Chapter - 7 Induction - Motor - Part4

10/28/2011
• Section 7.8: Starting of Induction Motors

• Section 7.9: Speed Control of Induction Motors
• Section 7.11: Determining Circuit Model
Parameters
Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 65
Starting of Induction Motors

Please read from Section 7.7 in the Chapman
textbook.
Dr. Ungku Anisa, July 2008 1

10/28/2011
Speed Control of IM
There are basically 2 techniques to control the speed of
an induction motor:
Varying speed of the stator

Varying the slip,
and rotor magnetic fields,
i.e. shape of T-ω curve
i.e. synchronous speed
120 f e 3V s2 R r'
nsync =
P
Td =
[(
s ω sync R s + R r' s ) + (X
2
s + X r' )]
2
1. varying the _electrical_______ 1. varying the _rotor__________

frequency________________ resistance________________
2. changing the _number of ____ 2. varying the _terminal _____
poles_____________________ voltage___________________
Speed Control of IM
Changing the number of poles
Machines must be specially manufactured (i.e. called pole
changing motors or multi-speed motors)
Need special arrangement of stator windings
Only used with squirrel-cage motors
Because number of poles induced in squirrel cage rotor will
follow number of stator poles
Two methods:
Multiple stator windings
stator has more than one set of 3-phase windings
only energize one set at a time
simple, expensive
Consequent poles
Discrete step change in speed

10/28/2011
Speed Control of IM
Changing the number of
poles
Consequent poles
Single set of windings
divided into few coil groups
No. of poles changed by
changing connections of
coil groups
Change in pole number by
factor of 2:1 only
A two-pole stator winding for pole changing.

Notice the very short pitch (60° to 90°) of
these windings.
Speed Control of IM
Changing the number of poles
Consequent poles (ctnd.)
Close up view of one phase of
a pole changing winding.
In Figure (a): the 2-pole
configuration, one coil is a
north pole and the other is a
south pole.
In Figure (b): when the
connection on one of the two
coils is reversed, they are both
north poles, and the magnetic
flux returns to the stator
halfway between the two
coils. The south poles are
called consequent poles.
Hence the winding is now 4-
pole.

10/28/2011
Speed Control of IM
Varying the rotor resistance R2 (or Rr’ )
This is only possible for wound rotor induction motors
can add __external resistances to the rotor circuit_______
to vary the
torque-speed curve.
BUT this causes
reduction in motor
efficiency.
Hence, it is used
TL
only for short periods.

speed range
Speed Control of IM
Varying the terminal voltage Vt
How is it done?
using a transformer (rarely used)
Through power electronics (i.e. thyristor voltage controller)
Varying the terminal voltage will vary the operating
speed.
But it also causes variation of operating torque since
Tstart ∝ VT2
In terms of the range of speed variations, it is not
significant
Hence, this method is only suitable for small motors.

10/28/2011
Speed Control of IM
Voltage can only be reduced from rated Vs (i.e. 0 < Vs ≤ Vs,rated)
From torque equation, Tind ∝ Vs2
When Vs ↓, Te and speed reduces.
If terminal voltage is reduced to bVs, (i.e. Vs = bVs,rated) :
3R '
Td = r
( bVs)2
(7.48)
sω s  Rr' 
2

(
 Rs +  + X s + X r' )
2

 s  
Note: b ≤ 1
Speed Control of IM
Disadvantages:
limited speed range ⇒ when
applied to Class B (low-slip) motors
Excessive stator currents at low
speeds ⇒ high copper losses
Distorted phase current in machine
and line (harmonics introduced by
TL
thyristor switching)
Poor line power factor
Hence, only used on low-power,
appliance-type motors where
efficiency is not important
e.g. small fan or pumps drives
speed range

