Induction Motors: Balanced, Sinusoidal Steady State Operation

Chapter 11
Induction Motors:
Balanced, Sinusoidal Steady
State Operation
© 2000 http://www.ece.umn.edu/groups/electricdrives
11-1
Induction Motors
‰ Adjustable speed drives

‰ Servo drives
• Induction motors under balanced sinusoidal steady

state (Rated voltage at rated frequency)
• Speed control using V/f
• Field oriented control
11-2
Line-fed Induction Motors
‰ Structure
‰ Principle of operation
‰ Equivalent circuits
‰ Performance characteristics
11-3
Structure
b − axis
ib
2π / 3
a − axis
2π / 3
2π / 3 ia
ic
c − axis
Simple representation of three phase stator Squirrel-cage rotor

windings
11-4
Stator Representation
Vc
va
− + +
vb
vb ib ia
−
− +
− n − va + Va
vc vc
− +
+ ic
Vb
‰ Assumptions : Rs, Ls,leakage = 0

va (t) = 2 E cos(2ŒfW,
2Œ
v b (t) = 2 E cos(2ŒfW#0# ,
3
4Œ
vc (t) = 2 E cos(2ŒfW#0# ,
3
&syn # #&# #5Œf (for a 2-pole machine)
2 2
&syn # # &# # +5Œf , (for a p-pole machine)
p p
11-5
Electrically Open-circuited Rotor

Vc
va
− + + I mc
vb I mb
ib ia
vb −
− +
Va
− n − va +
vc vc
− +
+ ic Vb I ma
‰ Only magnetizing currents are present because rotor is inert

‰ Magnetizing currents set up rotating flux
V̂ G 3ˆ Œ
Î m = ims (t) = I m ∠(&W#0# ,
&/ m 2 2
i ma (t) = Î m cos(&W#0#Œ25,/#HWF1 Î = 3 Î
ms m
2
G 3ˆ 3ˆ
vs (t) = V∠&W ˆ
Vs = V
2 2
11-6
Electrically Open-circuited Rotor

Fields at t = 0
I ma
ω syn
phase Va +
90 o
G a − axis
vs jω Lm
Va
−
I ma
ω syn
JJJJG JJJG
Bms , ims
‰ B is a constant magnitude, rotating flux

G 3ˆ
ims (t) = I m ∠(&W#0#Œ25,# #,ˆ ms ∠+&W#0#Œ25,
2
G
G N sp ims
H ms (t) =
Ag
G G G = 0 #1 sp ˆ
Bms (t) = µ0 H m (t) ∴ Bms (t) = I ms ∠(&W#0#Œ25,
Ag
11-7
Short-circuiting the Rotor

(Rs, Ls,leakage = 0)
ƒ Transformer Analogy
φm
im + i2′ i2
+
v1 N1 N2 Load
−
‰ Assuming no resistances or leakage inductance in the

stator windings, the stator voltages completely determine
the motor flux regardless of any rotor currents
‰ Flux -m is unaffected by the load

11-8
Induced Voltages on Rotor

at t = 0
− − −
− ωm − ω syn
JJG a − axis
+ + vs
+ +
+
ω syn
JJJJG θ
Bms
Flux rotating at speed &syn

Rotor rotating at speed &m
Rotor conductors cutting flux at speed:
&syn – &m = &slip (slip speed)
Cutting flux generates voltage across rotor conductors:
ebar(9) = Bms(9) A r &slip
11-9
Induced Currents in Rotor

at t = 0
− −
ebar
− − +
− ω syn
ωm − − +
JJG a − axis − + Rbar
+ + vs − +
+ + − +
+ −
θ + − ibar (θ )
ω syn + −
+ −
JJJJG θ front + − back end-ring
Bms
end-ring
‰ Rotor conductors (bars) shorted together by end rings

