Rotor Frequency

 It is seen that the rotor starts rotating in the direction of rotating magnetic field. At standstill,
rotor conductors are being cut by rotating flux wave at synchronous speed, 𝑛𝑠 , therefore
frequency 𝑓2 of the rotor emf and current is equal to the line frequency, 𝑓1 .
 When rotor revolves at a speed of 𝑛𝑟 r.p.s., less than 𝑛𝑠 in the direction of rotating flux, the
relative speed between synchronously rotating flux and rotor conductors becomes (𝑛𝑠 − 𝑛𝑟 ) rps.
 Thus, the frequency of the rotor emf =
poles (relative speed between rotating flux and rotor structure in rps) 𝑃(𝑛𝑠 − 𝑛𝑟 )
=
2 2
𝑛𝑠 −𝑛𝑟
Since, slip, 𝑠 = ; or, 𝑛𝑠 − 𝑛𝑟 = 𝑠𝑛𝑠 = slip speed
𝑛𝑠

𝑃∙𝑠𝑛𝑠 𝑃𝑛𝑠 2𝑓
So, rotor frequency, 𝑓2 = 2
=𝑠∙ 2
= 𝑠𝑓1 (Since, 𝑛𝑠 = 𝑃
= synchronous speed at r.p.s)

Prof. T R Choudhury, NIT Rourkela 114

Rotor EMF, Current and Power
 At standstill, the relative speed between rotating magnetic field and the rotor conductors is
synchronous speed, 𝑛𝑠 ; under this condition let per phase generated emf in rotor circuit be 𝐸2 .
 When, 𝑛𝑟 = 0.4𝑛𝑠 , slip is 0.6, and relative speed, (𝑛𝑠 − 𝑛𝑟 ) = 0.6𝑛𝑠 ; under this condition, per
phase generated emf becomes 0.6𝑛𝑠 × 𝐸2 Τ𝑛𝑠 = 0.6𝐸2 .
 Again, for 𝑛𝑟 = 0.8𝑛𝑠 , slip is 0.2 and per phase generated emf becomes 0.2𝐸2 .

 Thus, in general, for any value of slip s, per phase generated emf is equal to 𝑠𝐸2 =
𝑠 2𝜋𝑓1 𝑘𝑤2 𝑁2 𝜙 = 2𝜋(𝑠𝑓1 )𝑘𝑤2 𝑁2 𝜙.
 Rotor leakage reactance = 2 𝜋(Rotor frequency)(Rotor leakage inductance 𝑙2 )

Rotor leakage reactance at standstill = 2𝜋𝑓1 𝑙2 = 𝑥2 Ω

Rotor leakage reactance at any slip (s) = 2𝜋𝑓2 𝑙2 = 2𝜋(𝑠𝑓1 )𝑙2 = 𝑠𝑥2 Ω

Prof. T R Choudhury, NIT Rourkela 115

Rotor EMF, Current and Power Contd..
 Rotor leakage impedance at standstill = 𝑟22 + 𝑥22
 At any slip s, rotor leakage impedance = 𝑟22 + (𝑠𝑥2 )2
𝐸2
 Per phase rotor current at standstill =
𝑟22+𝑥22
𝑠𝐸2 𝐸2
 Per phase rotor current at any slip (s) is given by I2 = =
𝑟22 +(𝑠𝑥2 )2 (𝑟2Τ𝑠)2 +𝑥22

 The rotor current I2 lags the rotor voltage 𝐸2 by rotor power factor angle 𝜃2 given by,
𝑠𝑥2
𝜃2 = tan−1 𝑟2
Per phase power input to rotor, 𝑃𝑔 = 𝐸2 𝐼2 cos 𝜃2
per phase rotor resistance 𝑟2Τ𝑠 𝐸2 𝑟2 𝑟
2 2
But, cos 𝜃2 = per phase rotor impedance = ∴ 𝑃𝑔 = ∙ 𝐼2 = 𝐼2
(𝑟 Τ𝑠)2 +𝑥 2
2 2 2 2
(𝑟2 Τ𝑠) +𝑥2 𝑠 𝑠

