Induction Motor

•Why induction motor (IM)?

–Robust; No brushes. No contacts on rotor shaft
–High Power/Weight ratio compared to Dc motor
–Lower Cost/Power
–Easy to manufacture
–Almost maintenance-free, except for bearing and
other mechanical parts
•Disadvantages
–Essentially a “fixed-speed” machine
–Speed is determined by the supply frequency
–To vary its speed need a variable frequency
supply
Construction
Stator
 Construction
Squirrel Cage Rotor
Construction
Performance of Three-Phase Induction Motor

n s −n
2 120 f s=
n= f∗60= ns
P p p p
Slip rpm = n s − n = sn s f 2= ( ns −n ) = sn s=sf 1
120 120
120 f 2 120 sf 1
n 2= = =sns
p p
 Example 5.1 A 3-phase, 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.
(f) Rotor induced voltage at the operating speed, if the stator‑to‑rotor turns ratio is
1 : 0.5.

:Solution

120 f 120∗60
ns= = =1800 rpm
p 4
n = ( 1− s ) n s = ( 1 − 0 . 05 )∗1800 = 1710 rpm
(b) 1800 (same as synchronous speed)
Equivalent Circuit of the Induction Motor
Equivalent Circuit of the Induction Motor
 sE 2 E2
I 2= I 2=
R 2+ jsX 2 ( R 2 / s ) + jX 2
2
P2 =I 2 R 2
R2 2 R2
P= Pag = I 22
[ R 2+
s ]
( 1− s ) = I 2
s
R2 P mech = ( 1 − s )∗ P ag
Pmech =I 22 ( 1−s )
s
( 1− s ) 2
P 2 = I 2 R 2 =sP ag
P mech = P2
s
P ag : P 2 : P mech = 1 : s : ( 1 − s )
 IEEE‑Recommended Equivalent Circuit

.IEEE recommended equivalent circuit

Theveninequivalent circuit
 Xm
V th = 2
V1 If R 21 << ( X 1 + X m ) 2
√ R 21 + ( X 1 + X m )

Xm
V th ≈ V 1=K th V 1 jX m ( R 1 + jX 1 )
X 1 +X m Z th= = R th + jX th
R 1 + j ( X 1 + X m)

2
Xm
( )
2
If , R 21 << ( X 1+ X m) then, 2
Rth ≃ R1 =K th R1
X1+X m

X th ≈ X 1
 Tests To Determine The Equivalent Circuit
R 1 = R LL / 2
No‑load test

V LL V1 P NL
V 1= V /Phase Z NL = R NL=
√3 I1 3I 21

X NL = √ Z 2NL − R 2NL X 1 + X m = X NL
Locked‑rotor test

P BL
R BL = 2
3I 1∣BL
V 1∣BL
Z BL∣fBL=
I 1∣BL
2 2
X BL∣fBL = √( Z BL∣fBL−R BL )
Rated Frequency
X BL=X BL∣fBL∗
Frequency at blocked rotor test
 '
X BL ≃ X 1 + X 2

X 1 + X m = X NL X m = X NL − X 1

Blocked‑rotor equivalent circuit for improved value for R2

 2
X2
m
R= 2
R '2
¿ '
R2 ( X2 + X m)

' 2 2
X 2+ X m Xm
'
R2 =
( Xm ) R R≃
( '
X 2+ X m ) R '2

R = R BL− R 1
Example 4.2 A no‑load test conducted on a 30 hp, 835 r/min, 440 V, 3‑phase, 60 Hz
squirrel‑cage induction motor yielded the following results:
No‑load voltage (line‑to‑line): 440 V
No‑load current: 14 A
No‑load power: 1470 W
Resistance measured between two terminals: 0.5 
The locked‑rotor test, conducted at reduced volt­age, gave the following results:
Locked‑rotor voltage (line‑to‑line): 163 V
Locked‑rotor power: 7200 W
Locked‑rotor current: 60 A
Determine the equivalent circuit of the motor.

