Induction Motors

Equations, Performance, Electrical Equivalent Circuits

Induction Motor by Bullet Points
• Stator generates rotating, sinusoidal B-Field:
ur
B  32 B0 cos(  t )$r

• This field induces current in the rotor cage loops at f  f  f S L R

• The stator B-Field at each rotor wire is such that  B  $

ur ur
i R

• Torque pushes in direction of field rotation! (That’s it!!)

• Rotor currents generate triangular B-field rotating in the air gap at slip
speed relative to rotor, so at line rate in reference frame!
• Rotor field reduces field in stator and line current increases to
maintain the stator winding voltage and the gap magnetic field
• Increased line current supplies the mechanical energy and the joule
heating of the rotor.
Stator Structure: Single Winding and One Turn Rotor
Fields and Currents:
• Stator Field of One Winding: uuBr  B cos( ) cos(t)$r  B cos(  t)  cos(  t)$r
A 0
1
0 2

• Three Windings – It Rotates!! B  B cos(  t)$r

ur
3
2 0

• Rotor Moves More Slowly than Field – “Slip” Frequency is f S  f LINE  f ROTOR

• Induces a Current in the Rotor at Slip Frequency

d VROTOR 3B0 rlS sin(S t )  R sin(S t ) S LR cos(S t ) 
VROTOR    3B0 rlS sin(S t ) iR    3B0 rlS  2R  2 
RR  jX R  RR  (S LR ) RR  (S LR )2 
2
dt Z LOOP

• Lorenz Force Produces a Torque:

ur  R sin 2 (S t ) S LR cos(S t )sin(S t )  $
T  9 B02 r 2l 2S  2R  k
 RR  (S LR ) RR2  (S LR )2
2


• Lots of Vibration!!!
 Relative Torque vs Slip Angle

1
Single Rotor Coil - Resistive Current (Net
Power)
Reactive Torque (No Net Power)

Total Torque - Single Turn

0.8

0.6
Relative Torque

0.4

0.2

-0.2
0 60 120 Slip Angle
180 (deg.) 240 300 360
 Add a Second Loop to Smooth Things Out
• Put another loop at right angle to the first
• Torque of second loop:  9B r l   RR cos( (L )t)   L Rsin((t)Lcos()  t) $k
ur 2 2 2
2
R S S R S S
T 0 S 2 2 2 2
R S R R S R

• Result is constant torque and power!!

$k  9 B0  r l  ¶  B0  r l ( f LINE  f S )  36 f S
ur RR 2 2
2 fS ur 2 2
T  9 B02 r 2l 2S $k PMECHANICAL  T  
RR  (S LR ) RR / l 1  (2 f S R ) 1  (2 f S R ) 2
2 2 2 R
RR / l

• Maximum power comes with small slip.

• More pairs of shorted rotor turns add to torque and power directly
• Heat generated in rotor by induced current – use aluminum or copper
bars to maximize effiency
 B-Field of Rotor vs. Rotor Angle as Function of Slip Cycle Angle
24

Relative B-Field Strength (a.u.) Offset by 3 for Each Slip Angle

21

18

15
0 deg.
45 deg.
12
90 deg.
135 deg.
9
180 deg.
225 deg.
6
270 deg.
315 deg.
3

-3
0 60 120 180 240 300 360
Angle around rotor from one loop (deg.)
 Shape and Rotation of the Rotor Generated B-Field in the Gap
1

0.8

0.6

Relative Magnetic Field Strength (a.u.) 0.4

0.2 0 deg.

0 180 deg.

