 3-phase windings displaced in space by 120° are supplied by 3-phase currents displaced in time by 120°, a magnetic flux is produced which rotates in space. 4.4.1 Analytical Method Consider three identical coils located on axes physically at 120° in space as shown in Fig. 4.3(a). Let each coil be supplied from one phase of a balanced 3-phase supply. Each coil will produce an alternating flux along its own axis. Let the instantaneous fluxes be given by ©, =0,, sin ot (44.1) ©, =, sin (ot -120°) (4.4.2) ©, =©,, sin (@t + 120°) (443) The resultant flux produced by this system may be determined by resolving the components with respect to the physical axes as shown in Fig. 4.3(b) \, Axis of phase ¢ {pois of phase (@) ® Fig. 43 The resultant horizontal component of flux is given by , = ©, ~©, cos 60° -@, cos 60° =, ~(@, +5) cos 60° = ©, -} (©, +05)=0, sin ot -2[6,, sin (ot -120°)+ ®,, sin (ot +120°)] o, =@,, sin ot = (sin wt cos 120°- cos wt sin 120° + sin wt cos 120° + cos wt sin 120°) ®, =o, sinot-2™x (2 si a1 =@,, sin of - 5" x@ sin wt)(—3) or ®, 3 ®,, sin ot (4.4.4) Three-Phose Induction Motors 307 RC The resultant vertical component of flux is given by ®, =0-©, cos30°+ @, cos 30° = cos 30°[- ©, sin (wt ~120°) + ©, sin (ct + 120°)] 8 2 ®,, [—(sin wt cos 120° — cos wt sin 120°) +(sin et cos 120° + cos at sin 120°)]} -8 ®,,(2 cos ot sin 120°) =%8 ®,, ~2eosatx 8 or o,= 3 ®,, cos wt (4.4.5) The components ®, and ®, are shown in Fig. 4.3(0). Fig 43 © @ Resultant flux = 07 +0? = 3°, sinot) 30, FB, cot) on (sin? wt + cos? at) (44.6) (4.4.7) Equation (4.4.6) shows that the resultant flux ®, is independent of time. It is a constant flux of magnitude equal to 3 times the maximum flux per phase. Equation (4.4.7) shows that angle @ is dependent on time. From Eq. (4.4.7), 0 =90°-at, (@) At ot =0%, @=90° corresponding to position A in Fig, 4.3(d). (b) At wt =90°, 0° corresponding 'to position B. (c) At wf =180°, @=-90° corresponding to position C. (d) At @f=270°, @=~180° corresponding to position D. 308 Electric Machines 33 — Itis seen that the resultant flux rotates in space in the clockwise direction with angular velocity of radians per second. P) Since o=2nf and f= =, the resultant flux rotates with synchronous speed. The following conclusions are drawn from the above discussion : 1, Three-phase currents of a balanced supply system produce a pescleas flux of constant magnitude in air gap of the motor. The magnitude o| the flux at every instant is 5 Om 2. The resultant flux is rotating in nature and its angular velocity is the <, the resultant 120 same as that of supply currents. Since =2nf and f = air-gap flux rotates with synchronous speed. 3. The direction of rotation of resultant flux in the air gap depends upon the phase sequence. The direction is the same as the phase sequence of the supply. 4.4.2. Graphical Method Figure 4.4 shows the waveforms of the fluxes produced by the three coils. The maximum value of the flux due to any one of the three phases is ,,. The positive directions of flux phasors for each phase are shown in Fig. 4.3(a). The resultant tux ®,, at any instant, is equal to the phasor sum of the fluxes due +9, to three phases. The magnitude of the phasors is proportional to the ordinates of the waveforms in each case, and the direction is taken from Fig. 4.3(a). We shall > °m| determine the values of ®, at four instants 60° apart corresponding i ‘ig. 44 Waveforms of fluxes produced by to points 