ENERGY CONVERSION ONE

(Course 25741)

CHAPTER SEVEN ..INDUCTION MOTORS

ROTOR CIRCUIT MODEL

The rotor current : IR = ER/ [RR+jXR] (1) IR=ER/ [RR+js XR0] or IR=ER0 / [RR /s +j XR0] (2) Note: from last equation, can treat rotor effects due to varying rotor speed as caused by a varying impedance supplied from a constant voltage source ER0 Equivalent rotor impedance from this point of view: ZR, eq = RR / s + jXR0 (3) rotor equivalent circuit using this convention shown next

ROTOR CIRCUIT MODEL

Rotor voltage is ER0 constant & rotor impedance ZR,eq contains effects of varying slip

ROTOR CIRCUIT MODEL

Plot of current flow in rotor from equations: (1) & (2) shown below:

FINAL EQUIVALENT CIRCUIT

Note: at very low slips resistive term RR/s>>XR0 rotor resistance predominates & rotor current varies linearly with slip at high slips, XR0 much larger than RR/s & rotor current approaches steady-state value as slip becomes very large To develop a single, per-phase, equivalent circuit for induction motor should refer to rotor part of model over stator side Rotor circuit model, referred to stator side (shown in last equivalent circuit of rotor) in which effect of speed variation is concentrated in impedance term

FINAL EQUIVALENT CIRCUIT

Reminding: that in an ordinary transformer, voltages, currents and impedances on secondary side of device can be referred to primary side by means of turns ratio of transformer Vp=Vs=a Vs Ip=Is=Is / a Zs = a^2 Zs Same sort of transformation employed for induction motors rotor circuit If the effective turns ratio of induction motor = aeff The transformed voltages are: E1=ER=aeff ER0 and rotor current is : I2=IR / aeff And rotor impedance become: Z2 =aeff^2 (RR/ s +j XR0)

FINAL EQUIVALENT CIRCUIT

If the following definitions employed: R2 = aeff^2 RR X2 =aeff^2 XR0 the equivalent circuit of induction motor is shown as below: (per-phase equivalent circuit)

FINAL EQUIVALENT CIRCUIT

Rotor resistance RR & locked-rotor reactance XR0 are difficult or impossible to determine directly on cage rotors & effective turns ratio aeff also difficult to determine for cage rotors fortunately, can make measurements that directly provide referred resistance and reactance R2 & X2 , (though RR, XR0 and aeff not known separately) measurement of these parameters covered later

POWER & TORQUE IN INDUCTION MOTORS-LOSSES

since induction motor is a singly excited machine, its power & torque relationships is different from sync. machines Losses & power-flow Diagram the input is electric power and the output mechanical power (while rotor windings are short circuited) As shown in power flow Figure (next), Pin is in form of 3 phase electric voltages & currents 1st losses is stator winding losses I^2 R=PSCL 2nd Hysteresis & Eddy currents loss in stator Pcore Power remained at this point transferred to rotor through air gap: is called air-gap power PAG

POWER & TORQUE IN INDUCTION MOTORS-LOSSES

Part of power transferred to rotor lost as : I^2 R=PRCL & rest converted from electrical to mechanical form Pconv, friction & windage losses PF&W & stray losses Pmisc subtracted Pout

POWER & TORQUE IN INDUCTION MOTORS-LOSSES

Note: in practice core loss is partially related to stator and partially to rotor, however since induction motor operates at a speed near synchronous speed, relative motion of magnetic field over rotor surface is quite low (frequency of induced voltage = s fe) & rotor core losses are very tiny These losses in induction motor equivalent circuit represented by a resistor RC (or GC) , If core losses are given as a number (X Watts) often lumped with mechanical losses & subtracted at point on diagram where mechanical losses are located

POWER & TORQUE IN INDUCTION MOTORS-LOSSES

The higher the speed of an induction motor, the higher its friction, windage, and stray losses, while the lower the core losses sometimes these 3 categories of losses are lumped together and called rotational losses Since component losses of rotational losses change in opposite directions with a change in speed, total rotational losses of a motor often considered constant EXAMPLE : A 480, 60 Hz, 50 hp, 3 phase induction motor is drawing 60 A at 0.85 PF lagging The stator copper losses are 2 kW, and rotor copper losses are 700 W, friction & windage losses are 600 W, core losses 1800 W, and stray losses negligible. Find: (a) PAG (b) Pconv (c) Pout (d) efficieny of motor