10/28/2011
Speed Control of IM
Varying the electrical frequency fe
Speed control above rated (base) speed
Requires the use of PWM inverters to control frequency of motor
Frequency increased (i.e. ωs increased)
Stator voltage held constant at rated value ω curve at
T-ω
rated fe = 60 Hz
Airgap flux and rotor current decreases
(base speed = nsync = 1800 rpm)
Developed torque
decreases T-ωω curves at
Te ∝ (1/ωs) f > rated fe
For control below
base speed –
use Constant TL
Volts/Hz method
Constant Volts/Hz (V/f) Control

Airgap flux in the motor is related to the induced stator voltage
VS (assuming small voltage drop across Rs and Xs):
V Assuming small voltage drop
φag = S across Rs and Xs
f
For below base speed operation:
Frequency reduced at rated Vs - airgap flux saturates
(f ↓ ,φag ↑ and enters saturation region of B-H curve):
- excessive stator currents flow
- distortion of flux wave
- increase in core losses and stator copper loss
Hence, keep φag = rated flux
stator voltage Vs must be reduced proportional to reduction in f
(i.e. maintaining Vs / f ratio)

10/28/2011

2
Max. torque remains almost constant V
Tmax ∝ s
ωs
For low speed operation:
can’t ignore voltage drop across Rs and Xs (i.e. E1 ≠ Vs)
poor torque capability
(i.e. torque decreased at low speeds)
stator voltage must be boosted – to compensate for voltage
drop at Rs and Xs and maintain constant φag
For above base speed operation (f > frated):
Frequency increased
Stator voltage held constant at rated value
Airgap flux and rotor current decreases Developed torque
decreases
Same as Variable Frequency control (refer to slide 75)
Poor Torque capability at low speeds


10/28/2011

Vs vs. f relation in Constant Volts/Hz drives
Vs Boost - to
compensate for
Vrated voltage drop at Rs
and Lls
Linear offset curve –

Linear offset
• for high-starting
torque loads
• employed for most
applications
Non-linear offset
curve –
• for low-starting
Non-linear offset – varies with Is torque loads
Boost
f
frated

For operation at frequency β times rated frequency:
fs = β fs,rated ⇒ ωs = β ωb (7.49)
where ωb = base speed = rated synchronous speed (in rads-1)
Stator voltage to applied:
β Vs , when f s < f s,rated

Va =  (7.50)
Vs , when f s > f s ,rated
where Vs = rated stator phase voltage of motor
Voltage-to-frequency ratio = d = constant:
Vs Va
d= = (7.51)
ωb ωs

10/28/2011

For operation at frequency β times rated frequency:
Hence, the torque produced by the motor:
2
3R ' Va
Td = r
sω s   R' 
2
 (7.52)
 Rs + r  + β 2 ( X s + X r )2 
 s  
where ωs and Va are calculated from (7.49) and (7.50)
respectively.

For operation at frequency β times rated frequency :
The slip for maximum torque is:
Rr'
smax = (7.53
Rs + β ( X s + X r )
2 2 2
The maximum torque is then given by:

2
3 Va
Tmax = (7.54)
2ω s  R ± R 2 + β 2 ( X + X )2 
 s s s r 
where ωs and Va are calculated from (7.49) and (7.50)

respectively.

10/28/2011

Constant
Torque Area Field Weakening Mode (f > frated)
Rated (Base) (below base speed)
frequency • Reduced flux (since Vs is constant)
• Torque reduces
⇒Constant Power Area
(above base speed)
TL Note:
Operation restricted
between synchronous
speed and Tmax for
motoring and braking
regions, i.e. in the
linear region of the
torque-speed curve.
speed range

Constant Torque Area
Constant Power Area

10/28/2011
Example on Constant V/f

A three-phase 11.2 kW, 1750 rpm, 460 V, 60 Hz, four pole,
Y-connected induction motor has the following parameters:
Rs = 0.66 Ω Rr ’ = 0.38 Ω
Xs = 1.14 Ω Xr = 1.71 Ω Xm = 33.2 Ω
The motor is controlled by varying both the voltage and
frequency. The volts/Hz ratio, which corresponds to rated
voltage and rated frequency, is maintained constant.
Calculate the maximum torque and the corresponding
speed for 60 Hz and 30 Hz.
Determining Circuit Parameters

If a model of a real induction motor is required for
analysis, determination of the equivalent circuit
parameter values is essential, i.e. R1, R2, X1, X2 and XM.
This is achieved by conducting three types of tests:
Blocked
No Load
DC Test (locked)
Test
Rotor Test

10/28/2011

No Load Test
To get?
the rotational losses Prot of the motor
provides information about magnetisation current (i.e. Xm)
Test Circuit?

