Lecture Notes

TOPIC 5
Induction Machine
Read Chapter: 8

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LECTURE 17

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INDUCTION MOTORS
General
The induction machine is used as a motor and as a generator. However, it is most frequently used as a motor. motor It is the Workhorse of industry. Majority of the motors used by y q g industry are squirrel cage induction motors. Both three-phase and single-phase motors are widely used. The induction generators are seldom used. Their typical application is the wind power plant. Single phase induction motor
Capacitor

End bell Bearing housing Shaft

Name plate

Terminal box

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INDUCTION MOTORS
Stator construction
Laminated iron core with slots Coils are placed in the slots to form a three or single phase winding

Squirrel cage rotor Squirrel-cage construction

Laminated Iron core with slots Metal bars are molded in the slots Two rings short circuits the bars The bars are slanted to reduce noise i
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INDUCTION MOTORS
Construction
The stator has a ring shape laminated iron core with slots. A three or single-phase winding is placed in the slots.
Bars
Phase A

Concept of squirrel cage motor

Stator with laminated iron-core Ring to short circuit the bars
Phase C

The rotor has a ring-shape laminated iron core, with slots bolted to the shaft. Squirrel Cage Rotor: Conductor bars are placed in the slots and short circuited at both ends (Most frequently used). used)
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BA+

Slots with winding g

C+

CB+

A-

Phase

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INDUCTION MOTORS
Construction
Wound-rotor: Three-phase windings are placed in the slots. The winding is wye or delta connected. The ends of each phase is p connected to a slip ring. Three brushes contact the three slip-rings. The rotor winding may be loaded by variable resistance's or supplied by a separate power supply. supply
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Concept of wound-rotor motor

Stator with laminated iron-core Phase iron core
A

Laminated core with slots

Phase C

Three phase winding

A+

B-

Slots with winding

C+

Slip rings

CB+

A-

Phase

B Shaft

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INDUCTION MOTORS
Stator Construction The figure shows a typical stator iron core. The laminated ring shaped core is bolted to the motor frame. The coils are placed in the slots. The slots are closed by a wedge. The coil ends are shaped to fit to the iron core and tied together by strings. High voltage motor coils are p g dried and impregnated.
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Stator iron core construction

INDUCTION MOTORS
Stator Construction The figure shows typical stator coil construction construction. The coil is wound on a form using insulated (enamel) copper conductors. The coil is insulated by insulating tape. The insulated coil is placed in the stator slots. The two sides of the coil are approximately 180o electrical degree apart apart. Stator winding construction

Tape-wound coil insulation

coil end coil sides

Tape-wound coil insulation coil end coil leads

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INDUCTION MOTORS
Squirrel-cage rotor S i l t
The picture shows the rotor of a small and a large motor. Both rotors have laminated cores with slots, mounted on a shaft. The aluminum bars are slanted on the th small rotor. Thi reduces th ll t This d the noise and improves performance. Fins are placed on the ring that shorts the bars The fins work as a bars. fan and improves cooling. The large rotor also has fins and bars. But the bars are not slanted.
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Rotor R t construction t ti

INDUCTION MOTORS
Wound-rotor
The picture shows the rotor of a l t f large woundd rotor motor The ends of each phase is connected to a slip ring. Three brushes contact the three slip-rings to slip rings three wye connected resistances.

Rotor construction

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INDUCTION MOTORS
Three-phase motors Three phase motors. Operation principles. principles The stator is supplied by three-phase voltages that drive threephase balanced current through the windings. The three-phase currents generate a rotating magnetic field. The field rotates at synchronous speed. Synchronous speed is determined b th f d t i d by the frequency of th supply voltage and th f the l lt d the number of poles: ns = f / p/2 = 2 f / p. The unit is rpm. g g The rotating field induces a voltage in the short-circuited rotor conductors. The induced voltage generates current in the bars.

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INDUCTION MOTORS
Three-phase motors. Operation principles The interaction between the rotor current and the stator field produces a force that drives the motor: Force = B I L sin The induced voltage magnitude i d Th i d d lt it d is dependent upon th speed d t the d difference between the rotating stator field and the rotor. The speed difference is maximum during starting when the motor p g g draws large current. The frequency of the rotor current is 60 Hz when the rotor is stationary. As the motor starts to rotate the speed difference is reduced reduced, which results in: reduction on the frequency of the induced voltage in the rotor. reduced magnitude of rotor current and induced voltage voltage.
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INDUCTION MOTORS
Force generation.
Rotating field induces current in the bar . The current and field interaction generates the driving force. force Force = Brotating L Ir The force drives the motor. L is the length of the rotor
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Brotating Force Ir