POWER & TORQUE IN INDUCTION MOTORS-LOSSES EXAMPLE

(a) PAG=Pin-PSCL Pcore Pin=3 VT IL=3 (480) (60) (0.85)=42.4 kW PAG=42.4-2-1.8= 38.6 kW (b) Pconv=PAG-PRCL=38.6-700/1000=37.9 kW (c) Pout=Pconv-PF&W-Pmisc=37.9-600/1000-0 = 37.3 kW = 37.3/ 0.746 = 50 hp (d) efficiency of motor =Pout/Pin x 100 % =88 %

POWER & TORQUE IN INDUCTION MOTORS

Employing the equivalent circuit, power & torque equations can be derived Input current I1= V/ Zeq = R1 + jX1 + 1/{[GC-jBM +1/[R2/s +jX2]}

POWER & TORQUE IN INDUCTION MOTORS

stator copper losses, core losses and rotor copper losses can be found stator copper losses (3 phase)=PSCL= 3 I1^2 R1 core losses Pcore = 3 E1^2 GC PAG=Pin-PSCL-Pcore only element in equ. cct. where air gap power can be consumed is resistor R2/s , & air gap power can also be given: PAG=3 I2^2 R2/s (1) Actual resistive losses in rotor circuit: PRCL=3 I2^2 R2 (2) Pconv=PAG- PRCL=3I2^2 R2/s-3I2^2 R2 = 3I2^2 R2 (1/s-1) Pconv= 3I2^2 R2 (1-s)/s

POWER & TORQUE IN INDUCTION MOTORS

Note: from equations (1) & (2) rotor copper losses = air gap power x slip The lower the slip the lower the lower rotor losses And if rotor is stationary s=1 & air gap power is entirely consumed in rotor, this is consistent with the fact that output power in this case would be zero since m=0, Pout=Tload m=0 Pconv=PAG-PRCL=PAG-sPAG=(1-s)PAG (3) If friction & windage losses and stray losses are known, output power Pout=Pconv-PF&W- Pmisc

POWER & TORQUE IN INDUCTION MOTORS

Induced torque Tind as : torque generated by internal electric to mechanical power conversion It differs from available torque by amount equal to friction & windage torques in machine Tind=Pconv/m also called developed torque of machine Substituting for Pconv from (3) & for m, (1-s) sync Tind= (1-s)PAG/ [(1-s)sync]= PAG/sync (4) So (4) express induced torque in terms of air-gap power & sync. Speed which is constant PAG yields Tind

POWER & TORQUE IN INDUCTION MOTORS

SEPARATION of PRCL & Pconv in induction motor Eq. cct. Part of power coming across air gap consumed in rotor copper losses, & the other part converted to mechanical power to drive motor shaft it is possible to separate these two different uses of air-gap power & present them separately in the equivalent circuit Equation (1) is an expression for total air-gap power, while (2) gives actual rotor losses, the difference between these two is Pconv & must be consumed in an equivalent resistor Rconv=R2/s-R2 = R2(1/s-1) =R2 (1-s)/s

POWER & TORQUE IN INDUCTION MOTORS

The per-phase equivalent circuit with rotor copper losses & power converted to mech. form separated into distinct elements shown below:

POWER & TORQUE IN INDUCTION MOTORS TORQUE EXAMPLE

a 460 V, 60 Hz, 25 hp, 4 pole, Y connected induction motor has following impedances in /phase referred to stator circuit: R1=0.641 R2=0.332 X1 = 1.106 X2 = 0.464 XM=26.3 total rotational losses are 1100 W, & assumed to be constant core loss is lumped in with rotational losses. For rotor slip of 2.2 % at rated voltage & rated frequency, find: (a) Speed (b) stator current (c) P.F. (d) Pconv & Pout (e) Tind & Tload (f) Efficiency

