7 Asynchronous Student

Asynchronous (induction) Machine
Electric Machine :
2
I. Fundamentals
A. Utilisation
- Induction motor
- Induction generator
Special application
Fundamental disadvantages
The speed is not easily controled
The starting current may be 5 to 8 times full-load current
The power factor is low and lagging when the machine is lightly loaded
In wind power system, to supply additional power to a load in a remote area that
is served by a weak transmission line
3
I. Fundamentals
B. Basic physical phenomena
- Transformer phenomena
Power is supplied to only the stator winding. Then, voltage and current
are induced in the rotor winding
Induction machine could be seen as a 3-phase transformer with
short cicuited and rotating secondary winding
Stator winding Rotor winding
3-phase AC
Power supply
Induction
phenomena
4
II. Structure
A. Major components of induction machine
- Stator
- Rotor
Similar with the stator of synchronous
machine
Containing short circuited three-phase
winding
Wound (slip ring) rotor
Physical construction is really similar with
the stator
Squirrel cage rotor
Physically consists of a series of conducting bars
5
III. Characteristics of Induction Motor
A. Operating concepts of induction motor
Stator
Rotor
3 | current is
flowing through
stator winding
Current is flowing
through the rotor bars
B
S
pass over
the rotor bar
3 | AC voltage
is applied to
stator
Rotating
magnetic field
(B
S
) is produced s
s
s
N
dt e
dB A

=
B
S
induces a
voltage in the
rotor bars
dt
dB A
N e
s
r r

=
Rotor magnetic
field (B
R
) is
produced
dt
dB
r
Torque is
induced in the
rotor (t
ind
)
s r ind
B kB = t
6
Slip
B. Basic concepts of induction motor
The difference between the stator rotating magnetic field speed (n
s
)
and the rotor speed (n
m
)
m s slip
n n n =
(3-1)
% 100
=
s
m s
n
n n
s
(3-2)
- The speed of rotating magnetic field in stator
(rpm)
(%)
Speed
(3-3)
(rpm) f
p
n
s
=
120
- The speed of rotor
( )
s m
n s n = 1 ( )
s m
s e e = 1 (3-4a)
(rad/s) (rpm) (3-4b)
7
Frequency of rotor voltages and currents (f
r
)
B. Basic concepts of induction motor (contd)
f : frequency of rotating magnetic field (power system)
- When n
m
= 0
s = 1 and f
r
= f
- When n
m
= n
s

s = 0 and f
r
= 0
sf f
r
= (3-5) (Hz)
( )
m s r
n n
p
f =
120
(Hz) (3-6)
p : number of pole
8
C. Equivalent circuit
Circuit model of stator
R
1
jX
1
I
1

I
M

I
2

V
1

E
1

R
C

jX
M

Circuit model of rotor
R
R
jX
R

I
R

E
R

1 0
sE sE E
R R
= =
(V) (3-7)
Induced voltage
E
R0
: E
R
when n
m
= 0, s = 1 and f
r
= f
Reactance
R r R
L f X t 2 =
R R
fL s X t 2 =
0 R R
sX X =
(3-8) (O)
(O) (3-9)
(O) (3-10b)
When n
m
= 0, s = 1 and f
r
= f
R R
fL X t 2
0
=
(3-10a)
Induced voltage and reactance
vary with f
r

9
Circuit model of rotor (contd)
(A) (3-11)
Rotor current
0
0
R R
R
R
jsX R
sE
I
+
=
0
0
R
R
R
R
jX
s
R
E
I
+
=
(A) (3-12)
Rotor equivalent impedance
0 R
R
R
jX
s
R
Z + =
(O) (3-13)
R
R
/s jX
R0

I
R

E
R0

10
Equivalent circuit of induction motor
eff
R
a
I
I =
2
0 1 R eff
E a E =
R eff
R a R
2
2
=
0
2
2 R eff
X a X =
(3-14)
(3-15)
(3-16)
(3-17)
(A)
(V)
(O)
(O)
a
eff
: the ratio of the stator per-phase
conductors to the rotor per-phase conductors
R
1
jX
1
I
1