Ring

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INDUCTION MOTORS
Three-phase motors. Operation principles.
If the rotor speed is equal to the angular speed of the stator field, the induced voltage, current and torque become zero. Therefore the motor speed must be less than the synchronous speed. p y p Motor operation requires speed difference between the stator generated rotating field and the actual rotor speed. The speed difference is called slip (s) and defined as:

s = (ns - nr) / ns

where

ns = 2 f / p

The frequency of the rotor current is: fr = s f The slip in normal operation is between 1 and 5 % For demonstration of operation open Squirrel Cage Rotor animation program program.
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INDUCTION MOTORS
Three phase motors. Student l St d t class room numerical exercise i l i
A three-phase, 20 hp, 208 V, 60 Hz, six pole, wye connected induction motor delivers 15 kW at a s p o 5% oto de e s 5 slip of 5%. Calculate: a) Synchronous speed b) Rotor speed c) Frequency of rotor current Solution - Synchronous speed:

ns = 2 f / p = (120) / 6 = 20 rev/sec =1200 rpm - Rotor speed: nr = (1-s) ns =(1- 0.05) (1200) = 1140 rpm - Frequency of rotor current: fr = s f = (0 05) (60) = 3 Hz (0.05)
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INDUCTION MOTORS
Three phase motors. Development of equivalent circuit motors
The induction motor consists of a two magnetically connected systems: Stator and rotor. This is similar to a transformer that also has two magnetically connected systems: primary and secondary windings. The stator is supplied by a balanced three-phase voltage that drives a pp y p g three-phase current through the winding. This current induces a voltage in the rotor. The applied voltage ( 1) across p pp g (V phase A is equal to the sum of the q induced voltage (E1). voltage drop across the stator resistance (I1 R1). voltage drop across the stator leakage reactance ( 1 j X1). g p g (I )
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INDUCTION MOTORS
Three phase motors. Development of equivalent circuit motors
The stator voltage equation is:

V1 = E1+ I1 ( R1+ j X1)

The E1 induced voltage generates a voltage E2 in the rotor through the

magnetic coupling. If the rotor is at stand still, th i d th t i t t d till the induced voltage E2 i proportional t d lt is ti l to E1 times the turn ratio. T = Nstat / Nrot = N1 /N2. The value is:

E2 = E1 (N2 /N1 ) = E1 / T
If the rotor is rotating, the voltage induced in the rotor is multiplied by the slip s, because the induced voltage is proportional to the speed difference between the stator field and rotor.

E2 = s E1 / T
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INDUCTION MOTORS
Three phase motors. Development of equivalent circuit.
The rotor induced voltage is equal to the sum of the voltage drop across the rotor resistance (I2 R2), and the leakage inductance (I2 X2). The voltage drop across the secondary leakage inductance L2 is:

I2 j r L2 = I2 j (2 fr) L2 = I2 j (2 f ) s L2 = I2 j s ( L2) = I2 j s X2
r The t Th rotor voltage equation is: lt ti i X2

E2 = I2 (R2 + j s X2 )

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INDUCTION MOTORS
Three phase motors. Development of equivalent circuit. motors circuit
The equations derived for the induction motors are:

V1 = E1+ I1 ( R1+ j X1) E2 = I2 (R2 + j s X2 )

Combining the equations we have:

E2 = s E1 / T I2 = I1 (N1/ N2) = I1 T

E1 = E2 T / s = T I2 (R2 + j s X2 ) /s = I1 T2 (R2 /s + j X2 ) = I1 [(R2 T2 /s) + j (T2 X2 )] = I1 (R*2 /s) + j X*2 )

where: R*2 = R2 T2 and X*2 = T2 X2 are rotor resistance and reactance referred to the stator.

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INDUCTION MOTORS
Three-phase motors Three phase motors. Development of equivalent circuit. circuit
The derivation results in the following equations:

V1 = E1+ I1 ( R1+ j X1)

E1 = I1 (R2* / s + j X2* )

We substitute the second equation into the first one to obtain the following equation for the induction motor: q

V1 = I1 (R2* / s + j X2* ) + I1 ( R1+ j X1) = I1 [( R1 + R2* / s) + j ( X1+ X2*)]

The final Th fi l equation i ti is:

V1 = I1 [( R1 + R2* / s) + j ( X1+ X2*)]

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INDUCTION MOTORS
Three-phase motors. Development of equivalent circuit. Th h t D l t f i l t i it
The induction motor equation is:

V1 = I1 [( R1 + R2* / s) + j ( X1+ X2*)] )

This equations suggests that the induction motor equivalent circuit contains two resistances and reactances connected in series. The magnetizing current can be represented by a resistance Rc and a reactance Xm connected in parallel. The resistance represents the hysteresis and eddy current losses losses. The reactance represents the magnetizing current that generates the air-gap magnetizing flux.