No Load Test
Method:
An ac voltage is applied to the IM with rotor allowed to
spin freely.
Input voltageVφ,nl , current I1,nl and input power Pin,nl are
measured.

10/28/2011

No Load Test -Analysis:
The motor is not loaded, hence:
It only has load due to rotational losses (i.e. Pconv = Prot)
It is running at very small slip (approx. 0.001 or less) (R2 and
X2 can be ignored)
Equivalent circuit reduces to:
Rconv = Rfriction, windage & core

No Load Test – Calculating Prot and Xm
At no-load conditions,
Pin (measured by wattmeters) = losses in the motor
Pin ,nl = PSCL + Prot = 3I12 R1 + Prot
Hence, if R1 is obtained from another test, then:
Prot = Pin, nl − 3I12 R1 (7.55)
Since Xm << Rconv, then from measured Vφ,nl and I1,nl :

V  V 
Z no−load =  φ , nl  ≈ ( X 1 + X m ) X m =  φ ,nl  − X 1 (7.56)
 I1, nl  I 
 φ ,nl 
Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD X1 is obtained from another test 90

10/28/2011

DC Test
To get?
the stator resistance R1 of the motor
Test Circuit?

DC Test - Method:
DC voltage is applied across two of the three terminals of
the Y-connected motor with stator current adjusted to
rated value (to obtain normal operating condition
temperature).
The voltage VDC and current IDC are measured.

10/28/2011

DC Test – Calculating R1
VDC
Due to the Y-connection of motor, 2 R1 =
I DC
Hence, R1 is obtained : What if test was done in
VDC delta ∆ connection?
R1 = (7.57)
2 I DC
With R1 known, PSCL can be determined and finally the
rotational losses in the no load test can be calculated
using (7.55)
But this method is inaccurate since it neglects skin effect
due to ac voltages in motor.

Locked Rotor Test
To get?
The values of R2 and (X1 + X2)
Test Circuit?

10/28/2011

Locked Rotor Test - Method:
The rotor is locked or blocked.
An ac voltage with frequency of 25% or less of the rated
frequency is applied to the stator terminals and the current
flow is quickly adjusted to be approximately full-load
value.
Cannot run the test at 50 or 60Hz because under normal
operating conditions, the motor slip is small (2 – 4%) and
rotor frequency is between 1- 3 Hz
Hence, to get accurate value of X2, need to run the test at
lower frequency to simulate small slip at normal conditions.
The voltage Vφ,lr, current I1,lr and input power Pin,lr of the
motor are measured quickly (before the rotor heats up too
much).

Locked Rotor Test -Analysis:
The rotor is blocked, hence:
slip = 1, and in equivalent circuit (R2 /s) = R2
almost all of the input current will flow through R2 and X2
instead of Xm (i.e. Xm can be ignored)
Equivalent circuit reduces to:

10/28/2011

Locked Rotor Test – Calculating Zlr
From the measured Pin’lr , Vφ,lr and I1,lr , the locked rotor
power factor can be calculated:
Pin ,lr
cos θ = (7.58)
3Vθ ,lr I1,lr
Hence, the magnitude of total impedance in locked rotor
test equivalent circuit, then:
V 
Z lr =  φ ,lr  (7.59)
 I1,lr 
Hence, the total impedance is:
Z lr = Rlr + jX lr' = Z lr cos θ + j Z lr sin θ (7.60)