I
M

I
2

V
1

E
1

R
C

jX
M

R
R
/s jX
R0

I
R

E
R0

R
1
jX
1
I
1

I
M

I
2

V
1
E
1

R
C

jX
M

jX
2

R
2
/s
11
D. DC measurement, no load and
blocked rotor tets
DC measurement
For obtaining stator resistance (R
1
)
R
1
R
1
R
1
V
D
C
I
D
C
Stator winding is connected in Star

(3-18a) ( )
1 1
R R I V
DC DC
+ =
DC
DC
I
V
R
=
2
1
(3-18b)
Based on KVL

12
blocked rotor tets
No load test
s m
n n ~
0 ~
ind
t
0
2
~ I
For obtaining R
1
+ R
c
, X
1
+ X
M
and P
rot

R
1
jX
1
I
1

I
M

V
1

R
C

jX
M

I
2
~0
jX
2

R
2
/s
I

|
|
1 ,
1 ,
1
1
NL
NL
NL
I
V
I
V
Z = = (3-19)
| |
|
u
1 , 1 ,
3 ,
3
NL NL
NL
NL
I V
P
Cos

=
(3-20)
2 2
1 NL NL M NL
R Z X X X = + = (3-22)
( )
1
2
1 , 3 ,
3 R I P P
NL NL rot
=
| |
stray W F core rot
P P P P + + =
&
(3-23a)
(3-23b)
NLl NL c NL
Cos Z R R R u = + =
1
(3-21a)
1
R R R
NL c
=
(3-21b)
13
blocked rotor tets
Blocked rotor test
|
|
1 ,
1 ,
1
1
BR
BR
I
V
I
V
Z
BR
= = (3-24)
| |
|
u
1 , 1 ,
3 ,
3
BR BR
BR
BR
I V
P
Cos

=
(3-25)
2
2
'
BR BR BR
R Z X =
BR
test
rated
BR
X
f
f
X X X '
2 1
= + =
(3-27)
(3-28)
R
1
jX
1
I
1

I
M
~0
V
1

R
C

jX
M

I
2
>>
jX
2

R
2
/s
I

0 ~
m
n
>>
ind
t
>>
2
I
0 ~
M
I
BR BR BR
Cos Z R R R u = + =
2 1
(3-26a) (3-26b)
1 2
R R R
BR
+ =
14
E. Power flow, losses, efficiency and torque
Power flow and losses
1
2
1
3 R I P
SCL
= (3-29) (W)
C
core
R
E
P
2
1
3
=
(3-30) (W)
core SCL in AG
P P P P =
s
R
I P
AG
2
2
2
3 =
(3-31a) (W)
(3-31b) (W)
2
2
2
3 R I P
RCL
=
AG RCL
sP P =
(3-32a) (W)
(3-32b) (W)
RCL AG conv
P P P =
( )
AG conv
P s P = 1
(3-33a)
(W)
(3-33b) (W)
stray W F conv out
P P P P =
&
(3-34)
(W)
P
core
(Core
loss)
P
RCL
(Rotor
copper loss) P
SCL
(Stator
copper loss)
P
A
G

P
friction and
windage

t
ind
e
m

P
conv

P
stray

In stator
In rotor
u cos 3 =
L L in
I V P
m load out
P e t =
15
Separation of P
RCL
and P
conv
in equivalent circuit
Based on equation (3-31b), (3-32a), and (3-33a) :
2
2
R
s
R
R
conv
=
|
.
|
\
|
=
s
s
R R
conv
1
2
(3-35)
(O)
|
.
|
\
|
=
2
2
2
2
3 R
s
R
I P
conv
(3-36a)
(3-36b)
(O)
R
1
jX
1
I
1

I
M

I
2

V
1
E
1

R
C

jX
M

jX
2

R
2
/s
R
1
jX
1
I
1

I
M

I
2

V
1
E
1

R
C

jX
M

jX
2

R
2
(1-s)/s
R
2
(P
RCL
)
(P
con
)