:Solution
Assuming the stator windings are connected in way, the resistance per phase is:
R 1 = 0 . 5 / 2 = 0 . 25 Ω
From the no‑load test:
V LL
440
V 1= = = 254 V / Phase
√3 √3
V 1 254
Z NL = = =18. 143 Ω
I 1 14
 P NL 1470
R NL= 2 = 2
=2 . 5 Ω
3I 1 3∗14
X NL = √ Z 2NL − R 2NL = √ 18 . 143 2 − 2 . 5 2 = 17 . 97

X 1 + X m = X NL = 17 . 97 Ω
From the blocked‑rotor test
P BL
7200
R BL = 2 = 2
=0 . 6667 Ω
3I 1∣BL 3∗60
:The blocked‑rotor reactance is

X BL = ( Z 2BL− R 2BL )= √ 1 .5685 2 −0 . 66672 =1 . 42 Ω

√
'
X BL ≃ X 1 + X 2 =1. 42 Ω
∴ X 1 = X '2 = 0 .71 Ω

X m = X NL − X 1= 17 . 97 − 0 . 71 = 17 . 26 Ω
R = R BL− R 1 = 0 . 6667 − 0 . 25 = 0 . 4167 Ω
2
X '2 + X m 0 . 71 +17 . 26 2
'
∴ R 2=
( Xm ) R= (
17 .26 ) ∗0 . 4167 = 0 . 4517 Ω
• Example 5.3 The following test results are obtained from a three-phase 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: 2.8 
• (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 of Fig.5.16.
 2200 V 1 1270 . 2
V 1= =1270 . 2 V / Phase Z NL = = =282. 27 Ω
√3 I1 4 .5
P NL
1600
R NL= 2 = 2
= 26 .34 Ω
3I 1 3∗4 .5
 (a) No-Load equivalent Circuit (b) Locked rotor equivalent circuit

X NL = √ Z 2NL − R 2NL = √ 282 . 27 2 − 26 . 34 2 = 281 Ω . 281.0 =

X 1 + X m = X NL = 281 Ω
P BL 9000
R BL = 2
= 2
=4.8 Ω
3I1 3∗25
'
R 2 = R BL − R 1= 4 . 8−2 . 8=2 Ω
:impedance at 15 Hz is V 1 270
Z BL= = =6 .24 Ω
I 1 √ 3∗25
The blocked‑rotor reactance at 15 Hz is X BL= √ ( 6 . 24 2 −4 . 82 ) =3 . 98 Ω

Its value at 60 Hz is 60
X BL=3 . 98∗ =15 . 92 Ω
15
'
X BL ≃ X 1 + X 2
15 . 92
'
∴ X 1 =X 2 = =7 . 96 Ω at 60 Hz
2
X m = 281 − 7 . 96 = 273 . 04 Ω
R = R BL− R 1 = 4 . 8− 2 . 8 = 2 Ω
2
7 . 96+273 . 04
'
R2 = (
273 . 04
2=2 . 12 Ω )
)c(
273 . 04
V th ≃ V 1 =0 .97 V 1
7 . 96+273. 04
2 2
R th ≃ 0 .97 R 1= 0 . 97 ∗2 . 8=2 .63 Ω

X th ≃ X 1 = 7 . 96 Ω
 PERFORMANCE CHARACTERISTICS
R2 Where 2πn
Pmech =T mech ωmech =I 22 ( 1−s ) ωmech =
s 60
ω mech = ( 1− s ) ω syn or
n mech = ( 1− s ) n syn

120 f 2π 4π f 1 n syn
ω syn = ∗ = ωmech = 2π ( 1−s )
P 60 P 60
2 1
1
'
R2 T mech = P ag
ω syn
¿
T mech = I ¿
ω syn 2 s