‰ Because of symmetry of induced bar voltages, end rings are at
same potential, therefore bar voltage is dropped across bar
resistance (assuming Lr,l = 0) generating currents by Ohms Law
ebar Bm Ar&slip
i bar = =
R bar R bar
11-10
Rotor MMF – Reflected Rotor

MMF – Reflected Rotor Current
φm,ir '
φm,ir at t = 0
at t = 0
ωm
net flux = 0
G G G
JJG
vs
JJG
Fr
JJG
Fr′
JJG
ir '
JJG
vs Fs (t) = Fms (t) + Fr′(t)
a − axis a − axis G G G
ima + ira ' JJJG
ims is (t) = ims (t) + ir′ (t)
JG
JJJJG
Bms
is
Î′ = k B ˆ &
ω syn r i ms slip
JJJJG
Bms
G
‰ GFr produced by rotor currents
‰ Fr′ produced by additional stator currents to keep total flux
unchanged (transformer analogy) G
‰ These currents are viewed as a current space vector ir′
‰ Total stator current is magnetizing current plus this reflected
rotor current
11-11
Slip frequency (fslip) in the rotor

circuit
&slip &syn #0#&m
slip : s = =
&syn &syn
&slip
fslip = f = sf
&syn
&slip #.#&m # #&syn
‰ Slip is rotor speed normalized to synchronous speed

‰ Slip generally small (< 3%), therefore rotor current
frequency is very low
11-12
Electromagnetic Torque
Production
A
at t = 0
JJG JJJG JJG

Fr Fr ' vs
a − axis
JJG
ir '
JJJJG
Bms
G G
‰ Current ir′ , in field Bms , produces torque Tem
ˆ ˆ,′ # #N %
Tem = Œ1 sp UA % ˆ2 &
ø÷ö ms r e & ms slip
kt
11-13
Torque – Speed Characteristics

(slip small ; &m near &syn)
ωm
Tem,rated
ω syn,rated
ω slip, rated 

ω m,rated
0
Tem 0
ωm
ω syn,rated
Tem,rated N
ω m,rated ω slip, rated
‰ Linear relationship
‰ These curves are only valid near synchronous speed
11-14
Generator (Regenerative Braking)
Mode
ωm
JJJG JJG
Fr ' Fr a − axis
ω syn
JJJJG
Bms
‰ For generation or for braking – in either case rotor speed exceeds

synchronous speed, &m > &syn
‰ &slip < 0
ƒ Bar voltage polarities reversed
G
ƒ Rotor currents and mmf ( Fr ) reversed
G
ƒ Reflected rotor currents and mmf ( Fr′) reversed
ƒ Torque reversed
11-15
Rotor Leakage Inductance

φm,ir′
net=0
φm,ir at t = 0
at t = 0 φA r
θ
JJG
Fr ω syn
θr a − axis JJG
JJG Fr θ r a − axis
JJJG vs (t ) JJG
F ' θr vs
θr JJJJGr JJJG
ims JJG Fr '
ir '
JJJG
ims
ω syn
JJJJG
Bms JJJJG ω syn
Bms
JJG at t = 0
Fr
θr
JJG
vs a − axis
o
90 JJG
θr Fr′ JG
JJG ir′
Br
JJJJG
90 o Bms
JJJG
Blr
11-16
Rotor Leakage Inductance

(cont…)
‰ Effect of rotor leakage inductance is to reduce

Tem at high slip
‰ Rotor leakage inductance is often neglected

when motor is operating near synchronous
speed
11-17
Per-Phase Equivalent Circuit
at t = 0
Ia ′
I ra
Va
ωm
JJG jω Leq
Fr +
θr a − axis
JJG  ω  I ra '
JJJG  at f = V jω Lm I ma Req I ma
vs  2π  a
JJJJG
Fr ' JJG
ir ' −
ims
ω syn Ia
Req = Rr′ Leq = Llr′
JG
ω slip
is
ω syn
JJJJG
Bms
Space Vectors Equivalent Circuit Phasor Diagram
‰ Includes rotor leakage inductance

