ELE 411: Induction Motors

Instructor: Dr. Abbas A. Fardoun

Department of Electrical Engineering
United Arab Emirates University
2
Home Work
7.2, 7.3, 7.4, 7.5, 7.7, 7.8, 7.14, 7-16 & (7-19
parts a,b & c)

3
Chapter # 7 Induction Motors
7.1- Induction Motors Construction
7.2- Basic Induction Motor Concept
- Development of Induced Torque
- Concept of rotor sip
- Electrical frequency of rotor
7.3- Equivalent Circuit of Induction Motor
7.4- Power & Torque of Induction Motor
- Losses & Power flow diagram
- Power & torque
- Separating rotor losses & power converted in IM
7.5- Induction Motor Torque Speed Characteristics
- Derivation of Induced Torque Equation
- Comments on Torque-Speed Characteristics
- Maximum Torque in IM
7.6- Variation in IM Torque-Speed Characteristics
7.11- Determining Circuit Model parameters
Objectives
The Objective of this lecture to discuss Induction Machine
construction. Reasons & applications for different type of
rotor construction
Basic operation theory of induction machine; definition of slip
as related to machine rotor & rotational field speeds.
4
Outcomes
Understand different types of rotors of IM.

Understand theory of operation.

Understand what slip means.
5
6
Induction motor is the most rugged and the most widely used motor in
industry.

Like any AC machine, the induction machine has a stator and a rotor mounted
on bearings and separated from stator by an air gap.

Both stator and rotor windings carry alternating currents. The alternating
currents (ac) are supplied directly to the stator winding and to the rotor winding
by induction.


Reasons for the popularity of induction motors include:
- Simplicity
- Reliability and low cost
- Minimal service requirement
- Good efficiency
Introduction
7
Large three-phase induction motors (in tens or hundreds of
horsepower) are used in
- pumps,
- fans,
- compressors,
- paper mills,
- textile mills, and so forth.
The induction motor is used in various sizes. Small single-phase
induction motors (in fractional horse-power) are used in many
household appliances, such as
- blenders,
- lawn mowers,
- juice mixers,
- washing machines,
- refrigerators.
Applications of Induction Motors
8
Applications of Induction Motor
9
Introduction
It is named induction machine
because the rotor voltage (which
produces the rotor current and
rotor magnetic field) is induced
in the rotor winding rather than
being physically connected by
wires. It is similar to a
transformer

Distinguishing feature: is that
NO DC field current is required
to run this machine as was the
case for synchronous generators.
1 2
V
dc
+
-
Synchronous
Rotor
Synchronous Generator
Rotor or Field flux
10
Two Types of Induction machines known as Wound rotor & Squirrel-
cage machines

Both Machines has a stator similar to that of Synchronous Generator.

They differ in rotor construction (same stator):
- Wound-rotor
- Squirrel-cage rotor


7.1- Construction Of Induction Motors/Rotor
11
Induction Motor Cross Section
Air gap
12
Input voltages to the stator of induction motor;
Stator for aThree Phase Induction Machine
) )( 240 sin( ) (
) )( 120 sin( ) (
) )( sin( ) (
V t V t v
V t V t v
V t V t v
m c
m bn
m an
=
=
=
e
e
e
1 : n
Stator
v
an
v
bn
v
cn
Stator winding
n
a
a
'
n
b'
b
c'
c
Three Phase Stator winding for Induction Motor (IM) is
constructed in the same as for synchronous Generators.
13
Wound-rotor motor: Rotor has distributed windings are similar to
stator windings.
Rotor terminals are made accessible to external loads through
brushes bearing on slip rings.
Connected to external circuit such as to a resistance is very handy
for the purpose of speed control of the induction motor.

Squirrel-cage motor: windings are made of conducting bars embedded
in the rotor and short-circuited at each end by conducting end rings.
The rotor terminals are thus inaccessible in a squirrel-cage
construction.
Squirrel cage induction machine is simpler, more reliable,
efficient, economical and more rugged than the wound-rotor
induction machine because there are no brushes, no slip rings.
7.1- Construction Of Induction Motors/Rotor
14
Wound Rotor of Three Phase Induction Machine
n
Slip ring
Brushes
a b c
Load
(a) Wound rotor with shorted rotor
terminals
Wound-rotor motor: Rotor has
distributed windings are similar to
stator windings.
-Rotor terminals are made
accessible to external loads
through brushes bearing on slip
rings.
- Rotor winding can be connected
to external resistive load via slip
rings for the purpose of speed
control of the induction motor.
j
X
R
R
R
I
R
E
R
E
1
j
X
M
I
2
j
X
1
R
1
I
1
R
C
+
-
j
X
R
R
R
I
R
E
R
E
1
j
X
M
I
2
j
X
1
R
1
I
1
R
C
+
-
j
X
R
R
R
I
R
E
R
E
1
j
X
M
I
2
j
X
1
R
1
I
1
R
C
+
-
External
Load
Wound Rotor
Equivalent
Circuit
15
Squirrel Cage Rotor of a three Phase induction machine.
Squirrel cage rotor Equivalent circuit
Squirrel-cage motor: windings
are made of conducting bars
embedded in the rotor and
short-circuited at each end by
conducting end rings.

-The rotor terminals are thus
inaccessible in a squirrel-cage
construction.