Prof. T R Choudhury, NIT Rourkela 116

Rotor EMF, Current and Power Contd..
𝑟2 1−𝑠
 Again, 𝑃𝑔 = 𝐼22 = 𝐼22 𝑟2 + 𝐼22 𝑟2 ( ) = (rotor ohmic loss) + internal mechanical power developed in
𝑠 𝑠

rotor (𝑃𝑚 ) = 𝑠𝑃𝑔 + (1 − 𝑠)𝑃𝑔

1−𝑠 𝑠
 Now, 𝑃𝑚 = 1 − 𝑠 𝑃𝑔 = 𝐼22 𝑟2 ( ) ; and rotor ohmic losses = 𝑃𝑚 = 𝑠𝑃𝑔
𝑠 1−𝑠
 Internal (or gross) torque developed per phase is given by,
Internal mechanical power developed in rotor 𝑃𝑚 (1−𝑠)𝑃𝑔 𝑃𝑔
𝑇𝑒 = = = =
Rotor speed in mechanical rad/sec 𝜔𝑟 (1−𝑠)𝜔𝑠 𝜔𝑠
4𝜋𝑓1
Here, 𝜔𝑠 = 2𝜋𝑛𝑠 = is the synchronous speed in mechanical rad/sec.
𝑃
𝑃𝑔 1 𝐼22 𝑟2 Rotor ohmic loss 1 𝑟
Also electromagnetic torque 𝑇𝑒 is, 𝑇𝑒 = = ∙ = = 𝐼22 2
𝜔𝑠 𝜔𝑠 𝑠 𝜔𝑠 Slip 2𝜋𝑛𝑠 𝑠
Output or shaft power, 𝑃𝑠ℎ = 𝑃𝑚 − Mechanical losses (frinction, windage loss)
or, 𝑃𝑠ℎ = 𝑃𝑔 − Rotor ohmic loss − friction and windage losses = Net mechanical power output
or net power output
𝑃𝑠ℎ 𝑃𝑠ℎ
Output or shaft torque, 𝑇𝑠ℎ = =
𝑅𝑜𝑡𝑜𝑟 𝑆𝑝𝑒𝑒𝑑 (1−𝑠)𝜔𝑠

Prof. T R Choudhury, NIT Rourkela 117

Torque – Slip Characteristics
For applying Thevenin’s theorem in this fig., consider two
points a, b as shown. From these two points view
towards the voltage source 𝑉1 . As per Thevenin’s
theorem, the circuit consisting of r1, x1, Xm and source
voltage V1 can be replaced by an equivalent voltage
source Ve and an equivalent impedance 𝑍𝑒ҧ = 𝑅𝑒 + 𝑗𝑋𝑒 ,
as shown in below figs.
Induction motor equivalent circuit without core loss

Prof. T R Choudhury, NIT Rourkela 118

Torque – Slip Characteristics Contd..
𝑉1 (𝑗𝑋𝑚 ) (𝑟1 +𝑗𝑥1 )(𝑗𝑋𝑚 )
ത𝑒 =
 Here, 𝑉 and, 𝑍𝑒ҧ =
𝑟1 +𝑗(𝑥1 +𝑋𝑚 ) 𝑟1 +𝑗(𝑥1 +𝑋𝑚 )

 For most induction motors, (x1+Xm) is much greater than r1. In view of this, r1 can be neglected
in the denominator of both the eqns. without causing any noticeable error.
𝑉1 𝑋𝑚 𝑉1 𝑋𝑚 𝑟 𝑋 𝑗𝑥1 𝑋𝑚 𝑟 𝑋 𝑥 𝑋
ത𝑒 =
 Thus, 𝑉 = 𝑋 and, 𝑍𝑒ҧ = 𝑅𝑒 + 𝑗𝑋𝑒 = 𝑥 1+𝑋𝑚 + 𝑥 +𝑋 = 1𝑋 𝑚 + 𝑗 1𝑋 𝑚
𝑥1 +𝑋𝑚 1 1 𝑚 1 𝑚 1 1

Here, 𝑋1 = 𝑥1 + 𝑋𝑚 , is the stator self reactance per phase.

ഥ𝑒
𝑉
From the equivalent circuit, rotor current is given by, 𝐼2ҧ = 𝑟
𝑅𝑒 + 𝑠2 +𝑗(𝑥2 +𝑋𝑒 )
𝑚 𝑉𝑒 2 𝑟2
The total torque, 𝑇𝑒 = ∙ 𝑟 ∙ Nm (where, m is the number of stator phases)
𝜔𝑠 (𝑅𝑒 + 𝑠2 )2 +(𝑥2 +𝑋𝑒 )
2 𝑠
𝐾𝑡 𝑟2 𝑚𝑉𝑒2 𝑚𝑉𝑒2
The above eqn. can be rewritten as, 𝑇𝑒 = 𝑟 ∙ Nm (where, 𝐾𝑡 = = and, 𝑋 =
(𝑅𝑒 + 2)2 +𝑋 2 𝑠 𝜔𝑠 2𝜋𝑛𝑠
𝑠
𝑥2 + 𝑋𝑒 )