R2
T mech ω syn =I 22 =Pag
s
2 '
1 V th R2
T mech = ∗ 2 2
∗
ω syn ( R + R / s ) + ( X + X )
' ' s
th 2 th 2
,At low values of slip

' '
R2 R2
R th + >> X th + X '2 and >> R th
s s
2 '
1 V th R2
T mech = ∗ 2 2
∗
ω syn ( R + R / s ) + ( X + X )
' ' s
th 2 th 2

2
1 V th
T mech ≃ ∗ ' ∗s
ω syn R2
 ,At larger values of slip
'
R2
R th + << X th + X '2
s
2 '
1 V th R2
T mech = ∗ ∗
ω syn ( R + R ' / s ) 2 + ( X + X ' )2 s
th 2 th 2

1 V 2th R '2
T mech = ∗ 2
∗
ω syn ( X + X )
' s
th 2
Torque‑speed profile at different voltages.
 Maximum Torque

dT / d s = 0 1 V 2th R '2
T mech = ∗ 2 2
∗
ω syn ( R + R / s ) + ( X + X )
' ' s
th 2 th 2

'
' Then R2
R2 2 ST =
ST √
= R 2th + ( X th + X '2 ) max
√R 2
th + ( X th + X
' 2
2)
max

2
1 V th
T max = ∗
2ω syn R + R 2 + X + X ' 2
th th ( √
th 2)
 2
1 V th
T max = ∗
2ω syn R + R 2 + X + X ' 2
th th (√th 2)

Torque speed characteristics for varying R2

 If R1 is small (hence R th is negligibly small)
R '2
R2
' sT ≃
ST =
2
Then max
X th + X '2
max
√ 2 '
Rth + ( X th + X 2 )

2
1 V th
T max = ∗ Then
2ω syn R + R 2 + X + X ' 2
th th ( th 2)√
2
1 V th
T max = ∗
2ω syn X th + X '2
 ' 2 ' 2
T max
=
( Rth + R2 / s ) + ( X th + X 2 ) ¿
s
T '
Rth + R 2 / sT
2
+ ( X th + X 2 )
' 2
sT
( max
) max

If R1 is small (hence R th is negligibly small)

' 2 ' 2
T max
=
( R2 / s ) + ( X th + X 2 ) ¿
s
T '
R2 / s T
2
+ ( X th + X 2 )
' 2
sT
( max
) max

' 2 ' 2
T max ( R 2 / s ) + R 2 / sT ( max
) s
= 2
¿
T '
2 ( R 2 ¿ sT sT
max ) max

2 2
T max sT +s
max
=
T 2∗s T ¿s
max
 Efficiency

Power flow in an induction motor.

P in = 3V 1 I 1 cos θ 1
2
:The power loss in the stator winding is P 1 =3I 1 R 1
P 2 =3 I 22 R 2
P out
η=
Pin
Ideal Efficiency

P ag = P in P out = P mecj= P ag ( 1− s )
P 2 = sP ag

Pout
ηideal = =( 1−s )
Pin
Example 4.4 A three-phase, 460 V, 1740 rpm, 60 Hz, four-pole
wound-rotor induction motor has the following parameters per
phase:
R1 = 0.25 , R2  0.2 , X 1  X 2  0.5 , X m  30 
The rotational losses are 1700 watts. With the rotor terminals
short-circuited, find
RZ = 0.2
(a) (i) Starting current when started direct on full voltage.
ohms
(ii) Starting torque.
(b) (i) Full-load slip.
Xm - 30
(ii) Full-load current.
Ohms
(iii) Ratio of starting current to full-load current.
(iv) Full-load power factor.
(v) Full-load torque.
(iv) 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?
=163.11 N.m
 28022 .3
η motor= ∗100=87 .5
32022 . 4
η in t ern a l = ( 1− s )∗100 = ( 1 − 0 . 0333 )∗100 = 96 . 7

(c) (i)