-Squirrel cage induction
machine is simpler, more
reliable, efficient, economical
and more rugged than the
wound-rotor induction
machine because there are
no brushes, no slip rings.
16
Three Phase Induction Machine Construction
/Summary
1 : n
Stator
v
a
n
v
b
n
v
c
n
3-Phase Stator windings
n a
a
'
Slip ring
Brushes
a b c
Load
A wound rotor has a set
of 3-phase windings
that are mirror image of
stator windings, with
terminal short circuited
or connected to slip
rings to have access to
speed control resistor
In squirrel-cage rotor,
the windings are simply
conducting bars
embedded in the rotor
and short-circuited at
each end by conducting
end rings.
Wound Rotor
Equivalent
Circuit
Squirrel cage
Rotor Equivalent
Circuit
17
We know that if two magnetic fields are present in a machine,
then the torque will be created which will tend to line up the
two magnetic fields.


If one magnetic field is produced by the stator of an AC
machine and other one is produced by the rotor of the
machine, then a torque will be induced in the rotor which will
cause the rotor to turn and align itself with the stator
magnetic field.
If there were some way to make the stator magnetic field
rotate , then the induced torque in the rotor would cause it to
constantly chase the stator magnetic around in a circle. This
in a nutshell, is the basic principle of all ac motor operation.
Now the question is how can the stator magnetic field be
made to rotate.
7.2 Basic Induction Motor Concepts
4.2: The Rotating Magnetic Field/Review
S R ind
B B K = t
18
7.2 Induced Torque in an AC Machine
In an AC machine under normal operating
condition, there are two magnetic fields
present- a magnetic field from the rotor
circuit and another magnetic field from the
stator circuit. The interaction of these two
magnetic fields produces the torque in the
machine.

S R ind
B B K = t
19
Development of Induced Torque
Three phase set of voltages
are applied to stator winding,
three phase currents flow in
the stator winding.

A rotating magnetic field B
S
is
produced.

The speed of magnetic field
f
e
is frequency in hertz
P is # of poles
p
f
n
e
synch
120
=
) )( 240 sin( ) (
) )( 120 sin( ) (
) )( sin( ) (
V t V t v
V t V t v
V t V t v
m c
m bn
m an
=
=
=
e
e
e
20
when rotating magnetic field B
S
passes over rotor
bars, it induces voltage in them



V: velocity of rotor bars relative to magnetic field
Bs: Stator magnetic flux density
I: length of conductor in the magnetic field

Induced voltage cause current to flow in rotor
windings, hence rotor field Br is produced.
Then

l B V e
S ind
). ( =
S R ind
B B K = t
Development of Induced Torque
21
Approximate explanation of induced voltage
AC Voltage is applied to
stationary winding
Current flows through winding
Field is produced by
stationary winding Bs.
Flux flows through rotor
(assume rotating field).
Voltage is produced
e=(vXB).l.
Current flows in rotor
winding.
Rotor field (Br) is produced to
winding carrying current

Rotor
S R ind
B B K = t
22
Induction Motors/review
Operation Principle
The three-phase stator is supplied by balanced
three-phase voltage that drives an ac magnetizing
current through each phase winding
The magnetizing current in each phase generates
a pulsating ac flux.
The total flux in the machine is the sum of the
three fluxes
The summation of the three ac fluxes results in a
rotating flux, which turns with constant speed and
has constant amplitude
23
Induction Motors/review
Operation Principle
The rotating flux induces a
voltage in the short-circuited
bars of the rotor. This voltage
drives current through the bars.
The induced voltage is
proportional with the difference
of motor and synchronous
speed. Consequently the motor
speed is less than the
synchronous speed
The interaction of the rotating
flux and the rotor current
generates a force that drives
the motor.
S R ind
B B K = t
l B V e
S ind
). ( =
24
The motor will start rotating, there is a limit to the
speed of rotor.
If rotor speed becomes equal to synchronous speed
then rotor bars will be stationary relative to the
magnetic field, and there would be no induced
voltage.
If then current in rotor bars is zero
No rotor current
No torque
How about when the rotor is not rotating (0 speed)?
Voltage is induced at the same frequency as that
of the stator.
What is output power in this case?

0 =
ind
e
Concept of Rotor Slip
25
Concept of Rotor Slip
Induced Voltage depends on the
speed difference between
Synchronous speed of rotating
field & rotor mechanical speed.

Rotor Slip (difference between
rotor & synchronous speeds)

n
slip
: Slip Speed
n
sync
: Synchronous Speed
n
m
: Mechanical Shaft Speed
% %
synch
m synch
synch
slip
n
n n
n
n
S Slip

= = =
m sync slip
n n n =
l B V e
S ind
). ( =
26
Concept of Rotor Slip
Rotating Transformer
- Induction motor works by induced voltage and current in rotor,
therefore some times called as rotating transformer.
- Primary (Stator) induces voltage in Secondary (Rotor)
- Secondary frequency:
If rotor is locked (S=1), then secondary frequency is same
as primary. However output power is zero because
P= torque X speed = te
If rotor turns at synchronous speed the Rotor frequency
will be zero since no voltage is induced.
27
Concept of Rotor Slip
Or in terms of angular velocity




If => S = 0 (rotor @ sync speed)

=> rotor freq=stator freq

=> S = 1 (locked/stalled/stationary rotor)
Normal operation S is between 0 & 1
synch m
n S n ) 1 ( =
sync m
e e =
0 =
m
e
% 100

=
synch
m synch
S
e
e e
sync
m sync
n
n n
s

=
synch m
S e e ) 1 ( =
f
p
f
n
e
synch
2 &
120
= =
28
Electrical frequency on the Rotor







0 & 0 = =
=
s f
n n
r
sync m
synch
m synch
n
n n
S

=
1 s & f f
0 n
e r
m
= =
=
Slip Definition

When Rotor is not moving, the rotor sees
synchronous speed.
It means induced voltage has the same
frequency as that of the synchronous speed
(electrical frequency fe).