‰ Does not include stator leakage inductance or resistance
‰ Req depends on slip
11-18
Power Into Rotor – Power Lost
In Rotor – Power Out Of Rotor
jω Llr ' jω Llr '
+ ′
I ra + ′
I ra 
ω syn  Rr ' ⇒ Pr , loss
Va jω Lm Rr ' ω syn 
ω slip Va jω Lm Rr ' 
ωm
ω slip  Rr ' ⇒ Pem

− −  ω slip
Power in resistor is power in rotor Resistor split to indicate rotor loss and
mechanical power
‰ Power in equivalent resistance represents power entering

rotor across air gap
‰ Depending on slip, some or all of this power becomes
losses in the rotor
11-19
Stator Winding Resistance and
Leakage Inductance
Ia I ra '
Rs Va
jω Lls + jω Llr ' jω Lls I a
+ Ema
I ma ω syn Rs I a
Va Ema Rr ' I ma ′
I ra
(at ω ) ω slip Ia
−
−
Equivalent Circuit Phasor Diagram
11-20
Motor Tests
‰ DC – Resistance Test (R s )
‰ No Load Test (L m )
‰ Blocked Rotor Test (R ′r , Lls , L′lr )
11-21
No Load Test (Lm)

Ia I ra ' I ra ' ≈ 0
Rs jω Lls
Rs
jω Lls + jω Llr ' +
+
I ma ω syn Ia
Va Ema Rr ' Va jω Lm
(at ω ) ω slip
−
− −
Equivalent Circuit Equivalent Circuit under no

load conditions
(&slip # #3# ∴ #5 eq # #∞,
jω Lm
Approximate Circuit
(L m >> Ll ) (Rs negligible)
‰ Under no load conditions the equivalent circuit is

dominated by the magnetizing inductance
11-22
Blocked Rotor Test (Ll )

Ia I ra '
Rs Ia I ra '
Rs
jω Lls jω Llr ' + jω Llr′
+
+ jω Lls
I ma ω syn Rr '
Va Ema Rr ' ω syn
(at ω ) ω slip Va
=1
− I ma ≈ 0 ω slip
− −
Equivalent Circuit Approximate Circuit With Rotor Blocked

(R eq << &/ m ,#DQG#+&/Ar #??#&/ m ,
‰ With the rotor blocked, the magnetizing inductance is nearly

shorted out and can be neglected
‰ Measurements give real power (into R s and R ′r ) and reactive
power (into Lls and L′lr )
‰ R ′r can be found since Rs was previously determined through the
DC test
2
‰ To find Lls and L′lr you can often assume that Lls = L′lr
3
11-23
Characteristics at Rated Voltage

and Rated Frequency
Tem ′
I ra
Tem,rated ′ ,rated
I ra
pull-out torque
2.0 Bˆ ms decreases 6.0
5.0
1.5
4.0
Bˆ ms,rated
1.0 3.0
(rated)
2.0 I ma
0.5
1.0
ωm ωm
1.0 ω syn
0
0.2 0.4 0.6 0.8 1.0 ω syn 0 0.2 0.4 0.6 0.8
ω slip ,rated ω slip,rated
ω slip ω slip
‰ Nearly linear near &syn

‰ At higher slip (&m smaller) leakage inductances and
stator resistance reduce torque
‰ High currents at low speeds (start-up condition)
11-24
Motor Currents, Efficiency, Power

Factor As a Function of Load
100
90
Efficiency
80
70
Power Factor
Current (A) 60
Efficiency (%)
Power Factor (%) 50
40
Current
30
20
10
0 25 50 75 100 125
Load (%)
Typical for design B 10 kW, 4 pole, three-phase induction motor
11-25
Line Start
‰ When started directly off the line, induction motor draws a
very large current (approx. 8 x rated)
‰ At the same time the torque available to accelerate the
motor/load is limited
‰ Motor can quickly overheat – Solution: Reduced voltage
soft start
′
I ra
′ ,rated
I ra
6.0 Tem
Tacc = Tem − TL
5.0
4.0 Tem
Tem
3.0
2.0 I ma
1.0
ωm TL
ωm
1.0 ω syn
0 0
0.2 0.4 0.6 0.8
ω slip, rated
ω slip steady state speed
Current vs. Speed Accelerating Torque