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INDUCTION MOTORS
Three-phase motors Three phase motors. Development of equivalent circuit.
The induction Th i d ti motor equivalent circuit i t i l t i it is:

jX1 I1

R1

j X2*

R2 * / s

V1

I*2 = I2 /T Ic Rc Im jXm

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INDUCTION MOTORS
Three-phase motors. Application of equivalent circuit Student class room exercise.
A three-phase, 20 hp 220V 60 Hz 4 pole induction motor has the following three phase hp, 220V, Hz, pole, parameters: R1 = 0.344 ohm R2* = 0.224 ohm 0 224 Draw the equivalent circuit. X1 = 0.498 ohm X2* = 0.344 ohm 0 344 Xm = 50 ohm Rc = 500 ohm

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INDUCTION MOTORS
Draw the equivalent circuit Calculate motor impedance vs. slip Calculate C l l t motor stator and rotor current vs. slip t t t d t t li Calculate and plot input and output power and efficiency vs. slip Calculate motor speed and torque vs. motor speed Determine the maximum value of torque, efficiency Calculate starting torque

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LECTURE 18

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INDUCTION MOTORS
Three-phase motors. Determination of parameters from test
The motor parameters are determined from three tests: No-load test. Provides the magnetizing reactance and core resistance ( Rc and Xm ). Blocked-Rotor Test (Short circuit test). Provides

( R1 + R2* ) and ( X1 + X2* ).

Stator DC resistance measurement. Determines the stator resistance value ( R1).

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INDUCTION MOTORS
Three-phase motors. Determination of parameters from test
Stator DC resistance measurement The motor is supplied by DC voltage between two terminals ( A and B at the figure). The dc voltage and current are measured. d The resistance is: Vdc A Idc jX1 R1 R1 B
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R1 =

Vdc 2 I dc

R1

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INDUCTION MOTORS
Three-phase motors Three phase motors. Determination of parameters from test
No-load test Th motor is supplied by rated line -to -line voltage (Vml ) and th The t i li d b t d li t li lt d the no-load current Inl and the no load input power Pnl are measured. The no-load input p p power includes magnetizing and rotational g g losses. Using the measured values, the admittance and resistance are calculated if the winding leakage impedance is neglected: g g p g I V 2 nL and Y = nL Rc = nL V P nL nL 3
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INDUCTION MOTORS
Three-phase motors Three phase motors. Determination of parameters from test test.
No-load test The approximate magnetizing reactance is:

Xm = Y nl

1
2

1 2 Rc

Rotational losses ( friction, ventilation etc.) : R t ti ll f i ti til ti t ) At no-load conditions the slip is very low. Therefore, the rotor copper losses are negligible. inp t po er Pnl is eq al to the core loss and the rotational losses input power equal losses.
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INDUCTION MOTORS
Three-phase motors Three phase motors. Determination of parameters from test test.
Blocked-Rotor Test The motor is supplied by reduced voltage Vbr (line-to-line) and lower frequency voltage. Approximate frequency value is: f test = (0.258)(60) = 15 Hz. Reduced frequency simulates that rotor current frequency is small in normal operation operation. The voltage Vbr , current Ibr, the input power Pb r are measured. The rotor is blocked slip is s =1. Magnetizing reactance and resistance are neglected because of reduced supply voltage.

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INDUCTION MOTORS
Three-phase motors Three phase motors. Determination of parameters from test test.
Blocked-Rotor Test
The approximate equivalent circuit is:
jX1 Ibl R1 jX2 R2

Vbl

Blocked rotor resistance is: P R = br br 3 I 2 br

- Blocked rotor impedance is:

V br Z = br 3I br

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INDUCTION MOTORS
Three-phase motors. Determination of parameters from test.
Blocked-Rotor Test Blocked rotor reactance at the test frequency ftest is: Xbrtest = Zbr2 R br2 Blocked rotor reactance at the rated frequencies: q

Xbr = Xbr, test (frated / ftest )

The equivalent circuit parameters are calculated from:

Rbr = R1 + R2 and

Xbr = X1 + X2

R1 is determined by stator resistance measurement.