When rotor is moving at the same speed as
synchronous speed. It means relative speed
between rotating field & rotor is zero.

In between Zero & Synchronous speeds,
induced voltage frequency is proportional to
relative speed of rotor w.r.t. rotating field or
the difference between synchronous speed &
mechanical speeds which is slip speed.
e r
Sync
m Sync
sf f
n
n n
s
=

=
29
Concept of Rotor Slip /Review
n
m
= speed of rotor shaft/motor.
ns= synchronous speed

Rotor sees a relative speed of a
magnetic field equals to n
r
Voltage is induced in rotor at
relative magnetic field speed=n
r


The induced voltage in the rotor
has an angular speed e
r


Frequency of rotor induced
voltage=f
r s r
sf f =
m sync slip
n n n =
m sync elec r
e e e =
_
sync
m sync
n
n n
s

=
30
Rotor voltage frequency, f
R
Rotor speed (rpm)
Slip
E
Ro
f
stator
Rotor speed (rpm)
Slip
0 no load
1 0
0 no load
1 0
Rotor voltage, E
R
Rotor induced voltage & rotor electrical
frequency as function of slip/speed
Voltage induced at locked rotor condition E
R0
=a
eff
*V
stator
-Use locked rotor condition as reference point
- reference freq. & voltage at different speeds to that of locked rotor

Voltage induced at any Slip E
R
=SE
Ro

Rotor current/Voltage Frequency f
r
=Sf
e
31
Class Activity
32
33
Agenda
Review of Slip concept
Derivation of IM Equivalent Circuit Parameters
measurement
Example problem
Power & Torque of Induction Motor
- Losses & Power flow diagram
- Power & torque
- Separating rotor losses & power converted in IM



34
Chapter # 7 Induction Motors
Introduction/Review
7.1- Construction Of Induction Motors
7.2- Basic Induction Motor Concept
- Development of Induced Torque
- Concept of rotor sip
- Electrical frequency of rotor
7.3- Equivalent Circuit of Induction Motor
7.4- Power & Torque of Induction Motor
- Losses & Power flow diagram
- Power & torque
- Separating rotor losses & power converted in IM
7.5- Induction Motor Torque Speed Characteristics
- Derivation of Induced Torque Equation
- Comments on Torque-Speed Characteristics
- Maximum Torque in IM
7.6- Variation in IM Torque-Speed Characteristics
7.11- Determining Circuit Model parameters
35
Concept of Rotor Slip /Review
n
m
= mechanical speed of rotor
shaft/motor.

ns= synchronous speed

Rotor sees a relative speed of a
magnetic field equals to n
slip

Voltage is induced in rotor at relative
magnetic field speed=n
slip


Frequency of rotor induced voltage=f
r
s r
sf f =
m sync slip
n n n =
sync
m sync
n
n n
s

=
synch m
n S n ) 1 ( =
36
7.3 Equivalent Circuit of an Induction Machine
An induction motor is called a singly excited
machine (as opposed to a doubly excited
synchronous machine), since power is supplied
only to the stator circuit. Because induction
motor does not have an independent field circuit
its model will not contain an internal voltage
source such as internal generated voltage E
A
in a
synchronous machine.

We will begin with the transformer model.
37
Transformer Model of an Induction Machine
jXR
RR
IR
ER
E1
jXM
I2
jX1
R1
I1
RC
+
-
Stator Equivalent Circuit:
Similar to a transformer, stator winding has a self inductance & copper loss.
Can be represented as Rs & Ls, Xs=?
a
eff
:1
38
IM Equivalent Circuit/Magnetizing Impedance
Due to the air gap in an induction
machine, the reluctance of the flux
path is increased greatly. The higher
reluctance caused by the air gap
means that a higher magnetizing
current is required to obtain a given
flux. Ni=oR

Due to higher reluctance (air gap),
magnetizing reactance will be much
smaller than that of a transformer.

R
fe
, similar to a transformer
represents core losses (Hysterises &
eddy current losses).
39
Why slope of transformer is steeper?
Transformer
Induction Motor

mmf
Magnetizing Impedance: Flux vs. Primary/stator
current for induction machine & transformer
40
Rotor voltage frequency, f
R
Rotor speed (rpm)
Slip
E
Ro
f
stator
Rotor speed (rpm)
Slip
0 no load
1 0
0 no load
1 0
Rotor voltage, E
R
Rotor induced voltage & rotor electrical
frequency as function of slip/speed
Voltage induced at locked rotor condition E
R0
=a
eff
*V
stator
-Use locked rotor condition as reference point
- reference freq. & voltage at different speeds to that of locked rotor

Voltage induced at any Slip E
R
=SE
Ro

Rotor current/Voltage Frequency f
r
=Sf
e
41
Rotor Equivalent Circuit (Resistance & reactance)
Rotor resistance is fixed R
R
,
It represents rotor copper
loss.

Rotor Reactance is defined
as, (rotor reactance changes
with motor speed)


Let X
R0
be the rotor
reactance at blocked rotor
condition (S=1, my reference
point)
2
) ( since
2
R e R
e r
R r R
L f s X
sf f
L f X
t
t
=
=
=
Ro R
R e R
R e Ro
sX X
L f X
L f X
=
=
=
s 2
2
t
t
jXR
RR
IR
ER
E1
jXM
I2
jX1
R1
I1
RC
+
-
42
0
0
R
R
R
R
jX
S
R
E
I
+
=
Rotor Equivalent Circuit
Original Rotor Equivalent circuit







Divide by slip S
0
0
R R
R
R
R R
R
R
jSX R
SE
I
jX R
E
I
+
=
+
=
RR
DC
jXR=jSXR
o
ER=SERo
RR/s
DC
jXRo
ERo
Rotor Circuit Model with all
the frequency effects
concentrated in Resistor RR
o
jXR
RR
IR
ER
E1
jXM
I2
jX1
R1
I1
RC
+
-
43
Rotor Equivalent Circuit
=>It is possible to treat all of
the rotor effects due to
varying rotor speed as being
caused by varying
impedance supplied with
power from a constant
voltage source E
R0
.

