Lecture 2

Torqueslip Characteristics of 3-phase Induction Motor

Torqueslip characteristic is one of the most important aspects of the induction motor.

I1 R1

jX 1

A I2

V1

jX 2

R2
s

jX m

jX th

jX 2

R2
s

Vth
_

(a)

I 2 Rth

(b)

Vth , Z th

Fig 1: (a) Per-phase equivalent circuit of the motor (b) Thevenin equivalent circuit
w.r.t. terminal A-B

Torque developed,
Thevenin equivalent w.r.t A-B

Vth V1

jX m
;
R1 j ( X 1 X m )

Rth

th

R1 j ( X 1 X m )

Vth

I2

Te,dev

R1 jX 1
jX m R1 jX 1
jX

Z th jX m

R2
2

Rth X th X 2
s

3 I 2
s
s s
Pag

Plot of
Dr. Ahsan

2
2

3Vth2 ( R2 / s )
2

R2
2
s Rth X th X 2
s

(1)

is shown in Figure 2.
Page 1

Figure 2: Effect of changing rotor-circuit resistance on the torqueslip characteristic of

a 3-phase induction motor.

Maximum Torque,
At

power transferred to the rotor will be maximum. If this happens at slip

then from maximum power transfer theorem

R2
jX 2 ( Rth jX th )* Rth jX th
smax

R2
Rth2 ( X th X 2 ) 2
smax

smax

R2
R ( X th X 2 )
2
th

(2)
(3)

slip at Te,max

From (1) & (2)

Te,max

3Vth2
2s Rth Rth2 ( X th X 2 )2

(4)

From (4) it can be observed that Te,max is independent of R2.

Dr. Ahsan

Page 2

Starting Torque,
At starting, s=1, then from (1), and (2) we have

Vth

I 2, start

Te, start

Rth R2 X th X 2
2

Pag

2
2, start

R2

3Vth2 R2

(5)

2
2
s Rth R2 X th X 2

R2, start Rth2 ( X th X 2 )2

(6)

Example 2: A three-phase, 220-V, 10-hp, 60-Hz, six-pole, wye-connected induction

motor has the following per-phase parameters, which are referred to the stator:
R1 = 0.3

X1 = 0.5

R2 = 0.15

X2 = 0.2

XM = 15

Determine,
(a) The internal power Pm, and the internal torque Tm for a slip of 0.02
(b) The maximum internal torque, and the corresponding slip and speed
(c) The internal starting current

Solution:

I1 R1

jX 1

V1

A I2

jX 2

R2
s

jX m

(a)

I 2 Rth

jX th

jX 2

R2
s

Vth
_

B
Vth , Z th

(b)

Fig 3: (a) Per-phase equivalent circuit of the motor (b) Thevenin equivalent circuit
w.r.t. terminal A-B
Dr. Ahsan

Page 3

Vth V1
Z th

jX m
220
j15

122.89671.1088V
R1 j ( X 1 X m )
3 0.3 j (0.5 15)

jX m ( R1 jX 1 )
j15(0.3 j 0.5)

0.2809 0.4893i
R1 j ( X 1 X m ) 0.3 j (0.5 15)

Rth 0.2809;

X th 0.4893
Vth

I2

R2
2

Rth X th X 2
s

122.8967
2

0.15
2

0.2809
0.4893 0.2
0.02

15.7331A
R
0.15
Pm 3I 22 2 (1 s ) 3 15.73312
(1 0.02) 5458.1W
s
0.02

Pm

smax

5458.1
44.3204 Nm
123.15

R2
Rth2 ( X th X 2 ) 2

m s (1 s)

2
(2 60)(1 0.02) 123.15 rad / sec
6

0.15
0.28092 (0.4893 0.2) 2

N r (1- smax ) N s (1 0.2015) 1200 958 RPM

Vth

I 2,max

2
(2 f )(1 s)
P

R2
2
R

th
X th X 2
smax

0.2015

Ns

120 60
1200 RPM
6

122.8967
2

0.15
2

0.2809
0.4893 0.2
0.2015

99.4818 A
R2
2
Pag ,max 3 I 2,max

smax
Te,max

Pag ,max

Dr. Ahsan

2 0.15
3 99.4818
22099 W
0.2015

22099
175.8581 Nm
40

2
2
(2 f ) (2 60)
P
6

40 rad / sec
Page 4

At start , s 1
Vth

I 2,start

Rth R2 X th X 2
2

122.8967

0.2809 0.15

0.4893 0.2

151.1864 A
Te,start

Pag ,start

2
2, start

3 151.18642 0.15
R2
81.8518 Nm
40

Starting Methods for 3-phase Induction Motors

In Example 2, we have seen, for the 3-phase, 220-V, 10-hp, 60-Hz, 6-pole, wyeconnected induction motor with, R1=0.3 /phase; X1=0.5 /phase; R2=0.15 /phase;
X2 = 0.2 /phase; XM = 15 /phase

I1 R1

jX 1

V1

A I2

jX 2

R2
s

jX m

(a)

I 2 Rth

jX th

jX 2

R2
s

Vth
_

(b)

Vth , Z th

Fig 5: (a) Per-phase equivalent circuit of the motor (b) Thevenin equivalent circuit
w.r.t. terminal A-B

At Full load : I 2

Dr. Ahsan

Vth
2

R2
2

Rth X th X 2
s

15.7331 A

Page 5

At start , s 1
I 2,start

Te,start 3

Vth

Rth R2
1

X th X 2

151.1864 A

I 2,2 start R2 81.8518 Nm

Objectives/Targets
1. Limit starting current to safe value less than 5 to 6 times full-load current
2. High starting torques required for certain application

Methods
Rotor-resistance Starting when high starting torques are required. Applicable
for wound rotor IM
Direct online Starting suitable for small IM <10 hp
Reduced voltage starting by means of wye-delta starter : A machine designed
for delta operation is connected in wye during the starting period, and later
changed to delta when the motor gains sufficient speed.
Autotransformer starting: Reduced voltage is applied during starting and fullvoltage is applied when the motor gains sufficient speed.
Stator-impedance starting: Series impedance or resistance is inserted in the lines
to limit the starting current. These resistances are shorted out when the motor
gains speed.

Dr. Ahsan

Page 6

Speed and Torque Control of Three-phase Induction Motor

Induction motor finds wide applications in industry
Induction motor is essentially a constant-speed machine
Techniques for easy and efficient variation of speed over a wide range of
operating conditions is highly desirable for many application
The speed of three-phase induction motor (IM) is given by

n (1 s )ns (1 s )

120 f
P

where,
s slip
f supply frequency, Hz
P Number of poles

This suggests that the speed of IM can be varied by varying either s, or f or P. Indeed
all methods of speed control involve some degree of sacrifice in performance, cost,
and simplicity.
The following are methods available for speed and torque control of induction motors.
Pole-changing method - Machine with two stator windings arranged for different
number of poles
Variable-frequency method
Variable-line-voltage method
Variable-rotor-resistance method
Rotor slip-frequency control
Rotor slip-energy recovery method
Control by auxiliary devices (Kramer control, Scherbius control, Schrage motor)
Solid-state control - variable-terminal-voltage control, variable-frequency control,
rotor resistance control for wound-rotor motors, injecting voltage into rotor circuit of
wound-rotor motors

Dr. Ahsan

Page 7

Power-semiconductor Controlled Drives

Figure : Essential components of an electric drive

Dr. Ahsan

Page 8