Induction Motor

(Asynchronous Motor)
ELECTRICAL MACHINES
Compiled by

Prof Mitali Ray

Learning Outcomes
At the end of the lecture, student should to:
Understand the principle and the nature of 3 phase
induction machines.
Perform an analysis on induction machines which is
the most rugged and the most widely used machine
in industry.

Contents

Overview of Three-Phase Induction Motor

Construction
Principle of Operation
Equivalent Circuit

Power Flow, Losses and Efficiency

Torque-Speed Characteristics

Speed Control
Overview of Single-Phase Induction Motor
3

Overview of Three-Phase Induction

Motor

Induction motors are used worldwide in many

residential, commercial, industrial, and utility
applications.
Induction Motors transform electrical energy into
mechanical energy.
It can be part of a pump or fan, or connected to some
other form of mechanical equipment such as a winder,
conveyor, or mixer.

Introduction
General aspects
A induction machine can be used as either a induction
generator or a induction motor.
Induction motors are popularly used in the industry
Focus on three-phase induction motor
Main features: cheap and low maintenance
Main disadvantages: speed control is not easy

Construction
The three basic parts of an AC motor are the rotor, stator, and
enclosure.
The stator and the rotor are electrical circuits that perform as
electromagnets.

Squirrel Cage Rotor

Construction (Stator construction)

The stator is the stationary electrical part of the motor.
The stator core of a National Electrical Manufacturers Association
(NEMA) motor is made up of several hundred thin laminations.
laminations
Stator laminations are stacked together forming a hollow cylinder.
cylinder
Coils of insulated wire are inserted into slots of the stator core.
Electromagnetism is the principle behind motor operation. Each
grouping of coils,
coils together with the steel core it surrounds, form an
electromagnet. The stator windings are connected directly to the
power source.

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Construction (Rotor construction)

The rotor is the rotating part of the
electromagnetic circuit.
It can be found in two types:
Squirrel cage
Wound rotor

However, the most common type of rotor is the

squirrel cage rotor.

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Construction (Rotor construction)

Induction motor types:
Squirrel cage type:
Rotor winding is composed of copper bars embedded in
the rotor slots and shorted at both end by end rings
Simple, low cost, robust, low maintenance

Wound rotor type:

Rotor winding is wound by wires. The winding terminals
can be connected to external circuits through slip rings
and brushes.
Easy to control speed, more expensive.
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Construction (Rotor construction)

Wound Rotor

Squirrel-Cage Rotor

Short circuits all

rotor bars.

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/rotor winding

Construction (Enclosure)
The enclosure consists of a frame (or yoke) and two end
brackets (or bearing housings). The stator is mounted
inside the frame. The rotor fits inside the stator with a
slight air gap separating it from the stator. There is NO
direct physical connection between the rotor and the
stator.
The enclosure also protects the electrical
and operating parts of the motor from
harmful effects of the environment in which
the motor operates. Bearings, mounted on
the shaft, support the rotor and allow it to
turn. A fan, also mounted on the shaft, is
used on the motor shown below for cooling.

Stator
Rotor
Air gap

13

Construction (Enclosure)

14

Nameplate

15

Rotating Magnetic Field

When a 3 phase stator winding is connected to a 3 phase
voltage supply, 3 phase current will flow in the windings,
windings which
also will induced 3 phase flux in the stator.
These flux will rotate at a speed called a Synchronous Speed,
ns. The flux is called as Rotating magnetic Field
Synchronous speed: speed of rotating flux

120 f
ns
p
Where;
p = is the number of poles, and
f = the frequency of supply
16

Fc

b
Fa
c

RMF(Rotating Magnetic Field)

1.5

Fb

Fa

0.5
0

-1
-1.5
-93

Fb a

a
t = t1

10

113

216

Space angle () in degrees

Fc

b
c

Fc

Fb

-0.5

t = t 0= t 4

t = t 0= t 4

Fb a

Fca
F b
Fc a
t = t2

b
c

b
Fc a
t = t3
F

Fb

AC Machine Stator

MMF Due to a phase current

1

Axis of phase a

0.8
0.6
0.4

t01

0.2

Fa

t0

t12

-0.2
-0.4
-0.6

t2

-0.8
-1
-90

-40

10

60

110

160

Space angle (theta) in degrees

210

260

Currents int different

phases
of
AC
Machine
t
01

12

Amp

t0

t1

t2

1 Cycle

t3

t4

time

Slip Ring Rotor

The rotor contains windings similar to stator.
The connections from rotor are brought out using slip rings that
are rotating with the rotor and carbon brushes that are static.