-very low Slip R
R
/S >> X
R0,
so
rotor resistance dominates.

at high Slip X
R0
>> R
R
/S
RR/s
DC
jXRo
ERo
Rotor Circuit Model with all
the frequency effects
concentrated in Resistor RR
0 , R
R
eq R
jX
S
R
Z + =
44
Final Rotor Equivalent Circuit
To solve circuit, it is
required to refer rotor
parameters to stator side.

Speed effects are
concentrated in resistance.

Similar to transformer
secondary/rotor can be
referred to primary/stator
by turn ratio.

Rotor Impedance is
represented as 0 , R
R
eq R
jX
S
R
Z + =
RR/s
DC
jXRo
ERo
45
Equivalent Circuit
jXR
RR
IR
ER
E1
jXM
I2
jX1
R1
I1
RC
+
-
jXR
RR
IR
ER
E1
jXM
I2
jX1
R1
I1
RC
+
-
RR/s
DC
jXRo
ERo
jXR
RR
IR
ER
E1
jXM
I2
jX1
R1
I1
RC
+
-
Original





With Rotor circuit manipulation
a
eff
:1
a
eff
:1
46
Let, a
eff
= turn ratio
-Similar to transformer
Equivalent circuit of IM
eff
R
R eff R
a
I
I
E a E E
=
= =
2
0
'
1
0
2
2
2
2
R
eff
R
eff
X a X
R a R
=
=
I2
XM
IM
jX1
R1
I1
RC
R2/s
jX2
o
V
E1
jXR
RR
IR
ER
E1
jXM
I2
jX1
R1
I1
RC
+
-
47
Class Activity
Example 7-5: A 460V wound rotor,
60 Hz, 4 pole, 25hp, 3 phase Y
connected IM has the following
impedances referred to stator:
R1=0.641 R2= 0.332 X1=1.106
X2=0.464 & Xm=26.3 ( all in ohms).
Neglect R
C
.
a)What is the motor speed
b)What is the stator current at a slip
of 2.2%?
c)What is the rotor current?
d)what is the airgap power?
I2
XM
IM
jX1
R1
I1
RC
R2/s
jX2
o
V
E1
48
Agenda
Review of Equivalent Circuit
Power & Torque of Induction Motor
- Losses & Power flow diagram
- Power & torque
- Separating rotor losses & power converted in IM
Derivation of Torque-Speed Curve
- Salient features of torque-speed curve
- Variation of curve as function of rotor resistance



49
7.4 Power and Torque in Induction Machine
Induction motor same like transformer.
Input is 3- voltage & currents.
Output of transformer is electric power at
secondary winding.
The secondary (rotor) of an induction machine is
shorted, therefore no electrical output form
induction machine instead mechanical output.
Mechanical Electrical
50
Induction Motor energy balance flow diagram
Input power
P
sup
Stator Copper loss
3 I
sta
2
R
sta
Rotor Copper loss
3 I
rot
2
R
rot
Stator Iron loss
3 V
sta
2
/ R
c
Windage, stray
and friction losses
Output power
P
out
Air gap
power P
ag
Developed power
P
dv
= 3 I
rot
2
R
rot
(1-s)/s
Air gap
P_converted
tind.em
P
out
=t
load
.em
. . 3 f P I V P
t t in
=
51
Equivalent Circuit
I2
E1
iXM
IM
jX1
R1
I1
RC
R2/s
jX2
o
V
+
-
Stator Copper Losses:


Core Losses:


Air gap power:


In the equivalent circuit it
can be seen that the only
element where the air gap
power can be consumed is
R2/s
1
2
1
3 R I P
SCL
=
C CORE
R E P / 3
2
1
=
core SCL in AG
P P P P =
Air gap
Rotor
Stator
S
R
I P
AG
2
2
2
3 =
52
Induction Motor: Power & Torque

Air Gap Power:
Rotor copper losses = Air gap
power * Slip

The lower the slip the lower
the rotor copper losses.

When the rotor is stand still
(s=1) all the air gap power is
consumed in rotor.

Assume friction, windage &
other miscillenous losses are
lumped as mechanical powr
loss, output power is:
S
R
I P
AG
2
2
2
3 =
AG RCL
P S P =
AG Conv
AG AG
RCL AG Conv
P S P
SP P
P P P
) 1 (

=
=
=
mech loss conv out
P P P
_
=
53
Induction Motor: Power & Torque in
Induction Motor
Torque generated by
converted power is defined
as induced torque T
ind

where:

T
ind
can be re-written as
function of air gap power &
synchronous speed.

Interesting equation
because it provides T
ind
as a
function PAG &
synch
,
where
synch
is constant.

Output Torque:
synch
AG
ind
P
T
e
=
synch
AG
ind
S
P S
T
e ) 1 (
) 1 (

=
m
conv
ind
P
T
e
=
m
out
out
P
T
e
=
54
Input power
P
sup
Stator Copper loss
3 I
sta
2
R
sta
Rotor Copper loss
3 I
rot
2
R
rot
Stator Iron loss
3 V
sta
2
/ R
c
Windage, stray
and friction losses
Output power
P
out
Air gap
power P
ag
Developed power
P
dv
= 3 I
rot
2
R
rot
(1-s)/s
Air gap
P_converted
tind.em
P
out
=t
load
.em
Induction Motor Energy Balance Flow
Diagram/Summary
S
R
I P
AG
2
2
2
3 =
AG RCL
P S P =
AG Conv
P S P ) 1 ( =
Pin=3V
ph
I
ph
*p.f.