16
Efficiency
% 100 =
in
out
P
P
q (3-37) (%)
|
.
|
\
|

=
s
s
R I P
conv
1
3
2
2
2
stray W F out
P P
s
s
R I P
|
.
|
\
|

=
& 2
2
2
1
3
Based on equation (3-34) and (3-35) :
(3-38)
(W)
(3-39) (W)
Efficiency depends on the slip
Efficiency will be max when n
m

almost reaches n
s
(s ~ 0)
% 100
1
3
& 2
2
2

|
.
|
\
|

=
in
stray W F
P
P P
s
s
R I
q
(3-40) (%)
17
Torque
m
conv
ind
P
e
t =
s
AG
ind
P
e
t =
(3-41a)
(N.m)
(3-41b) (N.m)
Induced torque
Output torrque
m
out
out
P
e
t =
(3-42) (N.m)
18
Derivation of induced torque from the equivalent circuit
Solving the equivalent circuit by using Thevenin
M
M
TH
Z Z
Z
V V
+
=
1
1 (3-43a)
(3-43b)
V
TH

R
1
jX
1

V
1

R
C

jX
M

M
M
TH
jX jX R
jX
V V
+ +
=
1 1
1
For given slip, the torque varies as
the square of applied voltage
Based on equation (3-31b) :
( )
2
2
2
2
2
2
3
X X
s
R
R
s R V
P
TH TH
TH
AG
+ +
|
.
|
\
|
+
=
(3-48)
R
TH
jX
TH

V
TH

jX
2

R
2
/s
I
2

( )
2
2
2
2
2
X X
s
R
R
V
I
TH TH
TH
+ +
|
.
|
\
|
+
=
(3-47)
Based on equation (3-36b) :
( )
(
+ +
|
.
|
\
|
+
=
2
2
2
2
2
2
3
X X
s
R
R
s R V
TH TH s
TH
ind
e
t
(3-49)
( )
) (
1 1
1 1
M
M
TH
X X j R
jX R jX
Z
+ +
+
=
2
1
1
|
|
.
|
\
|
+
=
M
M
TH
X X
X
R R
1
X X
TH
~
(3-44)
(3-45)
(3-46)
R
C

jX
M

R
1
jX
1

R
TH
19
F. Torque speed characteristics
n
s

n
s

n
s

I
R
or
|B
R
|
B
net

Cos u
R

n
m

n
m

n
m

I II III
Region I : the low-slip region
- The entire normal steady-state operating range of induction motor
- The motor slip linearly increase with the increased load (the increased I
R
)
- The X
R
is negligible. So, the rotor power factor is unity (Cos u
R
= 1)
1
Region III : the high-slip region
- The induced torque decreases with the increased load
starting
t
ind

n
s

n
m

t
ind

peak
t
ind

- f
r
is bigger
- X
R
is on the same orde of magnitude as R
R

- Contains the point of peak torque (pullout torque)
- Cos u
R
starts to drop

Region II : the moderate-slip region
- t
ind
= 0 at synchornous speed (n
m
= n
s
)

- peak t
ind
cannot be exceeded (peak t
ind
~ 200 250 % of full-load torque)
- starting t
ind
~ 150 % of full-load torque. So, an induction motor
can start with full load
20
Pull out (maximum) torque
( )
(
+ + +
=
2
2
2
2
max
2
3
X X R R
V
TH TH TH s
TH
e
t
(3-50)
( )
2
2
2
2
X X R
s
R
TH TH
+ + =
When P
AG
is maximum (R
2
/s must be equal the input impedance)
( )
2
2
2
2
max
X X R
R
s
TH TH
+ +
=
(3-51)
(3-52)
Based on equation (3-49)
R
TH
jX
TH

V
TH

jX
2

R
2
/s
I
2

21
Variation in torque-speed characteristics by rotor design
Varying rotor resistance (R
2
) - for wound rotor
Note : high resistance makes slip higher,
then efficiency becomes bad