Locked Rotor Test – Calculating R2 and (X1 + X2)
From the real part of (7.60):
Rlr = Z lr cos θ = R1 + R2
Therefore, the referred rotor resistance is calculated from:
R2 = R1 − Z lr cos θ (7.61)
From the imaginary part of (7.60):
X lr' = Z lr sin θ (7.62)
Finally, (X1 + X2) must be obtained from the actual value of

Xlr at the rated motor frequency using:
( f
)
X 1 + X 2 = X lr = rated X lr'
f test
(7.63)

10/28/2011

Locked Rotor Test – Calculating X1 and X2
The final individual values of X1 and X2 are obtained based
on the proportions in the table below based on motor
class.
Rotor Design X1 X2
Wound rotor 0.5 XLR 0.5 XLR
Design A 0.5 XLR 0.5 XLR
Design B 0.4 XLR 0.6 XLR
Design C 0.3 XLR 0.7 XLR
Design D 0.5 XLR 0.5 XLR
With the final value of X1 known, then Xm in the no-load
test can be calculated from (7.56).
Example 7.8
The following test data were taken on a 7.5 hp, 4-pole,
208V, 60Hz, design A, Y-connected induction motor
having a rated current of 28A.
DC Test: VDC = 13.6 V IDC = 28.0 A
No-load test:
VT = 208 V f = 60 Hz Pin = 420W
IA = 8.12 A IB = 8.20 A IC = 8.18 A
Locked-rotor test:
VT = 25 V f = 15 Hz Pin = 920W
IA = 28.1 A IB = 28.0 A IC = 27.6 A
Sketch the per-phase equivalent circuit for this motor.

10/28/2011
References
Chapman, S. J., Electric Machinery Fundamentals, McGraw Hill,
New York, 2005.
Rashid, M.H, Power Electronics: Circuit, Devices and
Applictions, 3rd ed., Pearson, New-Jersey, 2004.

Chapter - 7 Induction - Motor - Part4

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10/28/2011

• Section 7.8: Starting of Induction Motors

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 65

Starting of Induction Motors

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 66

Dr. Ungku Anisa, July 2008 1

Varying speed of the stator

1. varying the _electrical_______ 1. varying the _rotor__________

Dr. Ungku Anisa, July 2008 2

A two-pole stator winding for pole changing.

Dr. Ungku Anisa, July 2008 3

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 71

Dr. Ungku Anisa, July 2008 4

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 73

Dr. Ungku Anisa, July 2008 5

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 75

Constant Volts/Hz (V/f) Control

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 76

Dr. Ungku Anisa, July 2008 6

Constant Volts/Hz (V/f) Control

Constant Volts/Hz (V/f) Control

Poor Torque capability at low speeds

Dr. Ungku Anisa, July 2008 7

Constant Volts/Hz (V/f) Control

Linear offset curve –

Constant Volts/Hz (V/f) Control

β Vs , when f s < f s,rated

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 80

Dr. Ungku Anisa, July 2008 8

Constant Volts/Hz (V/f) Control

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 81

Constant Volts/Hz (V/f) Control

The maximum torque is then given by:

where ωs and Va are calculated from (7.49) and (7.50)

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 82

Dr. Ungku Anisa, July 2008 9

Constant Volts/Hz (V/f) Control

Constant Volts/Hz (V/f) Control

Constant Power Area

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 84

Dr. Ungku Anisa, July 2008 10

Example on Constant V/f

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 85

Determining Circuit Parameters

This is achieved by conducting three types of tests:

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 86

Dr. Ungku Anisa, July 2008 11

Determining Circuit Parameters

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 87

Determining Circuit Parameters

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 88

Dr. Ungku Anisa, July 2008 12

Determining Circuit Parameters

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 89

Determining Circuit Parameters

Since Xm << Rconv, then from measured Vφ,nl and I1,nl :

Dr. Ungku Anisa, July 2008 13

Determining Circuit Parameters

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 91

Determining Circuit Parameters

Dr. Ungku Anisa, Oct 2011 EEEB283 - EMD 92

Dr. Ungku Anisa, July 2008 14

Determining Circuit Parameters