=sqrt(3)V
L
I
L
*p.f
2
2
2
3 R I P
RCL
=
mech loss conv out
P P P
_
=
synch ind AG
T P e =
55
Equivalent Circuit
I2
E1
iXM
IM
jX1
R1
I1
RC
R2/s
jX2
o
V
+
-
Stator Copper Losses:


Core Losses:


Air gap power:


In the equivalent circuit it
can be seen that the only
element where the air gap
power can be consumed is
R2/s
1
2
1
3 R I P
SCL
=
C
C
CORE
G E
R
E
P
2
1
2
1
3
3
= =
core SCL in AG
P P P P =
Air gap
Rotor
Stator
S
R
I P
AG
2
2
2
3 =
56
I2
E1
jXM
jX1
R1
I1
RC
R2(1-s)/s
jX2
R2
Core
loss
Equivalent Circuit with Rotor Losses Separated
|
.
|

\
|

=
S
S
R I P
CONV
1
3
2
2
2
Rotor Losses= 3*R
2
I
2
2
or R
2
/s=R
2
+ R
2
(1-s)/s

P_conv= Power converted mechanical power
Converted power
Airgap power
2
2
2
2
2
2
3 3 R I
S
R
I P or P P P
conv RCL AG conv
= =
RCL AG conv
P P P =
57
Separating Rotor Copper Losses and Power
Converted in induction Machine
2
2
2
3 R I P
RCL
=
|
.
|

\
|

=
)
`

|
.
|

\
|
=
=
=
S
S
R R
S
R I P
R I
S
R
I P
P P P
conv
conv
conv
RCL AG conv
1
1
1
3
3 3
2
2
2
2
2
2
2
2 2
2
Actual resistive losses in
rotor

When referred to stator

Electrical Power converted
to mechanical is expressed
as the difference between
air gap & rotor losses& can
be expressed as two
separate terms.

A power conversion
resistance can be
expressed as:



R R RCL
R I P
2
3 =
58
I2
E1
jXM
jX1
R1
I1
RC
R2(1-s)/s
jX2
R2
Core
loss
Per phase IM equivalent circuit with rotor
losses separated from converted power
|
.
|

\
|

=
S
S
R I P
CONV
1
3
2
2
2
Rotor Losses= 3*R
2
I
2
2
P_conv= Power converted mechanical power
Converted power
59
Rotor Circuit
Induction machine equivalent circuit
Equivalent Circuit
60
Power, Efficiency and Torque/Review
The input power P
in
supplies the stator resistance & core losses
c core SCL
R E P R I P / 3 & 3
2
1 1
2
1
= =
The air-gap power,
The rotor copper loss,
s
P
s
R
I P
RCL
ag
= =
2 2
2
3
2
2
2 2
3 R I P =
The mechanical or converted or developed power output (neglecting mechanical losses),
2
2
2 2
1
3 R
s
s
I P P P
ag mech

= =
Power
Efficiency
The input power to the motor is given by,
1 1 1
cos 3 o I V P
in
=
Output power,
losses mech mech out
P P P
_
=
Efficiency,
in
out
P
P
= n
Standards/Losses
The rating of Electrical machines is determined by mechanical &
thermal consideration.

The maximum current in an IM winding is determined by the
maximum operating temperature which the insulation can
withstand without damage or excessive life degradation.

NEMA Standard MG1-1993

Allowable Temperature rise per insulation classes,
O
C
Motor Type Class B Class F Class H
Fan Cooled 80 105 125
Non-Ventilated 85 110 135
http://www.nema.org/
Insulation vs. Mean Life of AC Machine
H
o
u
r
s

i
n

T
h
o
u
s
a
n
d
s

Winding Temperature
63
Class Activity
A 480V, 60 Hz, 50hp, 3 phase
IM is drawing 60A at 0.85 pf
lagging.
Stator copper losses=2KW,
rotor copper losses=700W,
Mechanical losses=600W, core
(iron) losses=1800 W,
determine:

a)Air gap power
b)Converted power
c)Output Power
d)Motor efficiency
e)slip
Input power
P
sup
Stator Copper loss
3 I
sta
2
R
sta
Rotor Copper loss
3 I
rot
2
R
rot
Stator Iron loss
3 V
sta
2
/ R
c
Windage, stray
and friction losses
Output power
P
out
Air gap
power P
ag
Developed power
P
dv
= 3 I
rot
2
R
rot
(1-s)/s
Air gap
P_converted
tind.em
P
out
=t
load
.em
S
R
I P
AG
2
2
2
3 =
AG RCL
P S P =
AG Conv
P S P ) 1 ( =
Pin=3V
ph
I
ph
*p.f.
=sqrt(3)V
L
I
L
*p.f
2
2
2
3 R I P
RCL
=
mech loss conv out
P P P
_
=
synch ind AG
T P e =
64
Class Activity
A 480V, 60 Hz, 50hp, 3 phase IM is drawing 60A at 0.85 pf lagging.
Stator copper losses=2KW, rotor copper losses=700W, Mechanical
losses=600W, core (iron) losses=1800 W, determine:
a)Air gap power
b)Converted power
c)Output Power
d)Motor efficiency
e)slip
Input power
P
sup
Stator Copper loss
3 I
sta
2
R
sta
Rotor Copper loss
3 I
rot
2
R
rot
Stator Iron loss
3 V
sta
2
/ R
c
Windage, stray
and friction losses
Output power
P
out
Air gap
power P
ag
Developed power
P
dv
= 3 I
rot
2
R
rot
(1-s)/s
Air gap
P_converted
tind.em
P
out
=t
load
.em
S
R
I P
AG
2
2
2
3 =
AG RCL
P S P =
AG Conv
P S P ) 1 ( =
Pin=3V
ph
I
ph
*p.f.
=sqrt(3)V
L
I
L
*p.f
2
2
2
3 R I P
RCL
=
mech loss conv out
P P P
_
=
synch ind AG
T P e =
2KW
700W
600W
1800 W
kW
f P I V P
t t in
4 . 42
. . 3
=
=
Outcomes
Calculate power and torque in the induction motor as
function of motor operating point.
Calculate Converted power from equivalent circuit.
Derive the torque-speed characteristics of the induction
machine.
Understand and predict the effect of various parameters
(rotor resistance, slip & input voltage) variation on the torque
speed characteristics.
65
66
7.5 Derivation of Induction Motor Induced
Torque-speed Characteristics
Requirement: find induced torque
equation as function of known quantities
(operating point motor speed, input
voltage & IM impedances.