High R
2

n
m

t
in
d

n
m rated

Desired curve
Low R
2

22
NEMA class A

NEMA class B

NEMA class C

NEMA class D

Varying depth of bar and having
double cage - for squirrel cage rotor
Variation in torque-speed characteristics by rotor design (contd)
23
Operating region of induction machine
0
n
m
, rpm
(+)
(-)
t
ind
, N.m
(+)
(-)
Motor region
Generator region
If n
m
is driven faster than n
s

n
s
t
max
Braking region
If the rotor is turning
backward relative to the
direction of stator
magnetic field
24
G. Starting method
Starting current of the induction motor may cause a such dip
in the power system voltage
Wound rotor
Low starting current can be achieved by inserting addtional resistance
in the rotor during starting time.
Squirrel cage rotor
- designing the rotor to have effective rotor resistance at starting condition.
This effective rotor resistance will determine the starting apparent power of
the motor
- using star-delta starter on the stator for decreasing the voltage supply
Low starting current can be achieved by :
25
IV. Speed Control
( )
s m
n s n = 1
Motor (rotor) speed
f
p
n
s
120
=
Synchronous speed
( )
2
2
2
2
max
X X R
R
s
TH TH
+ +
=
Slip
( )
2
2
2
2
2
2
3
X X
s
R
R
s R V
TH TH s
TH
ind
+ +
|
.
|
\
|
+
=
e
t
Induction torque
Induction motor speed control techniques
- Pole changing
- Line frequency changing
- Line voltage changing
- Rotor resistance changing
26
V. Application
A. Application area
Squirrel cage induction motor
Design A (normal starting torque) :
injection-molding machines
Design B (normal starting torque & low starting current) :
fan, pumps and machine tools
Design C (high starting torque) :
driving heavy breakway loads
Design D (high starting torque & low starting current) :
crunch press, cranes, elevators and oil well pumps
Wound (slip ring) induction motor
Variable speed applications (not dependending on load)
27
V. Application
B. Nameplate
- Output power
- Voltage
- Current
- Speed
- Nominal efficiency
- NEMA design Code
- Starting code
- Frequency
28
VI. One-Phase Induction Motor
A. Principles
Components
- Stator having one phase winding
- Squirrel cage rotor
No starting torque with conventional one phase winding
No stator rotating magnetic field
Only variable (pulsating) magnitude of stator magnetic field
S R ind
B kB = t
t sin
S R ind
B kB =
(3-53a)
(3-53b)
180 sin
S R ind
B kB = t
0 =
ind
t
(3-53c)
(3-53d)
B
R

B
S

Stator
Rotor

29
B. Classification based on starting techniques
Starting techniques
- Split-phase winding
- Capacitor-type winding
- Shaded stator pole
Split-phase winding
Single phase induction motor with two stator winding : main winding
and auxiliary winding with 90 electrical degree
M
M
A
A
X
R
X
R
>
(3-54)
I
M
I
A
I

V

Current
Relationship

B
A
B
M
Magnetic field
Relationship

e
R
A
jX
A
jX
M
R
M
V(AC)

+

-

I

M
a
i
n

w
i
n
d
i
n
g

Auxiliary winding

I
M
I
A
switch

Rotor
30
Capacitor-type winding
- Capacitor-start
I
M
I
A
I

V

Current
Relationship

B
A
B
M
Magnetic field
Relationship

e
R
A
jX
A
jX
M
R
M
V(AC)

+

-

I

M
a
i
n

w
i
n
d
i
n
g

Auxiliary winding

I
M
I
A
switch

C

Rotor
31
Capacitor-type winding (contd)
- Permanent split capacitor
R
A
jX
A
jX
M
R
M
V(AC)

+

-

I

M
a
i
n

w
i
n
d
i
n
g

Auxiliary winding

I
M
I
A
C

I
M
I
A
I

V

Current
Relationship

B
A
B
M
Magnetic field
Relationship

e
Rotor
32
Capacitor-type winding (contd)
- Capacitor-start and capacitor-run
I
M
I
A
I

V

Current
Relationship

B
A
B
M
Magnetic field
Relationship

e
R
A
jX
A
jX
M
R
M
V(AC)

+

-

I

M
a
i
n

w
i
n
d
i
n
g

Auxiliary winding

I
M
I
A
C
run
C
start
start run
C C <
(3-55)
switch
Rotor
33
VI. One-phase Induction Motor
C. Operating Characteristics
Split-phase winding
Capacitor-start
Permanent split capacitor
Capacitor-start and capacitor-run

7 Asynchronous Student

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7 Asynchronous Student

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Asynchronous (induction) Machine

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