11-26
Reduced Voltage Starting (Soft Start)

Energy Savings in Lightly – Loaded
Machines
ia
ia
a
0 t
3-phase ea
n
ac input 0 t
Tem
Three-phase 0 t
induction
motor
‰ Circuit applies reduced voltage to motor during start-up to avoid

large currents and over heating
‰ Circuit also used to reduce voltage to motor under light load
steady state conditions. This improves efficiency
11-27
Summary/Review
‰ Describe the construction of squirrel-cage induction machines.

‰ With the rated voltages applied, what does the magnetizing
current depend on? Does this current, to a significant extent,
depend on the mechanical load on the motor? How large is it in
relation to the rated motor current?
‰ Draw the space vector diagram at t = 0, and the corresponding
phasor diagram, assuming the rotor to be open-circuited.
‰ Under a balanced, three-phase, sinusoidal steady state
excitation, what is the speed of the rotating flux-density
distribution called? How is this speed related to the angular
frequency of the electrical excitation in a p-pole machine.
11-28
Summary/Review
‰ In our analysis, why did we initially assume the stator leakage
impedance to be zero? How does the analogy to a transformer,
with the primary winding leakage impedance assumed to be
zero, help? Under the assumption that the stator leakage
G
impedance is zero, is the flux-density space vector Bms (t)
completely independent of the motor loading?
‰ What is the definition of the slip speed &slip ? Does &slip depend
on the number of poles? How large is the rated slip speed,
compared to the rated synchronous speed?
‰ Write the expressions for the voltage and the current (assuming
the rotor leakage inductance to be zero) in a rotor bar located at
an angle 9 fromGthe peak of the flux density distribution
represented by Bms (t) .
11-29
Summary/Review
‰ The rotor bars located around the periphery of the rotor are of
uniform cross-section. In spite of this, what allows us to
represent
G the mmf produced by the rotor bar currents by a space
vector Fr (t) at any time t?
‰ Assuming the stator leakage impedance and the rotor inductance
to be zero, draw the space vector diagram, the phasor diagram,
and the per-phase equivalent circuit of a loaded induction motor.
‰ In the equivalent circuit of Problem 9, what quantities does the
rotor-bar current peak, represented by Î′ra , depend on?
‰ What is the frequency of voltages and currents in the rotor circuit
called? How is it related to the slip speed? Does it depend on the
number of poles?
11-30
Summary/Review
‰ What is the definition of slip s, and how does it relate the
frequency of voltages and currents in the stator circuit to that in
the rotor circuit?
‰ What is the speed of rotation of the mmf distribution produced
by the rotor bar currents: (a) with respect to the rotor? (b) in the
air gap with respect to a stationary observer?
‰ Assuming L′lr to be zero, what is the expression for the torque
Tem produced? How and why does it depend on &slip and B̂ms ?
Draw the torque-speed characteristic.
‰ Assuming L′lr to be zero, explain how induction motors meet
load-torque demand.
11-31
Summary/Review
‰ What makes an induction machine go into the regenerative-
braking mode? Draw the space vectors and the corresponding
phasors under the regenerative-braking condition.
‰ Can an induction machine be operated as a generator that feeds
into a passive load, for example a bank of three-phase
resistors?
‰ How is it possible to reverse the direction of rotation of an
induction machine?
‰ Explain the effect of including the rotor leakage flux by means
of a space vector diagram.
‰ How do we derive the torque expression, including the effect
of L′lr ?
11-32
Summary/Review
G G G
‰ What is Br (t) and how G does it differ from Bms (t) ? Is Br (t)
perpendicular to the Fr (t) space vector?
‰ Including the rotor leakage flux, which rotor bars have the highest
currents at any instant of time?
‰ What clue do we have for the vector control of induction
machines, to emulate the performance of brush-type and brush-
less dc motors discussed in Chapters 7 and 10?
‰ Describe how to obtain the per-phase equivalent circuit, including
the effect of the rotor leakage flux.
‰ What is the difference between Î′ra in Fig. 11-18c and in Fig. 11-
19c, in terms of its frequency, magnitude, and phase angle?
11-33
Summary/Review
‰ Is the torque expression in Eq. 11-41 valid in the presence of the
rotor leakage inductance and the stator leakage impedance?
‰ When producing a desired torque Tem, what is the power loss in
the rotor circuit proportional to?
‰ Draw the per-phase equivalent circuit, including the stator
leakage impedance.
‰ Describe the tests and the procedure to obtain the parameters of
the per-phase equivalent circuit.
‰ In steady state, how is the mechanical torque at the shaft
different than the electromechanical torque Tem developed by the
machine?
11-34
Summary/Review
‰ Do induction machines have voltage and torque constants similar
to other machines that we have studied so far? If so, write their
expressions.
‰ Plot the torque-speed characteristic of an induction motor for
applied rated voltages. Describe various portions of this
characteristic.
‰ What are the various classes of induction machines? Briefly
describe their differences.
‰ What are the problems associated with the line-starting of
induction motors? Why is the starting currents so high?
‰ Why is reduced-voltage starting used? Show the circuit
implementation and discuss the pros and cons of using it to save
energy.