The goal is to express the induced torque
as function of circuit parameters (Rs &
xs), operating point (slip) & input
voltage.

Airgap power is expressed as function of
I
2
. Solving for I
2
, one can solve for the
induced torque.

We will use the equivalent circuit of an
induction machine and power flow
diagram to drive a general expression for
induced torque as a function of speed.
sync ind AG
S
R
I P e t = =
2 2
2
3
m
conv
synch
AG
ind
P P
T
e e
= =
67
Derivation of Induction Motor Induced Torque-
speed Characteristics
To solve for I
2
apply
Thevenin equivalent on IM
per phase equivalent
circuit with Rc neglected at
nodes a & b

Thevenin voltage:





For X
M
+X
1
>>R
1
R1
VTH
Vo
jX1
jXM
o
V
I2
E2
jXM
jX1
R1
R2/s
jX2
M
M
TH
jX jX R
jX
V V
+ +
=
1 1
.
m
( )
2
1
2
1
.
M
M
TH
X X R
X
V V
+ +
=
m
a
b
M
M
TH
X X
X
V V
+
~
1
.
m
68
Thevenin Impedance:
Short circuit sources & solve
for equivalent impedance




X
M
>> X
1


& X
1
+ X
M
>> R
1

R1
ZTH
jX1
jXM
Derivation of Induction Motor Induced Torque-
speed Characteristics
( )
( )
TH TH
M
M
M
M
TH
jX R
X X j R
jX R jX
Z Z
Z Z
Z + =
+ +
+
=
+
=
1 1
1 1
1
1
.
2
1
1
|
|
.
|

\
|
+
~
M
M
TH
X X
X
R R
1
X X
TH
~
a
b
1
1
1
) ( jX
X X
X
R jX R Z
M
M
TH TH TH
+
+
= + =
Thevenin Impedance:
69
Derivation of Induction Motor Induced Torque-
speed Characteristics
Use Thevenin equivalent
circuit to solve for I
2
&
substitute in torque Eq.
( )
2
2
2
2
2
2
2
2
| |
X X
S
R
R
V
I or
jX jX
S
R
R
V
I
TH TH
TH
TH TH
TH
+ +
|
.
|

\
|
+
=
+ + +
=
VTH
E2
jXTH
RTH
jX2
x
x
R2/s
I2
( ) ( )

+ + +
= =
2
2
2
2
2 2
2
2
2
3
/ 3
X X
S
R
R
S
R
V
s R I
TH TH SYNC
TH
sync
ind
e
e
t
a
b
Induced torque can be expressed as:
70
Class Activity/Plot Torque speed curve
Example 7-5: A 460V wound rotor,
60 Hz, 4 pole, 25hp, 3 phase Y
connected IM has the following
impedances referred to stator:
R1=0.641 R2= 0.332 X1=1.106
X2=0.464 & Xm=26.3 ( all in ohms).
Neglect R
C
.
a)Plot Torque speed curve where,
I2
XM
IM
jX1
R1
I1
RC
R2/s
jX2
o
V
E1
( )

+ +
|
.
|

\
|
+
=
2
2
2
2
2
2
3
X X
S
R
R
S
R
V
TH TH SYNC
TH
ind
e
t
) (
) ( Re
TH TH
TH TH
Z imag X
Z al R
=
=
( )
TH TH
M
M
TH
M M
jX R
Z Z
Z Z
Z
jX Z jX R Z
+ =
+
=
= + =
1
1
1 1 1
.
;
71
v_th = v_phase * ( xm / sqrt(r1^2 + (x1 + xm)^2) );
z1=r1 + j*x1;
z2=j*xm;
z_th = ((j*xm) * (r1 + j*x1)) / (r1 + j*(x1 + xm));
z=z1*z2/(z1+z2);
r_th = real(z_th);
x_th = imag(z_th);
s = (0:0.02:1); % Slip
s(1) = 0.001;
nm = (1 - s) * n_sync; % Mechanical speed

% Calculate torque for original rotor resistance
for ii = 1:51
t_ind1(ii) = (3 * v_th^2 * r2 / s(ii)) /(w_sync *
((r_th + r2/s(ii))^2 + (x_th + x2)^2) );
end
Plot of Torque Speed Characteristics
72
0 200 400 600 800 1000 1200 1400 1600 1800
0
50
100
150
200
250
Motor Speed [rpm]
I
n
d
u
c
e
d