0,1,2and3in Fig 44. Fi ee Oe Ke (i) When at =0° This instant corresponds to point O in Fig. 4.4. Putting wt =0° in Eqs. (4.4.1), (4.4.2) and (4.4.3) gives ©, =©,, sin of =9,, sin0°=0 ©, =, sin(wt -120°)=0,, sin(-120°)= ©, =, sin(wt +120°)=@,, sin 120° Three-Phase Induction Motors 309 ae _The phasor for @; in Fig. 45(a) is shown along, OB whichis in a direction sr Foran ave direction in Fig, 4.30) Phasor ©, is shown along OC. The L. + is the phasor sum of OB and OC. Thus ®, is equal to phasor OD. ®, = OD=2 OE =2 0 c0s30° =2x 3. 8 7 om > @ot=0° (oto Fig. 45 (ii) When wt = 60° This instant corresponds to point 1 in Fig. 4.4. Substitution of wt =60° in Eqs. (4.4.1) to (4.4.3) gives ®, =0,, singo?=8 ©, =@,, sin (60°-120°)= ’n Sin (—60°) = ©, =©,, sin (60° + 120°) =4,, sin 180° =0 Phasors ®,,©, and their resultant ©, is shown in Fig. 4.5(b). 30, 2 6, =0D=204 0s30"=2x 3 0,8 = It is seen that the resultant flux ©, is again A ®,, but has rotated clockwise through an angle of 60° from position at instant 0. 310 Electric Machines La (iii) When wt = 120° This instant corresponds to position 2 in Fig. 4.4. Here ®, =o, siniz0°= 98 ®,, along OA in Fig, 4.5(¢) ©, = ®,, sin(120°-120°)=0 ©; =, sin (120° + 120°) = -2 ©, along OC in Fig. 4.5(c) ®, =0D=20Acos30"=2 x3 0,x 8-20 2 Hence the resultant is 3 6, but has further rotated clockwise through an angle of 60° from position at instant 1 in Fig. 4.4. 0.S0, D (c) wt = 120° (d) ot = 180° Fig.45 (iv) When wt = 180° This instant corresponds to position 3 in Fig. 4.4. Here ©, =©,, sin180°=0 ©, = ©,, sin(180°-120°) -8 ©, along OB in Fig, 4.5(d) ©, = ©, sin(180° + 120°) --8 ®,, along OC in Fig, 4.5(d) ©, = OD=2 OBcos30°=2x 8 @, . 8-3 » r 2 2 2 The resultant is 3 ©, but has further rotated clockwise through an angle of 60° from position at instant 2 in Fig. 4.4. Three-Phase Induction Motors 311 ot 4.5 PRINCIPLE OF OPERATION OF A THREE-PHASE INDUCTION MOTOR For the sake of simplicity, let us consider one conductor on the stationary rotor as shown in Fig, 4.6(a). Let this conductor be subject to the rotating magnetic field produced when a three-phase supply is connected to the three-phase winding of the stator. Let the rotation of the magnetic field be clockwise. A magnetic field moving clockwise has the same effect as a conductor moving anticlockwise in a stationary field, By Faraday’s law of electromagnetic induction, a voltage will be induced in the conductor. Since the rotor circuit is complete, either through the end rings or an external resistance the induced voltage causes a current to flow in the rotor conductor. By right-hand rule we can determine the direction of induced current in the conductor. Since the magnetic field is rotating dlockwise, and the conductor is stationary we can assume that the conductor is in motion in the anticlockwise direction with respect to the magnetic field. By right hand rule the direction of the induced current is outwards (shown by dot) as given in Fig. 4.6(b). The current in the rotor conductor produces its own magnetic field [Fig. 4.6(0)]. Motion of conductor: relative to field " Flux direction Rotation of field © Force on conductor Flux of field @ © 2 Fig. 4.6 Production of torque We know that when a conductor carrying current is put in a magnetic field a force is produced on it. Thus, a force is produced on the rotor conductor. The direction of this force can be found by left-hand rule (Fig. 4.6(d)]. It is seen that the force acting on