Slip and Rotor Speed

1. Slip s

The rotor speed of an Induction machine is different from the

speed of Rotating magnetic field. The % difference of the speed
is called slip.

ns nr
s
ns
Where;

OR nr ns (1 s )

ns = synchronous speed (rpm)

nr = mechanical speed of rotor (rpm)

under normal operating conditions, s= 0.01 ~ 0.05, which is

very small and the actual speed is very close to synchronous
speed.
Note that : s is not negligible
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Slip and Rotor Speed

Rotor Speed

When the rotor move at rotor speed, nr (rps), the stator flux will
circulate the rotor conductor at a speed of (ns-nr) per second.
Hence, the frequency of the rotor is written as:
f r (ns nr ) p
sf

Where;

s = slip
f = supply frequency

Note :
At stator : ns 120p f
ns p
120
At Rotor : ns nr 120p f
f

fr
(ii ) (i ) :

f r s. f

.....(i )

(ns nr ) p
120

.....(ii )
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Principle of Operation
Torque producing mechanism
When a 3 phase stator winding is connected to a 3
phase voltage supply, 3 phase current will flow in the
windings,
windings hence the stator is energized.
A rotating flux is produced in the air gap. The flux
induces a voltage Ea in the rotor winding (like a
transformer).
The induced voltage produces rotor current, if rotor
circuit is closed.
The rotor current interacts with the flux , producing
torque. The rotor rotates in the direction of the rotating
flux.
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Direction of Rotor Rotates

Q: How to change the direction of

rotation?
A: Change the phase sequence of the
power supply.

25

Equivalent Circuit of Induction

Machines
Conventional equivalent circuit
Note:
Never use three-phase equivalent circuit. Always use perphase equivalent circuit.
The equivalent circuit always bases on the Y connection
regardless of the actual connection of the motor.
motor
Induction machine equivalent circuit is very similar to the
single-phase equivalent circuit of transformer. It is
composed of stator circuit and rotor circuit

26

Equivalent Circuit of Induction

Machines
Step1 Rotor winding is open
(The rotor will not rotate)

Note:
the frequency of E2 is the same as that of E1 since the rotor is at
standstill. At standstill s=1.
27

Equivalent Circuit of Induction

Machines

28

Equivalent Circuit of Induction

Machines
Step2 Rotor winding is shorted
(Under normal operating conditions, the rotor winding is shorted. The slip is s)

fr

Note:
the frequency of E2 is fr=sf because rotor is rotating.
rotating
29

Equivalent Circuit of Induction

Machines
Step3 Eliminate f2

Keep the rotor current same:

30

Equivalent Circuit of Induction

Machines
Step 4 Referred to the stator side

Note:

X2 and R2 will be given or measured. In practice, we do not have

to calculate them from above equations.
Always refer the rotor side parameters to stator side.
Rc represents core loss, which is the core loss of stator side.
31

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Equivalent Circuit of Induction

Machines
IEEE recommended equivalent circuit

Note:
Rc is omitted. The core loss is lumped with the
rotational loss. MZS
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32

Equivalent Circuit of Induction

Machines
IEEE recommended equivalent circuit
I1

V1

X1

R1

X 2'

R2'
R2'

Xm

1 s
s

Note: R2 can be separated into 2 PARTS

s

R2
R2 (1 s )
R2
s
s

Purpose :
to obtain the developed mechanical
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Analysis of Induction Machines

For simplicity, let assume
Is=I1 , IR=I2
(s=stator, R=rotor)