T
o
r
q
u
e

[
N
m
]
Induction motor torque-speed characteristic


Original R
2
73
IM Torque speed Characteristics
1. T at synchronous speed is zero.
2. T vs is linear between no load and full load.
3. Maximum torque is 2 to 6 times rated full load torque
depending on IM class.
4. Starting torque (s=1) is larger than its full load torque.
5. For a given slip
6. If rotor runs at a speed faster than synchronous speed then T
ind

is negative, machine acts as a generator.
2
V t
( )

+ +
|
.
|

\
|
+
=
2
2
2
2
2
2
3
X X
S
R
R
S
R
V
TH TH SYNC
TH
ind
e
t
Rated torque
0 rpm motor speed ns (rpm)
R2 increases
Comments on Torque speed Characteristics

( )

+ +
|
.
|

\
|
+
=
2
2
2
2
2
2
3
X X
S
R
R
S
R
V
TH TH SYNC
TH
ind
e
t
75
Comments on Torque speed Characteristics as
Function of Input Voltage

76
Maximum (Pullout) Torque in IM
Max Torque can be
determined as :



The induced torque is
proportional to P
AG
; Induced
torque is max when P
AG
is
maximum.

By power transfer theorem is
achieved when source
impedance is equal to load
impedance.
VTH
Zsource
jXTH
RTH
jX2
I2
R2/s
s R Z
jX jX R Z
Z Z
load
TH TH source
load source
/
2
2
=
+ + =
=
0 =
ds
dt
sync ind AG
S
R
I P e t = =
2 2
2
3
( )

+ +
|
.
|

\
|
+
=
2
2
2
2
2
2
3
X X
S
R
R
S
R
V
TH TH SYNC
TH
ind
e
t
77
Maximum Pull out Torque in Induction Machine

P
max
is defined when
source impedance = R
2
/s


S
max
is expressed as
function of equivalent
circuit impedances

Substitute for S
max
in
torque equation: S=S
max


T
max
is expressed as:
T
max
proportional to V
th
2
.
T
max
is independent of
rotor resistance R
2
.
as R
2
increseas T
start

increases.


( ) ( )
2
2
2
2
X X R
S
R
TH TH
+ + =
( ) ( )
2
2
2
2
max
X X R
R
S
TH TH
+ +
=
( )

+ + +
=
2
2
2
2
max
2
3
X X R R
V
T
TH TH TH SYNC
TH
e
( )

+ +
|
.
|

\
|
+
=
2
2
2
2
2 2
3
X X
S
R
R
S
R
V
TH TH SYNC
TH
ind
e
t
78
Classes of Induction Machines
NEMA Standards

Class A:
-High inrush current (500-800% of rated)
-Low starting torque
-7.5-200 hP
-Applications: Blowers, pumps
-Low slip at full load

Class B:
-Same starting torque as class A
-Less starting current (special rotor-deep bar)
-Same applications as class A

Class C:
-Most expensive (Double cage rotor)
-High starting torque
-Special applications (Compressors & conveyers)

Class D:
-Same as class A but with higher rotor Resistance
-High starting torque
-Higher slip at full load
-Max torque can occur at starting
-Applications: high inertia loads (flywheels)
79
References


Three-Phase Induction Motors Energy Efficiency
Standards,- - A Case Study
MODELLING AND SIMULATION OF THE THREE-
PHASE INDUCTION MOTOR USING SIMULINK,
Int. J. Elect. Enging. Educ., Vol. 36, pp. 163172.
Manchester U.P., 1999.
80
Review of Torque-speed characteristics
Equivalent Circuit





Torque-speed equation
1. T at synchronous
speed is zero
2. For a given slip torq
proportional V
2
.
3. Torque speed
relationship is linear
near rated load
1
1
1
) ( jX
X X
X
R jX R Z
M
M
TH TH TH
+
+
= + =
( ) ( )

+ + +
= =
2
2
2
2
2 2
2
2
2
3
/ 3
X X
S
R
R
S
R
V
s R I
TH TH SYNC
TH
sync
ind
e
e
t
VTH
Zsource
jXTH
RTH
jX2
I2
R2/s
M
M
TH
X X
X
V V
+
~
1
.
m
81
Review of Torque-speed characteristics
Equivalent Circuit

Torque-speed equation
1. T at synchronous speed
is zero
2. For a given slip torq
proportional V
2
.
3. Torque speed
relationship is linear near
rated load
Max slip:
Max Torque:
- Proportional to V2
- Independent of load
impedance
1
1
1
) ( jX
X X
X
R jX R Z
M
M
TH TH TH
+
+
= + =
( ) ( )

+ + +
= =
2
2
2
2
2 2
2
2
2
3
/ 3
X X
S
R
R
S
R
V
s R I
TH TH SYNC
TH
sync
ind
e
e
t
VTH
Zsource
jXTH
RTH
jX2
I2
R2/s
M
M
TH
X X
X
V V
+
~
1
.
m
( ) ( )
2
2
2
2
max
X X R
R
S
TH TH
+ +
=
( )

+ + +
=
2
2
2
2
max
2
3
X X R R
V
T
TH TH TH SYNC
TH
e
82
Class Activity
Example 7-4: a 2 pole 50 Hz IM
supplies 15kW (converted power) to a
load at speed of 2950 rpm.

a- What is the motor slip
b- What is the induced torque under
conditions in a?
c- What will be the operating speed if
the torque doubled (Input voltage
is constant)? Hint: at low slip,
torque is linearly proportional to
torque.
d- What is the converted power at the
new operating point.
sync
m sync
n
n n
s

