Induction Machine

Chapter No 7
 Home Work Number 4

Home Work Problems:

7.2, 7.3, 7.4, 7.5, 7.7, 7.8, 7.14.

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 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, just as two permanent magnets
near each other will experience a torque
which causes them to line up. (4.5 details)

τ ind = K B R × B S

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 Introduction to Induction Machine
! The name 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.
! A distinguishing feature is that no DC field
current is required to run this machine.

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Motor Construction:
Two types of rotor.
1. Squirrel Cage Rotor or simply cage rotor
2. Wound rotor

Squirrel Cage Rotor:

In squirrel cage rotor series of conducting
bars are laid in the slots carved in to the face
of rotor and shorted at either end by large
shortening rings.

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Wound Rotor:
" It has a complete set of three phase
windings that are mirror image of the
windings on the stator. Three phases are
usually y-connected. The ends of rotor
wires are tied through slip rings on the
rotor shaft. The rotor windings are shorted
through brushes riding on the slip rings.
" Rotor current can be examined and extra
resistance can be added to rotor circuit

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 Basic Induction Motor Concepts
When three phase set of voltages are
applied to stator, three phase current flows
in the stator winding.
! A magnetic field BS is produced, which is
rotating counter clock wise.
120 f e
! The speed of magnetic field = n synch =
p
# f e is frequency in hertz

#P is no of poles

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! when rotating magnetic field BS passes
over rotor bars, it induces voltage in them
e ind = (V × B S ). l

V: velocity of bars relative to magnetic field

B: magnetic flux density
I: length of conductor in the magnetic field

Then
τ ind = K B R × B S

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! 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 e ind = 0 then current in rotor bars is zero
⇒ No rotor current
⇒ No torque

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Normal Operation:
Both BR and BS rotate together.

Rotor Slip
n slip = n sync − n m

nslip : Slip Speed

nsync: Synchronous Speed
nm : Mechanical Shaft Speed
n
S = ( × 100 %)
slip
Or Slip =
n synch
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 n synch − n m
S = × 100 % …..(1)
n synch

ω synch − ω m
S= × 100 % ….. (2)
ω synch
Or in terms of angular velocity

If ωm = ωsync => S = 0
ωm = 0 => S = 1
Normal operation S is between 0 & 1

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(1) ⇒ nm = (1 − S )n synch
( 2) ⇒ ω m = (1 − S )ω synch

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 Electrical Frequency on Rotor
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 then secondary
frequency is same as primary.
#If rotor turns at synchronous speed the
Rotor frequency will be zero.
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 n − n
=
synch m
S
n synch

n m = 0 ⇒ f r = f e and s = 1
n m = n sync ⇒ f r = 0 and s = 0
⇒ f r = sf e
n synch − nm
fr = × fe
n synch
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 120 f
n synch = e

p
P
f r = ( n synch − nm ) × × fe
120 f e
P
fr = ( n synch − n m )
120

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 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 EA in a
synchronous machine.
! We will begin with the transformer model.
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The Transformer Model of an Induction
Machine

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φ
Transformer

Induction Motor

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! Due to the air gap in an induction
machine, the reluctance of the flux path is
increased greatly, which reduces coupling
between primary (stator) and secondary
winding (rotor). The higher reluctance
caused by the air gap means that a higher
magnetizing current is required to obtain a
given flux. Therefore, magnetizing
reactance will be much smaller.
! E1 coupled to ER by an ideal transformer
with an effective turn ratio aeff.
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! For wound rotor it is ratio of the
conductors per phase on stator to the
conductors per phase on rotor.
! Difference:
Primary difference is effect of varying
rotor frequency on the rotor voltage ER
and rotor impedance RR and j XR.
P
f r = ( n synch − nm ) ×
120
If f r varies, X R varies.
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Rotor Circuit Model
! Voltage applied to stator induces voltage
in the rotor.
! The greater the relative motion (Slip
Speed) between rotor and stator magnetic
fields, the greater the resulting voltage and
frequency.
! The largest relative motion occurs when
the rotor is stationary, called Locked Rotor
or Blocked Rotor condition.