(c) (ii)
Note that for parts (a) and (b) it is not necessary to use Thevenin
equivalent circuit. Calculation can be based on the equivalent
circuit of Fig.5.15 as follows:
A three-phase, 460 V, 60 Hz, six-pole wound-rotor induction motor
drives a constant load of 100 N - m at a speed of 1140 rpm when
the rotor terminals are short-circuited. It is required to reduce the
speed of the motor to 1000 rpm by inserting resistances in the
rotor circuit. Determine the value of the resistance if the rotor
winding resistance per phase is 0.2 ohms. Neglect rotational
losses. The stator-to-rotor turns ratio is unity.
Example The following test results are obtained from three
phase 100hp,460 V, eight pole star connected induction machine
No-load test : 460 V, 60 Hz, 40 A, 4.2 kW. Blocked rotor test is
100V, 60Hz, 140A 8kW. Average DC resistor between two stator
terminals is 0.152 
(a) Determine the parameters of the equivalent circuit.
(b) The motor is connected to 3 , 460 V, 60 Hz supply and runs
at 873 rpm. Determine the input current, input power, air
gap power, rotor cupper loss, mechanical power developed,
output power and efficiency of the motor.
(c) Determine the speed of the rotor field relative to stator
structure and stator rotating field
 Solution: From no load test:

460 / √ 3
( a ) Z NL = =6 . 64 Ω
40
P NL 4200
R NL= 2
= 2
=0 . 875 Ω
3∗I 1 3∗40

X NL = √ 6 . 64 2− 0 . 875 2 =6 . 58 Ω
X 1 + X m = 6 . 58 Ω
:From blocked rotor test
8000 0 . 152
R BL = 2
= 0 .136 Ω R1 = =0 . 076Ω
3∗140 2
100/ √ 3
Z BL = = 0 . 412Ω
140
 '
X BL = √ 0 . 412 2− 0 .136 2 =0 . 389 Ω X 1 + X 2 =0 . 389

'0 . 389
X 1= X 2= =0 . 1945 Ω
2
X m = 6 . 58 − 0 . 1945= 6 . 3855
R = R B L− R 1 = 0 . 136 − 0 . 076 = 0 . 06 Ω
2
0 . 1945+6 . 3855
'
R2 = ( 6 .3855 )
∗0 . 06=0 . 0637

0.076  j0.195  j0.195 

j6.386  0.0637
s
 120 f 120∗60
( b ) ns= = =900 rpm
P 8
n s −n 900−873
s= = =0 . 03
ns 900
R '2 0 . 0637
= =2 .123
s 0 . 03

Input impedance ( j6 . 386 ) ( 2. 123+ j0 .195 ) o

Z 1 =0 .076 + j0 . 195+ =2. 121 ∠ 27 .16 Ω
2 .123+ j ( 6 . 386+ 0 .195 )

V 1 460/ √ 3
I 1= = =125 . 22∠−27.16 o
Z 1 2. 12∠ 27 .16
:Input power

460 o
P in =3∗ ∗125 . 22 cos 27 . 16 ) = 88. 767 kW
(
√3
 :Stator CU losses
2
P st =3∗125 . 22 ∗0 . 076=3 . 575 kW
Air gap powerP
ag = 88 . 767 − 3 . 575= 85 .192 kW

Rotor CU losses
P 2 = sP ag = 0 . 03∗ 85 .192 = 2 .556 kW
:Mechanical power developed
P mech = ( 1 − s ) P ag = ( 1− 0 . 03 )∗85 . 192= 82 . 636 kW