-0.2

-0.4

-0.6

-0.8

-1
0 60 120 180 240 300 360
Angle arount the rotor relative to one turn of the two rotor turns (deg.)
 Shape and Rotation of the Rotor Generated B-Field in the Gap
1

0.8

0.6

Relative Magnetic Field Strength (a.u.) 0.4

0.2
0 deg.
45 deg.
0 90 deg.
180 deg.
-0.2

-0.4

-0.6

-0.8

-1
0 60 120 180 240 300 360
Angle arount the rotor relative to one turn of the two rotor turns (deg.)
 Rotor Induced Triangle Wave in Stator Current Showing Waveshape withHarmonic Multiples of
3 Removed and Compared to Sinusoid
1

0.8

0.6

0.4
Relative Current (a.u.)

0.2

Triangle Wave
0
Fourier to 27th
No multiples of 3
-0.2 Single Sine

-0.4

-0.6

-0.8

-1
0 60 120 180 240 300 360
Cycle Angle (deg.)
Formal Transformer Analogy
• Mutual inductance stator to rotor is time dependent
vA   LP LM LM LMR cos(R t ) LMR sin(R t )  iA   RW 0 0 0 0  i A 
v   LMR cos(R t  23 ) LMR sin(R t  23 )  iB   0  
 B  d  LM LP LM
 RW 0 0 0  iB 
vC   LM LM LP LMR cos(R t  43 ) LMR sin(R t  43 )   iC    0 0 RW 0 0   iC 
  dt        
 LMR cos(R t ) LMR cos(R t  3 ) LMR cos(R t  3 )
2 4
vR1  0  LR 0  iR1   0 0 0 RR 0  iR1 
v  0   LMR sin(R t ) LMR sin(R t  3 ) LMR sin(R t  3 )
2  4 
0 LR  iR 2   0 RR  iR 2 
 R2  0 0 0

• The A, B, C voltages are the line voltages

• The rotor voltages are v  0  R i  L dt  ..induced voltage at f  f  f
di R
R R R R S LINE R

• Given rotor frequency, calculate currents and power, subtract rotor and
winding heat to get mechanical power.
• Shows all stator voltages and currents are at line frequency
• Hard to get more useful results!
Simple Per-Phase Transformer Model
• Know that power flow is constant at constant speed (No torque
variation!)
• Build a per-phase model with constant impedance that is a function
of rotor speed
• Use basic single-phase transformer model with secondary impedance
dependent on rotor speed
• Must predict proper dependence of thermal and mechanical rotor
power as functions of line voltage and rotor speed
• Stator field is zero-slip model because no rotor current at line speed
Electrical Equivalent Circuit of Stator Alone
• Applies when rotor is turning at zero slip
• Accounts for wire loss and stator core loss
• Derive from DC (R ) and extrapolated zero slip ( R and L ) conditions
S CORE PRM

• Leakage inductance usually larger than for a simple transformer because of air gap and slot shape
• Some leakage inductance designed into slot shape to limit inrush current on startup
Deriving a Rotor Model

• Must give thermal and mechanical rotor power correctly

• Sum of thermal and mechanical power is
9 B02 r 2l 2L2 S 2 RR 9 B02 r 2l 2L2 S
PELECTRICAL  PHEAT  PMECHANICAL  
RR  (S LR ) S 1  (S LR / RR ) RR
2 2 2

• Looks like a voltage source at line frequency driving an R-L circuit where
the resistor is dependent on slip? Try a fit:
9 B02 r 2l 2L2 S 3 2
VLPRM 
RROTOR 2
VLPRM S
PELECTRICAL  2 2
3
1  (S LR / RR ) RR  1  S LROTOR
   RROTOR

2 2 2
 RROTOR  S / RROTOR
  L LROTOR
 
2

 S 

• Need ideal transformer to match the actual rotor resistance to the

impedance at the line connection
• Adding more loop pairs changes rotor parameter values but not the form
of the equations
Electrical Equivalent Circuit with Ideal Transformer

• S is the “slip” or S  f f  f  f f
NoLoad

NoLoad
R SLIP

NoLoad

• Rotor inductance is Leakage inductance!

•
Simplify!

• Do not know turns ratio or rotor bar resistance directly

• Map rotor “components” to line side and get:
Electrical Equivalent Circuit Referred to the Stator
• Basis for calculating efficiency, start inrush, etc.
• Mechanical energy is loss in (1  SS )R ; all else is heat
R

• Measure remaining parameters from locked rotor, low voltage

measusrment
Things Left Out!

• Inrush current
• No-load mechanical drag from cooling, bearing friction, etc.
• Design tradeoffs with cost
• Still to go: single phase operation
• Government efficiency regulation
• Recently – March 2015 – applies to motors to ¼ HP