 (a) nsync=120 fe/p=120 x60/4=1800 r/min sync=1800 x 2 x 1/60= 188.5 rad/s rotors mechanical shaft speed: nm=(1-s) nsync=(1-0.022) x 1800=1760 r/min m= (1-s) sync= (1-0.022) x 188.5= 184.4 rad/s (b) to find stator current, consider eq. impedance of cct. Then combine referred rotor impedance in parallel with magnetization branch, and add stator impedance to the combination in series The referred rotor impedance is : Z2= R2/s + j X2 =0.332 / 0.022 + j0.464 =15.09+j0.464=15.1/_ 1.76 combined magnetization plus rotor impedance is: Zf = 1/[1/(jXM) + 1/Z2] = 1/ [-j0.038 + 0.0662/_ -1.76]= 1/[0.0773/_ -31.1]=12.94/_31.1

POWER & TORQUE IN INDUCTION MOTORS TORQUE EXAMPLE

POWER & TORQUE IN INDUCTION MOTORS TORQUE EXAMPLE

Total impedance : Ztot= Zstat+Zf = = 0.641+j1.106+12.94/_31.1 = 11.72 + j7.79 =14.07 /_33.6 Resulting stator current: I1=V/Ztot = 206/_0 / 14.07 /_33.6 = 18.88/_-3.6 A

POWER & TORQUE IN INDUCTION MOTORS TORQUE EXAMPLE

(c) motor power factor: PF=cos 33.6 = 0.833 lagging (d) Input power of motor: Pin=3 VT VL cos =3 x 460 x 18.88 x 0.833= 12530 W PSCL=3 (18.88)^2 (0.641)=685 W air-gap power :PAG=Pin-PSCL=12530-685=11845 W and the power converted is: Pconv=(1-s)PAG =(1-0.022)(11845) =11585 W Pout=Pconv-Prot=11585-1100=10485 W=14.1 hp

POWER & TORQUE IN INDUCTION MOTORS TORQUE EXAMPLE

(e) induced torque is: Tind=PAG/ sync = 11845 / 188.5 =62.8 N.m output torque: Tload=Pout/m= 10485/184.4=56.9 N.m (f) motors efficiency: = Pout/ Pin x 100% =10485/12530 x 100% = 83.7 %

 How does its torque change as load changes? How much torque can supply at starting conditions? how much does the speed of induction motor drop as its shaft load increases? it is necessary to understand the relationship among motors torque, speed, and power the torque-speed characteristic examined first from physical viewpoint of motors magnetic field & then a general equation for torque as function of slip derived

INDUCTION MOTOR TORQUE CHARACTERISTIC

INDUCTION MOTOR TORQUE CHARACTERISTIC

Induced Torque from a Physical Viewpoint Figure shows a cage rotor of an induction motor Initially operating at no load & nearly sync. speed

INDUCTION MOTOR TORQUE CHARACTERISTIC

Net magnetic field Bnet produced by magnetization current IM flowing in motors equivalent circuit Magnitude of IM and Bnet directly proportional to E1 If E1 constant, then Bnet constant In practice E1 varies as load changes, because stator impedance R1 and X1 cause varying voltage drops with varying load However, these drops in stator winding is relatively small so E1 ( hence IM & Bnet) approximately constant with changes in load In Fig (a) motor is at no load, its slip is very small & therefore relative motion between rotor and magnetic field is very small & rotor frequency also very small

 Consequently ER induced in rotor is very small, and IR would be small So frequency is very small, reactance of rotor is nearly zero, and maximum rotor current IR is almost in phase with rotor voltage ER Rotor current produces a small BR at an angle just slightly greater than 90 behind Bnet Note: stator current must be quite large even at no load, since it supply most of Bnet That is why induction motors have large no load currents compared to other types of machines

INDUCTION MOTOR TORQUE CHARACTERISTIC

INDUCTION MOTOR TORQUE CHARACTERISTIC

The induced torque, which keeps rotor running is given by: Tind = k BR x Bnet or Tind=k BR Bnet sin Since BR is very small, Tind also quite small, enough just to overcome motors rotational losses suppose motor is loaded (in Fig (b)) as load increase, motor slip increase, and rotor speed falls. Since rotor speed decreased, more relative motion exist between rotor & stator magnetic fields in machine Greater relative motion produces a stronger rotor voltage ER which in turn produces a larger rotor current IR

