INDUCTION MOTOR

steady-state model

SEE 3433
MESIN ELEKTRIK
Construction
Stator 3-phase winding
Rotor squirrel cage / wound
a
b
b
c
c
a
120
o

120
o

120
o

Stator windings of practical machines
are distributed
Coil sides span can be less than
180
o
short-pitch or fractional-
pitch or chorded winding
If rotor is wound, its winding the
same as stator
Construction
a
a
Single N turn coil carrying current i
Spans 180
o
elec
Permeability of iron >>
o

all MMF drop appear in airgap
u
u t
t/2
-t/2
-t
Ni / 2
-Ni / 2
Construction
Distributed winding
coils are distributed in several slots

N
c
for each slot

u
u t
t/2 -t/2 -t
(3N
c
i)/2
(N
c
i)/2
MMF closer to sinusoidal
- less harmonic contents

Construction
The harmonics in the mmf can be further reduced by
increasing the number of slots: e.g. winding of a phase are
placed in 12 slots:
Construction
In order to obtain a truly sinusoidal mmf in the airgap:
the number of slots has to infinitely large
conductors in slots are sinusoidally distributed
In practice, the number of slots are limited & it is a lot
easier to place the same number of conductors in a slot
Phase a sinusoidal distributed winding
u
u
Airgap mmf
F(u)
t
2t
Sinusoidal winding for each phase produces space sinusoidal
MMF and flux


Sinusoidal current excitation (with frequency e
s
) in a phase
produces space sinusoidal standing wave MMF
u
F(u)
t
i(t)
This is the excitation
current which is sinusoidal
with time
Sinusoidal winding for each phase produces space sinusoidal
MMF and flux


Sinusoidal current excitation (with frequency e
s
) in a phase
produces space sinusoidal standing wave MMF
u
F(u)
t
i(t)
t = 0
0
Sinusoidal winding for each phase produces space sinusoidal
MMF and flux


Sinusoidal current excitation (with frequency e
s
) in a phase
produces space sinusoidal standing wave MMF
F(u)
u
t
i(t)
t 2t
t = t1
t1
Sinusoidal winding for each phase produces space sinusoidal
MMF and flux


Sinusoidal current excitation (with frequency e
s
) in a phase
produces space sinusoidal standing wave MMF
F(u)
u
t
i(t)
t 2t
t = t2
t2
Sinusoidal winding for each phase produces space sinusoidal
MMF and flux


Sinusoidal current excitation (with frequency e
s
) in a phase
produces space sinusoidal standing wave MMF
F(u)
u
t
i(t)
t 2t
t = t3
t3
Sinusoidal winding for each phase produces space sinusoidal
MMF and flux


Sinusoidal current excitation (with frequency e
s
) in a phase
produces space sinusoidal standing wave MMF
F(u)
u
t
i(t)
t 2t
t = t4
t4
Sinusoidal winding for each phase produces space sinusoidal
MMF and flux


Sinusoidal current excitation (with frequency e
s
) in a phase
produces space sinusoidal standing wave MMF
F(u)
u
t
i(t)
t 2t
t = t5
t5
Sinusoidal winding for each phase produces space sinusoidal
MMF and flux


Sinusoidal current excitation (with frequency e
s
) in a phase
produces space sinusoidal standing wave MMF
F(u)
u
t
i(t)
t 2t
t = t6
t6
Sinusoidal winding for each phase produces space sinusoidal
MMF and flux


Sinusoidal current excitation (with frequency e
s
) in a phase
produces space sinusoidal standing wave MMF
F(u)
u
t
i(t)
t 2t
t = t7
t7
Sinusoidal winding for each phase produces space sinusoidal
MMF and flux


Sinusoidal current excitation (with frequency e
s
) in a phase
produces space sinusoidal standing wave MMF
F(u)
u
t
i(t)
t 2t
t = t8
t8
Combination of 3 standing waves resulted in ROTATING MMF wave

f 2
p
2
s
t = e
p number of poles
f supply frequency
Frequency of rotation is given by:
known as synchronous frequency
Rotating flux induced:
Rotor current interact with flux to produce torque
s
r s
s
e
e e
=
Emf in stator winding (known as back emf)
Emf in rotor winding
Rotor flux rotating at synchronous frequency
Rotor ALWAYS rotate at frequency less than synchronous, i.e. at
slip speed:
e
sl
= e
s
e
r


Ratio between slip speed and synchronous speed known as slip

Induced voltage
Maximum flux links phase a when et = 0. No flux links phase a when et = 90
o