the conductor is in the same direction as the direction of the 312 Electric Mochines ee A rotating magnetic field. Since the rotor conductor is in a slot on the circumference of the rotor, this force acts in a tangential direction to the rotor and develops a torque on the rotor. Similar torques are produced on all the rotor conductors. Since the rotor is free to move, it starts rotating in the same direction as the rotating magnetic field. Thus, a three-phase induction motor is self-starting. Since the operation of this motor depends upon the induced voltage in its rotor conductors, it is called an induction motor. 4.6 SPEED AND SLIP An induction motor cannot run at synchronous speed. Let us consider for a moment that is rotor is rotating at synchronous speed. Under this condition, there would be no cutting of flux by the rotor conductors, and there would be no generated voltage, no current and no torque. The rotor speed is therefore slightly less than the synchronous speed. An induction motor may also be called as Asynchronous motor’ as it does not run at synchronous speed. The difference between the synchronous speed and the actual rotor speed is called the slip speed. Thus, the ‘slip speed’ expresses the speed of the rotor relative to the field. If, =synchronous speed in r-p.m. N, =actual rotor speed in r.p.m. then, slip speed =N, -N, rpm. (4.6.1) The slip speed expressed as a fraction of the synchronous speed is called the per-unit slip or fractional slip. The per-unit slip is usually called the slip. It is denoted by s. per unit (pu) (462) _N, Percentage slip = “x 100 (4.6.3) Alternatively if n, = synchronous speed in r.p.s. 1, = actual rotor speed in r.p.s. then amt pu. (4.6.4) and _ percentage slip (4.65) Also, (4.6.6) The slip at full load varies from about 5 per cent for small motors to about 2 percent for large motors. Three-Phase Induction Motors 313 po 4.7 FREQUENCY OF ROTOR VOLTAGE AND CURRENT The frequency of current and voltage in the stator must be the same as the supply frequency given by (4.7.1) The frequency in the rotor winding is variable and depends on the difference between the synchronous speed and the rotor speed. Hence the rotor frequency depends upon the slip. The rotor frequency is given by el P(N, ~N,) (4.7.2) 120 Division of Eq. (4.7.2) by Eq, (4.7.1) gives Sf, _N-N, f N, But . a (4.73) That is, rotor current frequency = per unit slip x supply frequency When the rotor is stationary (standstill) When the rotor is driven by a mechanical prime mover at synchronous speed ). Therefore, frequency of rotor current varies from f, = f at stand-still (s=1) to f, =0 at synchronous speed (s =0). In our further discussion we take f = f, and f, = fy. f= 74) EXAMPLE 4.1 A 12-pole, 3-phase alternator is coupled to an engine running at 500 r.p.m. It supplies an induction motor which has a full-load speed of 1440 r.p.m. Find the slip and the number of poles of the motor. _ PN, _12x500 SOLUTION. = fA 120 120 The speed of the induction motor is 1440 r.p.m. Under normal operating conditions, an induction motor operates at a speed slightly less than its synch- ronous speed. The supply frequency for induction motor is 50 Hz. The possible synchronous speeds for 50 Hz are 3000, 1500, 1000 r.p.m. etc,, so the closest synchronous speed corresponding to the actual speed of 1440 r.p.m. is 1500 .p.m,, that is, N,,, =1500 r. p.m. =50Hz 314 Electric Machines foe A Now —N, _ 1500-1440 f the motor s= =0,04 =4% Slip of the motors = oT Number of poles of the motor p, -220f 120% 50 _ "New 1500 BAMPLE42 The frequency of the e.m,f. in the stator ofa 4 pole induction motor is 50 Hz, and that in the rotor is 1.5 Hz. What is the slip, and ot what speed is the motor running ? SOLUTION. =1500r.p.m. . P Speed of the motor 120 f, _ 120% 50 - 4 N=(1-s) N, =(1-0.03)x 1500 = 1455 r. p.m. [ EXAMPLE 4.3. A 3-phase, 6-pole, 50 Hz induction motor has a slip of 1% at no load, and 3% at full load. Determine : (a) synchronous speed ; (b) no-load speed ; (c)full-load speed ; (d) frequency of rotor current at standstill ; (e) frequency of rotor current at full load. SOLUTION. @N, 20, fx 120% 50 71000 p.m. | (6) Ny =(-sp) N, =(1-0.01) x 1000 =990 r.p.m. (©) Ng =(-S_) N, =(1-0.03)x 1000 =970 r. p.m. (d) Frequency of rotor current at standstill f, =sf, =1x 50=50 Hz (e) Frequency of rotor current at full-load f, =5, f, =0.03x 50=1.5 Hz 4.8 ROTOR CURRENT (a) Standstill conditions Let Ey) =e.m4f. induced per phase of the rotor at standstill. R, = resistance per phase of the rotor Xp = reactance per phase of the rotor at standstill =27 f, L, Zz = rotor impedance per phase at standstill Ing = rotor current per phase at standstill Three-Phose Induction Motors 315 Zay = Ry + 1X20 (48.4) E, Tyg = £20 (48.2) : Zy Power factor at standstill COS D yy = (4.8.3) Zy (R3 + X32 (6) Rotor current at slip s Induced emf per phase in the rotor winding at slip s is E,, =sE (4.8.4) Rotor winding resistance per phase = Ry Rotor winding reactance per phase at slip s is Xp, =2nf,L=2n(sf,) L=sXq9 (4.8.5) Rotor winding impedance per phase at slip s is Zoq = Ry + jXqq = Ry + j8X9 (4.8.6) Rotor current at slip s is 1, = Ex (4.8.7) Z3, Power factor at slip sis cos ®,, == (488) 28 EXAMPLE 4.4 A3-phase, 50 Hz, 4-pole induction motor has a slip of 4%. Calculate : (a) speed of the motor ; (b) frequency of rotor emf. If the rotor has a resistance of 1Q and standstill reactance of 40, calculate the power factor (i) at standstill, and (ii) at a speed of 1400 r.p.m. meh oe 50 _ 1500 r.p.m. ; 3=4% =0.04 p.u. (a) Speed of the motor N=(1~s) N, =(1-0.04)x 1500 =1440 r. p.m. (b) Frequency of rotor emf fi =5f; =0.04 x 50 =2 Hz () Ry =12, Xp =40 Rotor impedance at standstill Zap = Ry + [Xqy =1+j4 Power factor at standstill 0s ®yy = 008 75.96° =0,2425 (lag) SOLUTION. N, 123 275.96° 2 316 Electric Machines 3 (ii) The slip at a speed of 1400 r.p.m. is N,-N_ 1500-1400 4 N, 150015 Rotor impedance at slip s, is Zag = Ry + 15,Xaq $14 jx hx d= 1+ 0.2667 = 1.03495 214.93°2. Power factor at 1400 r.p.m. is cos ®,, = cos 14.93: .9662 (lag) BAMPLEAS A S-phase slip-ring induction motor gives a reading of 60 V across slip rings when at rest with normal stator voltage applied. The rotor is star connected and has an impedance of (0.8 + j6)Q per phase. Find the rotor current when the machine is (a) at standstill with the slip-rings joined to a star-connected starter with a phase impe- dance of (4+ j3)Q and (b) running normally with a 5% slip. SOLUTION. Ex =emf induced per phase of the rotor at standstill 60. == =3464V 3B Total impedance of the = impedance + impedance rotor at standstill of rotor of starter =(0.8 + j6)+(4 + j3)=48 + j9Q (a) Current at standstill _ Eng _ 34.64. 20° __ 34.64 20° 99 = 2 = —_——_ = —__ $3,396 £-61.93° A Zy 4.8+j9 10.2 261.93° (b) s=5%=0.05 p.u. During normal running, the starting resistances are cut off : 1,

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