 Consequently BR also increases, however angle of rotor current & BR changes as well Since rotor slip get larger, rotor frequency increases fr=sfe and rotor reactance increases ( LR) Rotor current now lags further behind rotor voltage (as shown) & BR shift with current Fig b, shows motor operating at a fairly high load Note: at this situation, rotor current increased and increased Increase in BR tends to increase torque, while increase in tends to decrease the torque (>90) However since the effect of first is higher than the second in overall induced torque increased with load

INDUCTION MOTOR TORQUE CHARACTERISTIC

INDUCTION MOTOR TORQUE CHARACTERISTIC

Using: Tind=k BR Bnet sin derive output torque-versus-speed characteristic of induction motor Each term in above equation considered separately to derive overall machine behavior Individual terms are: 1. BR directly proportional to current flowing in rotor, as long as rotor is unsaturated Current flow in rotor increases with increasing slip (decreasing speed) it is plotted 2- Bnet magnetic field in motor is proportional to E1 & therefore approximately constant (E1 actually decreases with increasing current flow) this effect small compared to the other two & ignored in drawing 3- sin : is just equal to P.F. angle of rotor plus 90 =R+90 And sin=sin(R+90)=cos R which is P.F. of rotor

INDUCTION MOTOR TORQUE CHARACTERISTIC

Rotor P.F. angle can be determined as follows:

R =atan XR/RR = atan sXR0 / RR PFR = cos R PFR=cos(atan sXR0/RR) plot of rotor P.F. versus speed shown in fig (c) Since induced torque is proportional to product of these 3 terms, torque-speed characteristic can be constructed from graphical multiplication of 3 previous plots Figs (a,b,c) and shown in fig (d)

INDUCTION MOTOR TORQUE CHARACTERISTIC

Development of induction motor torque speed

Development of induction motor torque speed

Development of induction motor torque speed

Development of induction motor torque speed

INDUCTION MOTOR TORQUE CHARACTERISTIC

This characteristic curve can be divided into three regions 1st region: is low-slip region in which motor slip increases approximately linearly with increase load & rotor mechanical speed decreases approximately linearly with load In this region rotor reactance is negligible, so rotor PF is approximately unity, while rotor current increases linearly with slip The entire normal steady-state operating range of an induction motor is included in this linear low-slip region

INDUCTION MOTOR TORQUE CHARACTERISTIC

2nd region on curve called moderate-slip region In moderate-slip region rotor frequency is higher than before, & rotor reactance is on the same order of magnitude as rotor resistance - In this region rotor current, no longer increases as rapidly as before and the P.F. starts to drop - peak torque (pullout torque) of motor occurs at point where, for an incremental increase in load, increase in rotor current is exactly balanced by decrease in rotor P.F.

 3rd region on curve is called high-slip region In high-slip region, induced torque actually decreases with increased load, since the increase in rotor current is completely overshadowed by decrease in rotor P.F. For a typical induction motor, pullout torque is 200 to 250 % of rated full-load torque And starting torque (at zero speed) is about 150% of full-load torque Unlike synchronous motor, induction motor can start with a full-load attached to its shaft

INDUCTION MOTOR TORQUE CHARACTERISTIC

INDUCTION MOTOR INDUCEDTORQUE EQUATION

Equiv. circuit of induction motor & its power flow diagram used to derive a relation for induced torque versus speed Tind=Pconv/m or Tind=PAG/sync Latter useful, since sync is constant (for fe & and a number of poles) so from PAG Tind The PAG is equal to power absorbed by resistor R2/s , how can this power be determined?

INDUCTION MOTOR INDUCEDTORQUE EQUATION

In this figure the air-gap power supplied to one phase is: PAG,1=I2^2 R2/s for 3 phase: PAG=3I2^2 R2/s

INDUCTION MOTOR INDUCEDTORQUE EQUATION

If I2 can be determined, air-gap power & induced torque are known easiest way to determine Thevenin equivalent of the portion of circuit to left of arrow E1 in eq. cct. figure VTH= V ZM/ [ZM+Z1] = V j XM / [R1+jX1+jXM] Magnitude of thevenin voltage: VTH= V XM / [R1^2+(X1+XM)^2] VTH V XM / [X1+XM] , ZTH = Z1ZM /[Z1+ZM] ZTH=RTH+jXTH = jXM(R1+jX1)/[R1+j(X1+XM)]

INDUCTION MOTOR INDUCEDTORQUE EQUATION

Thevenin equivalent voltage of induction motor