RR '
jX R ' ;
s
Z m Rc // jX m ; Rc neglected
ZR

Z m jX m

; Rc neglected

Z s Rs jX s
Is1
s1

Vs1
s1

Zs

Im1
m1

IR1
R1

Zm

ZR

Z Total Z s Z m // Z R
I s1

Vs 1
ZT

34

Analysis of Induction Machines

Current Dividing Rules,

Is1
s1

Vs1
s1

Zs

Im1
m1

Zm

IR1
R1

ZR

I m1
I R1

ZR

I s1
Zm ZR

Zm

I s1
Zm ZR

OR

Voltage Dividing Rules,

Z R // Z m
Vs1
ZT

VRM 1
Note : 1hp =746Watt

Hence,

VRM 1

Z
R

I R1

VRM 1

Zm

I m1

35

Power Flow Diagram

3Vs I s cos

1hp 746W

Pin (Motor)

Pin (Rotor)
Pair Gap
(Pag)

Pin (Stator)

RR '
3I R '
s
2

Pstator copper
loss, (Pscu)
2

3I s Rs

Pcore loss
(Pc)

V
3 RM
Rc

Pdeveloped
Pmechanical
Pconverted
(Pm)
1 s
3 I R ' 2 RR '

Protor copper
loss (Prcu)

3I R '2 RR '

Pout, Po

Pwindage, friction, etc

(P Given)

36

Power Flow Diagram

Ratio:

Pag

Prcu

Pm

3I R ' RR '

1 s
3I R ' RR '

1
s

1
1
s

1 s

RR '
3I R '
s
2

Ratio makes the analysis simpler to find the value of the particular power if we have
another particular power. For example:

Prcu
s

Pm 1 s
37

Efficiency
Pout

100%
Pin
if Plosses are given,
Po Pin Plosses
Po Pm P
otherwise,
Pin 3 Vs I s cos
Pout x hp 746W 746 x Watt
38

Torque-Equation
Torque, can be derived from power equation in term of
mechanical power or electrical power.
Power , P T , where
Hence, T

2 n
(rad / s )
60

60 P
2 n

Thus,
60 Pm
Mechanical Torque , Tm
2nr
60 Po
Output Torque , To
2nr
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Torque-Equation

Note that, Mechanical torque can written in terms of circuit

parameters. This is determined by using approximation
method
Hence, Plot Tm vs s
2 RR '
Pm 3I R '
(1 s) and Pm rTm
s
Tmax
T
m

2 RR '
3
I
'
(
1

s
)

Pm R s
Tm

r
r

...
Tst
...
...

3(VRM ) 2

sRR '
Tm

2
2
2 ns ( RR ' ) ( sX R ' )

s=1

smax
smax is the slip for Tmax to occur

ns
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Torque-Equation
Starting Torque , s 1

3(V )
s
Tst
2 ns

60

RR '
2
2
( Rs RR ' ) ( X s X R ' )

RR '

smax

Tmax

( R s ) ( X R ' )

3(Vs ) 2
1

2
2
ns Rs ( Rs ) ( X s X R ' )
2

60
2

41

Speed Control

There are 3 types of speed control of 3 phase

induction machines
i.
ii.
iii.

Varying rotor resistance

Varying supply voltage
Varying supply voltage and supply frequency

42

Varying rotor resistance

For wound rotor only
Speed is decreasing
Constant
maximum
torque
The speed at which max
torque occurs changes
Disadvantages:
large speed regulation
Power loss in Rext
reduce the efficiency

R3

R2

R1

R1< R2< R3
nr1< nr2< nr3

nr3 nr2 nr1 n ~n n

s
NL

43

Varying supply voltage

Maximum torque changes
The speed which at max
torque occurs is constant
(at max torque, XR=RR/s
Relatively simple method
uses power electronics
circuit for voltage controller
Suitable for fan type load
Disadvantages :
Large speed regulation since
~ ns

T
V1
V2
V3

V
decreasing

V1> V2 > V3
nr1> nr2 > nr3

nr3 nr2 nr1 n ~n n

s
NL

44

Varying supply voltage and supply

frequency
The best method since
supply voltage and supply
frequency is varied to
keep V/f constant
Maintain speed regulation
uses power electronics
circuit for frequency and
voltage controller
Constant maximum torque

f
decreasing

nr3

nr2
nr1 nNL1
nNL3 nNL2

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