=
synch
AG
M
conv
ind
P P
e e
t = =
83
Class Activity
50 kW, 440 V, 50 Hz, 6 poles IM has a slip of 6% at full load
conditions; At full load , P
mech_loss
=300W P
core_loss
=600W, Find
a- motor speed
b- Output power
c- Load torque
d- Induced torque
e- Rotor frequency
Input power
P
sup
Stator Copper loss
3 I
sta
2
R
sta
Rotor Copper loss
3 I
rot
2
R
rot
Stator Iron loss
3 V
sta
2
/ R
c
Windage, stray
and friction losses
Output power
P
out
Air gap
power P
ag
Developed power
P
dv
= 3 I
rot
2
R
rot
(1-s)/s
Air gap P_converted
tind.em
P
out
=t
load
.em
S
R
I P
AG
2
2
2
3 =
AG RCL
P S P =
AG Conv
P S P ) 1 ( =
Pin=3V
ph
I
ph
*p.f.
=sqrt(3)V
L
I
L
*p.f
2
2
2
3 R I P
RCL
=
mech loss conv out
P P P
_
=
synch ind AG
T P e =
84
Class Activity
Example 7-5: A 460V wound rotor,
60 Hz, 25hp, 3 phase Y connected IM
has the following impedances
referred to stator:
R1=0.641 R2= 0.332 X1=1.106
X2=0.464 & Xm=26.3 ( all in ohms).

a- What is the max torque of the
motor? At what speed does it
occur?

b- What is the starting torque of
the motor?

c- The rotor resistance is doubled,
what is the new max torque? At
what speed does it occur? What is
the new starting torque of the
motor?
( )

+ +
|
.
|

\
|
+
=
2
2
2
2
2 2
3
X X
S
R
R
S
R
V
TH TH SYNC
TH
ind
e
t
( ) ( )
2
2
2
2
max
X X R
R
S
TH TH
+ +
=
( )

+ + +
=
2
2
2
2
max
2
3
X X R R
V
T
TH TH TH SYNC
TH
e
1
1
1
) ( jX
X X
X
R jX R Z
M
M
TH TH TH
+
+
= + =
M
M
TH
X X
X
V V
+
~
1
.
m
I2
E1
jXM
jX1
R1
I1
RC
R2(1-s)/s
jX2
R2
Core
loss
85
7.11 Determining Equivalent Circuit Parameters
Equivalent Circuit Parameters for Induction Machine

DC test
Calculate stator resistance

No load Test
Approximate all rotational losses (core,
windage, friction, misc)

Locked rotor test
Approximate rotor & stator impedances.
86
DC Stator test
Apply dc voltage across stator winding.
Calculate dc resistance of stator by applying
DC voltage across L-L winding
Measure dc Voltage & current
2R
stator
= V
dc
/I
dc
for Y connection
2R
stator
/3=V
dc
/I
dc
for delta connection
87
Locked Rotor Test
Rotor is locked (S=1)
Neglect (X
m
// R
c
) since X
m
// R
c
>> X
2
+R
2
Measure, P
LR
, V
LR
, I
LR
Approximate, R
2
, X
1
& X
2
Assume X
1
=X
2
(depends on IM
class)

R
1
is already calculated from DC
test, R
2
=R
eq
-R
1


LR t LR t
LR
V I
P
pf
_ _
1
3
cos

= =u
1 2 2 1
2 1 2 1
'
'
) ( ) (
0
R R R R R R
X X j R R jX R
jX R
I
V
Z
LR LR
LR
LR
LR
LR
LR
LR
LR
= + =
+ + + = +
+ =
Z
Z
=
u
I2
E1
iXM
IM
jX1
R1
I1
RC
R2/s
jX2
o
V
+
-
88
No load test
Similar to transformer no load test.
P
noload
=P
core
+P
SCL
+P
mech_loss
P
mech_Loss
= P
windage
+ P
friction
+ P
misc
Measure power (P
oc
), voltage (V
oc
) &
current (I
oc
).
P
rot
=P
noload
-P
SCL=
P
mech_loss
+ P
core
where P
SCL
=R
1
I
2
oc

jXR
RR
IR
ER
E1
jXM
I2
jX1
R1
I1
RC
+
-
+

Voc


-
nL
M c
I
V
X
X R
X R

u
= +
+ <<
>>
=
1
1 M
1 M 1
X
X
0) (s load no at
89
No load test
Similar to transformer no load test.
P
noload
=P
core
+P
SCL
+P
mech_loss
P
mech_Loss
= P
windage
+ P
friction
+ P
misc
Measure power (P
oc
), voltage (V
oc
) &
current (I
oc
).
Asssume mechanical losses are
provided/approximated or combined in Rc
P
core
=P
noload
-P
SCL
-P
mech_loss
where P
SCL
=R
s
I
2
oc

) ( cos
1
OC OC
OC
I V
P

= u
u
u
sin
cos
OC
OC s OC
l m
I
I R V
X X

= +
Core
s oc oc
c
P
R I V
R
2
) cos ( u
=
jXR
RR
IR
ER
E1
jXM
I2
jX1
R1
I1
RC
+
-
+

Voc


-
+

V
x

-
For XM>>X1 & XM >>R1
nL
c M M
I
V
R X X X

u
=
>> = >>
1
M
1
X
1) (s load no at &
90
Conclusion
Stator and rotor IM construction has been
discussed
Basic IM concept of operation has been detailed
Construction of IM equivalent circuit has been
explained
Power & Torque of IM theory and flow has been
presented
IM Torque Speed Characteristics has been derived
IM torque-speed curve as function of salient
points and characteristics have been discussed
Tests to determining IM equivalent circuit
parameters have been studied.