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INDUCTION MOTORS
Determination of motor parameters from test
A three-phase, 30 hp, 208 V, 4 pole, 60 Hz, wye-connected induction motor was tested, obtaining the following data: , g g - No load at 60 Hz: - Blocked Rotor at 15 H t Hz: - DC test: Vnl = 208 V Vbr = 21 V Vdc= 12 V Inl =22 A Ibr =71 A 71 Idc =75 A Pnl = 1600 W Pbr = 2100 W

a) Calculate: the equivalent circuit parameters the rated current and synchronous speed b) Draw the equivalent circuit with the parameter values. D th i l t i it ith th t l
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LECTURE 19

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INDUCTION MOTORS
Three-phase motors. Performance Analysis.
The induction motor performance is evaluated using the equivalent circuit.

The power flow diagram is shown in the figure:

Pin =Real V1 I1*) l(3 Stray losses y Prot Pag = Ti s St tator coppe loss er 3 I12 R1 Pdev = Tdev m Pout = Tout m

R Rotor coppe loss er 3 I2 2 R2

Core losses e

Mechanical Losses s

= Pmach+ Pstray
Pout = Pdev

Pdev = 3 I22 R2 (1- s) / s Pag = 3 I22 (R2 / s) ( )

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- Prot

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INDUCTION MOTORS
Three-phase motors. Torque speed characteristics.
The torque speed relation is calculated from the equivalent circuit. i it

The electric output or developed power is:

PDev = 3 I 2
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1 s * R 2 s
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INDUCTION MOTORS
Three phase Three-phase motors. Torque speed characteristics
The air gap power is:

R*2 Pag = 3 I2 s
2

The synchronous is:

s = 2 ns = 2 f [2/p]

The electromagnetic torque applied to the rotor is:

Pag Te = s
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INDUCTION MOTORS
Three phase Three-phase motors. Torque speed characteristics.
The Te(s) function can be plotted using the MathCad program. The figure shows that the torque has a maximum value value.

The normal operation is between s = 0 and smax

200

Tmax
150

T( S ) 100
50 0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Smax
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S
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INDUCTION MOTORS
Three phase Three-phase motors. Torque speed characteristics
The output mechanical power is:

Pmech =

2 1 s * 3 I2 R2

PRotation

Protation are the rotational losses.

The motor speed is: The output torque is:

m = 2 nm = 2 ns (1-s)

P T = mech e m
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INDUCTION MOTORS
Three phase Three-phase motors. Torque speed characteristics.
The maximum torque is calculated by numerical analysis, or by finding the maximum of the torque function. The steps of the calculation are: Calculation of the torque derivative with respect to slip (s). Setting the derivative to zero and solving the equation for s. The result of this calculation is the slip value when the maximum occur.

Smax =

R2

R1 2 + ( X1 + X2 )

The maximum torque is calculated by substituting smax into the torque equation. torq e eq ation
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INDUCTION MOTORS
Three-phase motors. Starting Torque
The slip is s =1 at starting. The figure show the equivalent circuit at starting.
1 1 2 2

1 1

Ic Rc

Im jXm

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INDUCTION MOTORS
Three-phase motors. Starting Torque
The torque is generated by the air-gap power that produces the electromagnetic torque torque. The starting current is the supply voltage divided by the motor impedance. This current is generally 5-6 times the p g y rated current. The air gap power is: Pag start ag, The starting torque is: Tstart

= 3 R2 (I2start )2

= Pag, start / s
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Three-phase motors. Performance Analysis. Example. The performance of a motor is demonstrated in an example.

A three-phase, wye connected, 60 hp, 480 V, 60 Hz, 6 pole, induction motor drives a fan. The motor and fan data are:
Starting current is 450A, with a power factor of 0.1 lagging. The stator core loss is 1000 W, and the mechanical losses are 650W. At no load, the motor draws 21 A The measured stator resistance between two terminals is : 0.03 ohms The fan torque speed characteristics Is: The motor operates with variable slip, verify your equations by s = 3%.

a) Draw the equivalent circuit. circuit b) Calculate: the line current and pf; the electromagnetic, output, and starting torque; and the efficiency. Plot the torque vs. slip curve.
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INDUCTION MOTORS
Three-phase motors. Performance Analysis. Example. The performance of a motor is demonstrated in an example.

A three-phase, wye connected, 60 hp, 480 V, 60 Hz, 6 pole, induction motor:

Starting current is 450A, with a power factor of 0.1 lagging. The stator core loss is 1000 W, and the mechanical losses are 650W. At no load, the motor draws 21 A The measured stator resistance between two terminals is : 0.03 ohms The motor operates with variable slip, verify your equations by s = 3%.

a) Draw the equivalent circuit. b) C ) Calculate: the line current and pf; the electromagnetic, f output, and starting torque; and the efficiency. Plot the torque vs. slip curve.