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Chapter 11

‰ Adjustable speed drives

• Induction motors under balanced sinusoidal steady

Line-fed Induction Motors

Simple representation of three phase stator Squirrel-cage rotor

‰ Assumptions : Rs, Ls,leakage = 0

Electrically Open-circuited Rotor

‰ Only magnetizing currents are present because rotor is inert

Electrically Open-circuited Rotor

‰ B is a constant magnitude, rotating flux

Short-circuiting the Rotor

‰ Assuming no resistances or leakage inductance in the

‰ Flux -m is unaffected by the load

Induced Voltages on Rotor

Flux rotating at speed &syn

Induced Currents in Rotor

‰ Rotor conductors (bars) shorted together by end rings

Rotor MMF – Reflected Rotor

Slip frequency (fslip) in the rotor

‰ Slip is rotor speed normalized to synchronous speed

JJG JJJG JJG

Torque – Speed Characteristics

ω m,rated ω slip, rated

‰ For generation or for braking – in either case rotor speed exceeds

Rotor Leakage Inductance

Rotor Leakage Inductance

‰ Effect of rotor leakage inductance is to reduce

‰ Rotor leakage inductance is often neglected

Per-Phase Equivalent Circuit

Space Vectors Equivalent Circuit Phasor Diagram

‰ Includes rotor leakage inductance

‰ Power in equivalent resistance represents power entering

Equivalent Circuit Phasor Diagram

‰ Blocked Rotor Test (R ′r , Lls , L′lr )

No Load Test (Lm)

Equivalent Circuit Equivalent Circuit under no

‰ Under no load conditions the equivalent circuit is

Blocked Rotor Test (Ll )

Equivalent Circuit Approximate Circuit With Rotor Blocked

‰ With the rotor blocked, the magnetizing inductance is nearly

Characteristics at Rated Voltage

‰ Nearly linear near &syn

Motor Currents, Efficiency, Power

Typical for design B 10 kW, 4 pole, three-phase induction motor

Current vs. Speed Accelerating Torque

Reduced Voltage Starting (Soft Start)

‰ Circuit applies reduced voltage to motor during start-up to avoid

‰ Describe the construction of squirrel-cage induction machines.

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