Prof. T R Choudhury, NIT Rourkela 119

Torque – Slip Characteristics Contd..
a) Motoring mode (0 < s ≤ 1): Under normal
operation, rotor revolves in the direction of
rotating field produced by the stator currents. As
such, the slip varies from 1 at standstill to zero
at synchronous speed, i.e. 0 < s ≤ 1. The
corresponding speed values are zero (s = 1.0)
and synchronous speed (s = 0.0).
b) Generating Mode (s < 0): For this operating
mode slip is negative, i.e. s < 0. An IM will
operate in this region only when its stator
terminals are connected to constant frequency
voltage source and its rotor is driven above
synchronous speed by a prime mover. The
connection of stator terminals to voltage source
is essential in order to establish the rotating air-
gap field at synchronous speed.
Prof. T R Choudhury, NIT Rourkela 120
Torque – Slip Characteristics Contd..
c) Braking Mode (s > 1): For this mode, slip is greater than 1. A slip more than one can be
obtained by driving the rotor, with a prime mover, opposite to the direction of rotating field. But
such a use in practice is rare. A practical utility of slip more than 1 is obtained by bringing the
rotor to a quick stop by braking action, called plugging. For obtaining s > 1, or for obtaining
plugging, any two stator leads are interchanged. With this the phase sequence is reversed
and, therefore, the direction of rotating magnetic field becomes suddenly opposite to that of
the rotor rotation. The electromagnetic torque, Te, now acting opposite to rotor rotation,
produces the braking action. Thus the motor can be quickly brought to rest by plugging, but
the stator must be disconnected from the supply before the rotor can start rotating in the other
direction.

Prof. T R Choudhury, NIT Rourkela 121

Torque – Slip Characteristics Contd..
 Maximum internal torque: This is referring to stalling torque, pull out torque or breakdown
torque Tem. The condition for maximum internal torque can be obtained by using the maximum
power transfer theorem of circuit theory.
1 2 𝑟2 𝑟2
 As per eqn. (𝑇𝑒 = 𝐼2 ), torque is maximum when 𝐼22 is maximum, i.e. when power
2𝜋𝑛𝑠 𝑠 𝑠
𝑟 𝑟
delivered to 𝑠2 is maximum. Applying this theorem to the fig., power absorbed by 𝑠2 will be
𝑟 𝑟
maximum when impedance 2 becomes equal to the magnitude of impedance seen by 2
𝑠 𝑠
towards the voltage source 𝑉𝑒 , i.e.,
𝑟2
when, 𝑠 = 𝑅𝑒2 + (𝑋𝑒 + 𝑥2 )2 = 𝑅𝑒2 + 𝑋 2 (where, 𝑋 = 𝑋𝑒 + 𝑥2 )
𝑚𝑇
𝑟2
Thus, the slip 𝑠𝑚𝑇 at which maximum torque occurs is given by, 𝑠𝑚𝑇 =
𝑅𝑒2 +𝑋 2

Prof. T R Choudhury, NIT Rourkela 122

Torque – Slip Characteristics Contd..

𝐾𝑡 𝑟2
 Substitution of 𝑟2 Τ𝑠𝑚𝑇 in place of 𝑟2 Τ𝑠 in eqn. (𝑇𝑒 = 𝑟 ∙ ) gives maximum breakdown
(𝑅𝑒 + 2)2 +𝑋 2 𝑠
𝑠

𝐾𝑡 𝑅𝑒2 +𝑋 2 𝐾𝑡 𝑅𝑒2 +𝑋 2 𝐾𝑡 𝑅𝑒2+𝑋 2

torque Tem as, 𝑇𝑒𝑚 = 2 = =
𝑅𝑒 + 𝑅𝑒2+𝑋 2 +𝑋 2 𝑅𝑒2 +𝑅𝑒2 +𝑋 2 +2𝑅𝑒 𝑅𝑒2 +𝑋 2 +𝑋 2 2(𝑅𝑒2 +𝑋 2 +𝑅𝑒 𝑅𝑒2+𝑋 2 )

𝐾𝑡
 Thus, 𝑇𝑒𝑚 =
2 𝑅𝑒 + 𝑅𝑒2+𝑋 2

Prof. T R Choudhury, NIT Rourkela 123

Torque – Slip Characteristics Contd..
𝐾𝑡 𝑟
 Starting torque: At starting, slip = 1.0. From the eqn. (𝑇𝑒 = 𝑟2 2 ∙ 𝑠2), the starting torque is
(𝑅𝑒 + ) +𝑋 2
𝑠
given by,
𝐾𝑡
𝑇𝑒.𝑠𝑡 = .𝑟
(𝑅𝑒 +𝑟2 )2 +𝑋 2 2

Prof. T R Choudhury, NIT Rourkela 124