P out = P mech − P ro t

:From no load test P rot = P NL −3I 21∗R 1 = 4200−3∗40 2∗0 . 076= 3835. 2 W

3
P out = 82. 636∗10 − 3835 .2=78 . 8 kW
P out 78 . 8
η= ∗100= ∗100=88 .77
Pin 88 .767
 Example A three phase, 460 V 1450 rpm, 50 Hz, four pole
wound rotor induction motor has the following parameters per
phase ( R1 =0.2, R2 =0.18 , X 1  X 2 =0.2, X m =40). The

rotational losses are 1500 W. Find,

(a) Starting current when started direct on full load voltage.
Also find starting torque.
(b) (b) Slip, current, power factor, load torque and efficiency
at full load conditions.
(c) Maximum torque and slip at which maximum torque will
be developed.
(d) How much external resistance per phase should be
connected in the rotor circuit so that maximum torque
occurs at start?
 460
V 1= =265 .6 V / phase
√3
j 40∗( 0 . 18+ 0 .2 ) o
Z 1 = 0 .2+ j0 . 2+ = 0 .55 ∠ 46 . 59 Ω
0 . 18+ j 40 . 2
V 1 265 . 6 o
I st = = o
=482. 91 ∠−46 . 3 Ω
I 1 0 .55 ∠ 46 . 59
1500−1450
s= =0 . 0333
1500
R '2 0. 18
= =5 . 4
s 0 . 0333
j 40∗( 5 . 4 + j0 . 2 )
Z 1 = 0 .2+ j0 . 2+ = 4 . 959 ∠ 10 .83 o Ω
5 . 4 + j 45 . 4
 265 . 6 o
I 1∣FL = o
=53 . 56 ∠−10 . 83 A
4 . 959 ∠ 10 . 83
o
Then the power factor is: cos 10.83  0.9822 lag.
1500
 sys  * 2  157.08 rad / sec .
60
265.6 *  j 40 
Vth   264.275 0.285o V
 0.2  j 40.2
Then,
j 40 *  0.2  j 0.2 
Z th   0.281432 45.285o  0.198  j 0.2 
0.2  j 40.2
2
3∗( 264 . 275 ) ∗5 . 4
∴ T= 2 2
=228 . 68 Nm
157 . 08∗( 0 . 198+5 . 4 ) + ( 0 . 2+0 . 2 )
Then, Pag  T *  sys  228.68 *157.08  35921.1W
Then, P2  sPag  0.0333 * 35921.1  1197 W

And, Pm  1  s  Pag  34723.7W

Then, Pout  Pm  Prot  34723.7  1500  33223.7W

Pin  3 * 265.6 * 53.56 * 0.9822  41917 W

Pout 33223.7
Then,     79.26 %
Pin 41914
2
3∗( 264 .275 )
∴ T m= =862 . 56 Nm
2 1 /2
[
2∗188 .5 0 . 198+ ( 0 . 1982 + ( 0 . 2+0 . 2 ) )]
0 .18
sT = =0 . 4033
max 2 1 /2
[ 0 . 1982 + ( 0 . 2+0 . 2 ) ]
 R2  Rext

(d) sTmax  1 
0.198 2
  0.2  0.2 
2 1/ 2

Then, R2  Rext

  0.446323
  0.446323  0.18  0.26632 
Then, Rext
Example 5.6 The rotor current at start of a three-phase, 460 volt,
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.

Note that the equivalent circuit parameters are not given. Therefore equivalent circuit
parameters cannot be used directly for computation.)a) The synchronous speed is

2 2
I2 R2 I 2 R2
T= α
sω syn s
 Example 4.9 A 4 pole 50 Hz 20 hp motor has, at rated voltage
and frequency a starting torque of 150% and a maximum torque of
200 % of full load torque. Determine (i) full load speed (ii) speed
at maximum torque.
Solution:
Tst Tmax Tst 1 .5
 1.5 and  2 then,   0.75
TFL TFL Tmax 2
Tst 2 sTmax
 2
 0.75
Tmax 1  sTmax
2
Then, 0.75 sTmax  2 sTmax  0.75  0