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=>Largest voltage and frequency are induced.

⇒ Magnitude and voltage

induced in rotor α Slip of Rotor

Let ,voltage induced at

= E
locked rotor condition R 0

Then, the voltage = E R = S E R0

induced at any Slip

And, frequency = f r= sf e

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-Rotor Resistance is fixed RR
-Rotor Reactance = X R = ω r L R
= 2π f r LR = 2π s f e LR (∵ f r = sf e )
= S (2π f e L R )
X R = S X R 0

X R0 is blocked rotor reactance

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Rotor Equivalent Circuit

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 E R
I =
+ jX
R
R R R

SE R 0
I =
+ jSX
R
R R R 0

E
I R = R 0
R R + jX
S R 0

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26
=>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
ER0.
RR
Z = + jX
R , eq S R0

-very low Slip RR/S >> XR0, so rotor

resistance dominates at high Slip XR0 >>
RR/S
-Current reaches steady state value as slip
becomes very large.
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Final Equivalent Circuit
! Need to refer rotor part to the stator side.
! Speed effects are concentrated in impedance.
! In transformer secondary can be referred by turn
ratio.

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 VP = VS = aVS
' -Prime means
referred quantities

IS
IP = IS =
'
a
ZS = a Z S
' 2

Let, aeff = turn ratio

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Then,
E1 = ER = aeff ER0
'

&
IR
I2 =
aeff
&
RR
Rotor impedance= Z 2 = aeff ( + jX R0 )
2

S
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Let, R2 = a 2
eff RR
X 2 = a 2
eff X R0

Then the final per phase equivalent circuit is

Vφ

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! The rotor resistance and locked rotor
reactance XR0 are very difficult or
impossible to determine on a cage rotor
also the effective turn ratio aeff is difficult to
obtain for squirrel-cage rotor .
! Fortunately it is possible to make
measurements that will directly give the
referred resistance and reactance R2 and
X2, even though RR1 ,XR0 and aeff are not
known separately.

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Power and Torque in Induction Machine
! Induction motor same like transformer.
! Input is 3-φ voltage & currents.
! Output of transformer is electric power
from secondary winding.
! The secondary (rotor) of an induction
machine is shorted, therefore no electrical
output form induction machine instead
mechanical output.
Pin → Pout Electrical → Mechanical
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 PAG =
Air gap power Pconv= Γindω
ωm

√3VTIL
Pin=√
θ
cosθ
Pout = τω
load

PSCL Pcore PRCL Pfriction

stator (core (Rotor & P STRAY
copper losses) copper windage (Pmisc)
(rotor+sta losses)
tor

Rotational Loss
! Core losses
! Friction & winding losses
! Stray Losses 34
 Vφ I1 =
Vϕ
Z eq

V 1
ϕ Z eq = R1 + jX 1 +
I = , 1
1
Z Gc − jBM +
eq R2 / S + jX 2

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Stator Copper Losses: P SCL = 3I R1 1
2

= 3E1 G C
2
Core Losses: PCORE

Air gap power: PAG = Pin − PSCL − Pcore

In the equivalent circuit it can be seen that this

power can be consumed in R 2
S
R 2 …(1)
∵ P AG = 3 I 2
2

S
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Actual resistive losses in rotor
→ P RCL = 3I
2
R R R
When referred to stator side P remains the same
= 3 I ….(2)
2
P RCL 2 R 2

Now,
P CONV = P AG − P RCL
R 2
= 3I 2
2 − 3I 2 R
2
2
S
 1 
= 3I 2
2 R 2  − 1
 S  37
 1 − S 
PCONV = 3 I R2 
2
2 
 S 
(Also known as developed mechanical power)
(1) and (2) implies that
Rotor copper losses = Air gap power * Slip
P RCL = S P AG

! The lower the slip the lower the rotor

copper losses.
! When the rotor is stand still all the air gap
power is consumed in rotor and 38
 POUT = T load ω m = 0
PConv = P AG − P RCL
= P AG − SP AG
PConv = (1 − S ) P AG
Lastly if friction, windage and stray losses
are known, the output power is