Flux density distribution in airgap: B
max
cos u

Flux per pole: ( )
}
t
t
u u = u
2 /
2 /
max p
d r l cos B = 2 B
max
l r
Sinusoidally distributed flux rotates at e
s
and induced voltage in the phase coils
Induced voltage
Maximum flux links phase a when et = 0. No flux links phase a when et = 90
o

a
flux linkage of phase a

a
= N u
p
cos(et)
By Faradays law, induced voltage in a phase coil aa is
t sin N
dt
d
e
p a
e u e =

=
p
p
rms
N f 44 . 4
2
N
E u =
u e
=
Induced voltage

p
p
rms
N f 44 . 4
2
N
E u =
u e
=
In actual machine with distributed and short-pitch
windinds induced voltage is LESS than this by a
winding factor K
w
w p
p
rms
K N f 44 . 4
2
N
E u =
u e
=
Stator phase voltage equation:

V
s
= R
s
I
s
+ j(2tf)L
ls
I
s
+ E
ag

E
ag
airgap voltage or back emf (E
rms
derive previously)



E
ag
= k f |
ag


Rotor phase voltage equation:

E
r
= R
r
I
r
+ js(2tf)Ll
r


E
r
induced emf in rotor circuit

E
r
/s = (R
r
/ s) I
r
+ j(2tf)Ll
r




Perphase equivalent circuit
R
r
/s
+

V
s


R
s

L
ls
L
lr
+

E
ag


I
s
I
r

I
m
L
m
R
s
stator winding resistance
R
r
rotor winding resistance
L
ls
stator leakage inductance
L
lr
rotor leakage inductance
L
m
mutual inductance
s slip

+

E
r
/s



We know E
g
and E
r
related by


rotor voltage equation becomes

E
ag
= (R
r
/ s) I
r
+ j(2tf)L
lr
I
r




a
s
E
E
ag
r
= Where a is the winding turn ratio = N
1
/N
2

The rotor parameters referred to stator are:



lr
2
lr r
2
r
r
r
L a ' L , R a ' R ,
a
I
' I = = =
Perphase equivalent circuit
R
r
/s
+

V
s


R
s

L
ls
L
lr

+

E
ag


I
s I
r

I
m
L
m
R
s
stator winding resistance
R
r
rotor winding resistance referred to stator
L
ls
stator leakage inductance
L
lr
rotor leakage inductance referred to stator
L
m
mutual inductance
I
r
rotor current referred to stator

Power and Torque
Power is transferred from stator to rotor via airgap,
known as airgap power
| | s 1
s
' R
I 3 ' R I 3
s
' R
I 3 P
r 2 '
r r
2 '
r
r 2 '
r ag
+ = =
Lost in rotor
winding
Converted to mechanical
power = (1s)P
ag
= P
m

Power and Torque
Mechanical power, P
m
= T
em
e
r


But, se
s
= e
s
- e
r
e
r
= (1-s)e
s

P
ag
= T
em
e
s
s
r
2 '
r
s
ag
em
s
' R I 3
P
T
e
=
e
=
Therefore torque is given by:
( )
2
lr ls
2
r
s
2
s
s
r
em
' X X
s
' R
R
V
s
' R 3
T
+ +
|
.
|

\
|
+
e
=
Power and Torque
( )
2
lr ls
2
r
s
2
s
s
r
em
' X X
s
' R
R
V
s
' R 3
T
+ +
|
.
|

\
|
+
e
=
This torque expression is derived based on approximate equivalent circuit
A more accurate method is to use Thevenin equivalent circuit:
( )
2
lr Th
2
r
Th
2
Th
s
r
em
' X X
s
' R
R
V
s
' R 3
T
+ +
|
.
|

\
|
+
e
=
Power and Torque
1 0

e
r
s

T
rated
Pull out
Torque
(T
max
)

T
em
0 e
rated
e
syn
( )
2
lr ls
2
s
r
Tm
X X R
R
s
+ +
=
( )
(
(

+ +
e
=
2
lr ls
2
s s
2
s
s
max
X X R R
V
s
3
T
s
Tm

Steady state performance
The steady state performance can be calculated from
equivalent circuit, e.g. using Matlab
R
r
/s
+

V
s


R
s

L
ls
L
lr

+

E
ag


I
s I
r

I
m
L
m
Steady state performance
R
r
/s
+

V
s


R
s

L
ls
L
lr

+

E
ag


I
s I
r

I
m
L
m
e.g. 3phase squirrel cage IM
V = 460 V R
s
= 0.25 O R
r
=0.2 O
L
r
= L
s
= 0.5/(2*pi*50) L
m
=30/(2*pi*50)
f = 50Hz p = 4
Steady state performance
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
100
200
300
400
500
T
o
r
q
u
e
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
50
100
150
200
250
I
s
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
50
100
150
200
250
I
r
Steady state performance
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
-800
-600
-400
-200
0
200
400
600
T
o
r
q
u
e
Steady state performance
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
E
f
f
i
c
i
e
n
c
y
(1-s)