Then sTmax  2.21525 (unacceptable) Or sTmax  0.451416

Tmax sT2max  sFL
2
 2
TFL 2sTmax * s FL
But sTmax  0.451416

Tmax 0.4514162  s FL
2
Then  2
TFL 2 * 0.451416 * s FL
2
s FL  4 * 0.451416 s FL  0.451416 2  0
2
s FL  1.80566 s FL  0.203777  0
s FL  1.6847 (unacceptable) or s FL  0.120957
 120 * 50
ns   1500 rpm
4
then (a) nFL  1 s FL  * ns

nFL  1  0.120957  *1500  1319 rpm

 
(b) nTmax  1  sTmax * ns  1  0.451416 *1500  823 rpm
 Example 4.10 A 3, 280 V, 60 Hz, 20 hp, four-pole induction
motor has the following equivalent circuit parameters.
R1  0.12 , R2  0.1 , X 1  X 2  0.25 , and X m  10 
The rotational loss is 400 W. For 5% slip, determine (a) The
motor speed in rpm and radians per sec. (b) The motor current. (c)
The stator cu-loss. (d) The air gap power. (e) The rotor cu-loss. (f)
The shaft power. (g) The developed torque and the shaft torque.
(h) The efficiency.
Solution:

120 * 60 1800
ns   1800 rpm ,  s  * 2  188.5 rad / sec
4 60
 0 .1 2  j0 .2 5  j0 .2 5 

j1 0  0.1
2
0.05

Z1  0.12  j 0.25  Re  X e
j10 *  2  j 0.25
Z1  0.12  j 0.25   2.131423.55o 
2  j10.25
208
V1   120.1 V
3
120.1
I1  o
 2 .1314  23.55 o
A
2.131423.55
2
(c) P1  3 * 56.3479 * 0.12  1143.031W
 
(d) Ps  3 *120.1 * 56.3479 * cos  23.55
o
  18610.9794 W
Pag  Ps  P1  17467.9485 W

(e) P2  sPag  0.05 *17467.9785  873.3974 W

(f) Pm  1  s  Pag  16594.5511W

Pag 17467.9485
(g) T    92.6682 N .m
188.5 188.5
Pshaft 16194.5511
Tshaft    85.9127 Nm
188.5 188.5
Pshaft
(h)   *100  87.02%
Ps
 Example 4.11 A 30, 100 WA, 460 V, 60 Hz, eight-pole induction
machine has the following
equivalent circuit parameters:
R1  0.07 , R2  0.05 , X 1  X 2  0.2 , and X m  6.5 
(a) Derive the Thevenin equivalent circuit for the
induction machine.
(b) If the machine is connected to a 30, 460 V, 60 Hz supply,
determine the starting torque, the maximum torque the machine
can develop, and the speed at which the maximum torque is
developed.
(c) If the maximum torque is to occur at start, determine the
external resistance required in each rotor phase. Assume a
turns ratio (stator to rotor) of 1.2.
:Solution
Xm 6.5
Vth  * V1  * 265.6  257.7 V
X1  X m 0.2  6.5

Rth  jX th 
 j 6.5 *  j 0.2  0.07   0.06589  j 0.1947 
0.07  j 0.2  j 6.5
0 . 0 6 5 8 9 j0 .1 9 4 7  j0 .2 

2 5 7 .7 V 0.05
s

3 * 257.7 2 * 0.05
(b) Tst   624.7 Nm

94.25  0.06589  0.05 2   0.1947  0.2 2 
3 * 257.7 2
Tmax 

2 * 94.25 0.06589  0.06589 2   0.1947  0.2  2 
 2267.8 Nm
0.05
sTmax   0.1249
0.06589 2   0.1947  0.2  2
 Speed in rpm for which max torque occurs
 
= 1  sTmax * ns  1  0.1249 * 900  787.5 rpm

R2
(c) sTmax   R2
R12   X 1  X 2  2

s start  1 1
or R2 start  * R2  * 0.05  0.4 
sTmax 0.1249

Then Rext   0.4  0.05 / 1.2 2  0.243 