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LECTURE 20

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INDUCTION MOTORS
Single-phase motors. Si l h t
This is the most frequently used g g motor for refrigerators, washing machines, clocks, drills compressors, pumps, etc.. This motors stator has a laminated iron core with two windings arranged perpendicularly. One is the main, the other is the auxiliary winding or starting winding winding.
Stator with laminated iron-core Slots with winding Squirrel S i l cage Rotor

Main winding

Bars

_
Starting S i winding

Ring to short g circuit the bars

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INDUCTION MOTORS
Single-phase motors.
The rotor is a squirrel cage rotor, which has laminated iron core with slots. Aluminum bars are molded on the slots and short-circuited at both ends with a ring.
Stator with laminated iron-core Slots with winding Squirrel cage Rotor

Main winding

Bars

_
Starting winding

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INDUCTION MOTORS
Single phase Single-phase motors. Concepts.
The main winding is supplied by a single-phase ac current that produces a pulsating magnetic field. The pulsating field can be divided into two fields, rotating in opposite directions. The interaction between the fields and the current induced in the rotor bars generates opposing torque. Under these conditions, the motor will not start, as shown in the figure.
Starting winding Main winding

Single phase flux

Main winding flux

- t

+t

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INDUCTION MOTORS
Single-phase motors Concepts. Single phase motors. Concepts
Assume the motor is started by an external torque and rotated with a speed of n in the forward direction ns is the synchronous speed direction. speed. This generates a positive slip related to the forward rotating field. s+ =(ns-n)/ ns The positive slip is small 1-5% This generates a negative slip related to the reverse rotating field.

s- =(ns+ n) / ns ( )

Negative slip is large 1.95-1.99 g p g

The combination of the two equations results in:

s- = 2- s+
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INDUCTION MOTORS
Single-phase motors. Concepts.
The torque is inversely dependent upon the slip.

T=

P2 (1 s) 1 (1 s) = I 22 R 2 = I 22 R 2 s s s s s2

A small positive slip (0.01-0.03) generates larger torque than a larger negative slip (1.95-1.99). The torq e difference dri es the motor which contin es to rotate in a torque drives motor, hich continues forward direction without any external torque.

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INDUCTION MOTORS
Single-phase motors. Concepts.
Each of the rotating fields induces a voltage in the rotor, which drives current and produces torque. Each field is represented by an equivalent circuit (the one used for the three phase motors). The parameters of the two circuits are the same with the exception of the slip. The two equivalent circuits are connected i series. Th t i l t i it t d in i The current, power and torque can be calculated from the combined equivalent circuit circuit.
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INDUCTION MOTORS
Single-phase motor equivalent circuit
I1 j jX1/2 R1/2 j X2/2 R2 /2

Forward rotating field

P =
+

jXm/2

R2( 1- s+)/2s+

1 s+ 2 I2 R 2 + 2s

V1

jX1/2

R1/2

j X2/2

R2 /2

Reverse rotating field

jXm/2 R2( 1- s-)/2 s-

P =

1 s 2 I2 R 2 2s

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INDUCTION MOTORS
Starting of single-phase motors.
The starting of the induction motor requires a rotating magnetic field field. The rotating fields can be generated by two perpendicular coils that have currents 90o out of phase. I Centrifugal switch Starting Winding C Rotor

V Main winding g
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INDUCTION MOTORS
Staring of single phase motors
For starting of a single-phase motors: The main winding is supplied by Im = I cos t The starting winding is supplied g g pp by Is = I sin t The phase shift is achieved by connecting either a resistance, an inductance, or a capacitance in series with the starting winding. The starting winding is switched off by a centrifugal switch when the motor reaches the operating speed. I Centrifugal switch Starting Winding C Rotor

V Main winding

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INDUCTION MOTORS
Operation analyses
A small single phase motor drives a machine that requires constant torque. The motor parameters are: parameters are:
Vs := 120V Xm := i 51
Calculate: 1) 2) 3) 4) Motor slip and motor impedance vs. motor speed vs Stator current and input power and pf vs. motor speed Rotor current and output power and torque vs. motor speed Plot the torque vs. speed and determine the motor speed at 2 N m torque vs torque.

R1 := 2 p := 4

X1 := i 2.5 Pcore := 30W

R2 := 4.1 Pmec := 50W

X2 := i 2.2 f := 60Hz

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INDUCTION MOTORS
Questions to ponder
What type of motor is used in an electric drill? How is the motor speed regulated in an electric drill? Can the direction f t ti be C th di ti of rotation b reversed i a th d in three-phase motor? h t ? How? Why does a lightly loaded induction motor run with low power factor? How the speed of a three-phase motor can be controlled?

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