POUT = Pconv − Pf &w − Pmisc

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Tind: Torque generated by internal electric to
mechanical power conversion
P conv Developed torque of the
T ind =
ω m machine
( 1 − S ) P AG
τ ind =
( 1 − S ) ω synch
P
τ = AG
ind
ω synch

Important because it provides Tind in the from of

PAG & ωsynch, where ωsynch is constant.
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 Separating Rotor Copper Losses and Power
Converted in induction Machine
Pconv = PAG − PRCL
R2
(1) & ( 2) ⇒ Pconv = I − I 2 R2
2 2
3 2 3
S
2 1 
Pconv = 3 I 2  R 2  − 1  
 S 
1 − S 
R conv = R 2  
 S 
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Per phase equivalent circuit with Rotor
copper losses & Pconv separated.
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 Derivation of Induction Motor 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.
P
τ = conv
ind
ω M

P
τ = AG
ω
ind
synch

Quite useful because WSYNC is constant so

knowledge of air gap tells us about Tind 43
Air Gap Power:
! Power crossing the gap from stator circuit
to rotor circuit.
! This is equal to power absorbed in
resistance R2/S.
R2
,1 φ = I
2
P AG 2
S
2 R2
P AG = 3I2
S
If I2 is known, PAG can be calculated.
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Vφ

jX M
VTH = Vϕ .
R1 + jX 1 + jX M
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 X
V TH = V ϕ . M

R + (X 1 + X )
2 2
1 M

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XM>>X1 and XM>>R1
XM
=> VTH ≈ Vϕ .
X1 + X M

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 Z1 .Z M
ZTH =
Z1 + Z M
ZTH = RTH + jX TH
jX M (R1 + jX 1 )
ZTH =
R1 + j( X 1 + X M )
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 XM >> X1 and X1 + XM >> R1
2
=>  XM 
RTH ≈ R1  
 X1 + X M 
X TH ≈ X 1
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50
 VTH
I2 =
Z TH + Z 2
VTH
I2 =
R2
RTH + + jX TH + jX 2
S
VTH
I2 =
2
 R + R 2  + ( X + X )2
 TH 
 S 
TH 2

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 PAG R2
τ ind = ∵ P AG = 3 I 2

ω SYNC
2
S

2 R2
3V TH
τ ind = S
 
2

ω SYNC  RTH + 2 S  + ( X TH + X 2 ) 
R 2

  

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Starting
torque

N sync

Pull out
torque

Full load
torque

Motor region
N sync nm
0 1 -1

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1. T at synchronous speed is zero.
2. T vs ω is linear between no load and full
load.
3. Maximum torque is 2 to 3 times rated full
load torque.
4. Starting torque is slightly larger than its
full load torque.
For a given slip τ ∝ V
2
5.
6. If rotor runs at a speed faster than
synchronous speed then Tind is negative,
machine acts as a generator.
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 Maximum Pull out Torque in Induction
Machine
! Air gap power is power consumed in the
resistor R2/S, the maximum induced
torque will occur when power consumed
by resistor is maximum.
! Max power transfer theorem

Z source = Z load
Z source = RTH + jX TH + jX 2

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For Pmax
R2
= (RTH ) 2
+ ( X TH + X 2 )
S
S (at pull out torque) =
R2
S max = …(1)
(RTH ) 2
+ ( X TH + X 2 )
2

2
3VTH
Tmax = …(2)
2ω SYNC  RTH + R + ( X TH + X 2 ) 
2 2
 TH 
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 Tmax ∝ (Supply Voltage)2

Tmax ∝ 1/ Size of stator impedance and

rotor reactance
(1) =>Slip at which
Tmax occurs α Rotor Resistance
(2) => The value of Tmax is independent of
rotor resistance.
For wound rotor machine insert the
resistance in the beginning, to get Tmax at
low speed then take it out to move Tmax to
a higher speed.
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