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Introduction
Three-phase induction motors are the most
common and frequently encountered machines in
industry
-
Construction
An induction motor has two main parts
-
a stationary stator
Stator of IM
Construction
-
a revolving rotor
Construction
Squirrel cage rotor
Wound rotor
Notice the
slip rings
Construction
Slip rings
Cutaway in a
typical woundrotor IM.
Notice the
brushes and the
slip rings
Brushes
nsync
120 f e
rpm
Synchronous speed
P
50 Hz
60 Hz
3000
3600
1500
1800
1000
1200
750
900
10
600
720
12
500
600
BM sin(t )x
3
BM sin(t 120)]y
2
3
[0.5BM sin(t 240)]x [
BM sin(t 240)]y
2
[0.5BM sin(t 120)]x [
Principle of operation
This rotating magnetic field cuts the rotor windings and
produces an induced voltage in the rotor windings
Due to the fact that the rotor windings are short circuited, for
both squirrel cage and wound-rotor, and induced current
flows in the rotor windings
The rotor current produces another magnetic field
A torque is produced as a result of the interaction of those
two magnetic fields
ind kBR Bs
Where ind is the induced torque and BR and BS are the magnetic
flux densities of the rotor and the stator respectively
nslip nsync nm
Where nslip= slip speed
nsync= speed of the magnetic field
nm = mechanical shaft speed of the motor
The Slip
s
nsync nm
nsync
Frequency
The frequency of the voltage induced in the rotor is
given by
Pn
fr
120
Where fr = the rotor frequency (Hz)
P = number of stator poles
n = slip speed (rpm)
P (ns nm )
fr
120
P sns
sf e
120
Frequency
What would be the frequency of the rotors induced
voltage at any speed nm?
fr s fe
When the rotor is blocked (s=1) , the frequency of
the induced voltage is equal to the supply frequency
On the other hand, if the rotor runs at synchronous
speed (s = 0), the frequency will be zero
Torque
While the input to the induction motor is electrical
power, its output is mechanical power and for that we
should know some terms and quantities related to
mechanical power
Any mechanical load applied to the motor shaft will
introduce a Torque on the motor shaft. This torque is
related to the motor output power and the rotor speed
load
Pout
N .m
and
2 nm
m
60
rad / s
Horse power
Another unit used to measure mechanical power is
the horse power
It is used to refer to the mechanical output power
of the motor
Since we, as an electrical engineers, deal with
watts as a unit to measure electrical power, there is
a relation between horse power and watts
hp 746 watts
Example
A 208-V, 10hp, four pole, 60 Hz, Y-connected
induction motor has a full-load slip of 5 percent
1.
2.
3.
4.
Solution
1. nsync
120 f e 120(60)
1800 rpm
P
4
2. nm (1 s)ns
(1 0.05) 1800 1710 rpm
3.
f r sf e 0.05 60 3Hz
nm
60
10 hp 746 watt / hp
41.7 N .m
1710 2 (1/ 60)
2
Equivalent Circuit
The induction motor is similar to the transformer with
the exception that its secondary windings are free to
rotate
Equivalent Circuit
When the rotor is locked (or blocked), i.e. s =1, the
largest voltage and rotor frequency are induced in
the rotor, Why?
On the other side, if the rotor rotates at synchronous
speed, i.e. s = 0, the induced voltage and frequency
in the rotor will be equal to zero, Why?
ER sER 0
Where ER0 is the largest value of the rotors induced voltage
obtained at s = 1(loacked rotor)
Equivalent Circuit
The same is true for the frequency, i.e.
fr s fe
It is known that
X L 2 f L
So, as the frequency of the induced voltage in the
rotor changes, the reactance of the rotor circuit also
changes
X L 2 f L
Where Xr0 is the rotor reactance
at the supply frequency
(at blocked rotor)
2 sf e Lr
sX r 0
Equivalent Circuit
Then, we can draw the rotor equivalent circuit as
follows
Equivalent Circuit
Now we can calculate the rotor current as
ER
IR
( RR jX R )
sER 0
( RR jsX R 0 )
IR
(
RR
jX R 0 )
s
Equivalent Circuit
Now we can have the rotor equivalent circuit
Equivalent Circuit
Now as we managed to solve the induced voltage
and different frequency problems, we can combine
the stator and rotor circuits in one equivalent
circuit
Where
2
X 2 aeff
X R0
2
R2 aeff
RR
I2
IR
aeff
E1 aeff ER 0
aeff
NS
NR
Power relations
Pin 3 VL I L cos 3 Vph I ph cos
PSCL 3 I12 R1
ind
Pconv
Equivalent Circuit
We can rearrange the equivalent circuit as follows
Actual rotor
resistance
Resistance
equivalent to
mechanical load
Power relations
Pin 3 VL I L cos 3 Vph I ph cos
PSCL 3 I12 R1
R2
3I
s
2
2
PRCL 3I 22 R2
ind
PRCL
PRCL (1 s)
s
Pconv
(1 s ) PAG
(1 s )s
Power relations
Pconv
PAG
1
1-s
PRCL
s
Example
A 480-V, 60 Hz, 50-hp, three phase induction motor is
drawing 60A at 0.85 PF lagging. The stator copper
losses are 2 kW, and the rotor copper losses are
700 W. The friction and windage losses are 600
W, the core losses are 1800 W, and the stray losses
are negligible. Find the following quantities:
1.
2.
3.
4.
Solution
1.
3.
Solution
37.3
Pout
50 hp
0.746
4.
Pout
100%
Pin
37.3
100 88%
42.4
Example
A 460-V, 25-hp, 60 Hz, four-pole, Y-connected induction motor
has the following impedances in ohms per phase referred to
the stator circuit:
R1= 0.641 R2= 0.332
X1= 1.106 X2= 0.464 XM= 26.3
The total rotational losses are 1100 W and are assumed to be
constant. The core loss is lumped in with the rotational losses.
For a rotor slip of 2.2 percent at the rated voltage and rated
frequency, find the motors
1.
2.
3.
Speed
Stator current
Power factor
6. Efficiency
Solution
120 f e 120 60
1800 rpm
1. nsync
P
4
nm (1 s )nsync (1 0.022) 1800 1760 rpm
R2
0.332
jX 2
j 0.464
2. Z 2
s
0.022
15.09 j 0.464 15.11.76
1
1
Zf
12.9431.1
0.0773 31.1
Solution
Ztot Z stat Z f
0.641 j1.106 12.9431.1
11.72 j 7.79 14.0733.6
4600
V
3
I1
18.88 33.6 A
Z tot 14.0733.6
Solution
Pconv (1 s) PAG (1 0.022)(11845) 11585 W
5. ind
load
10485
=
14.1 hp
746
PAG
11845
sync 2 1800
Pout
10485
m 2 1760
62.8 N.m
60
56.9 N.m
60
Pout
10485
100%
100 83.7%
6.
Pin
12530
VTH
jX M
V
R1 j ( X 1 X M )
| VTH || V |
RTH jX TH ( R1 jX 1 ) // jX M
XM
R12 ( X 1 X M )2
XM
V
X1 X M
XM
R1
X1 X M
X TH X 1
2
ZT
R2
2
R
(
X
X
)
TH
TH
2
s
R2 (1 s)
3I
s
2
2
Pconv
Pconv
(1 s )s
3I 22
R2
s PAG
VTH
3
2
s
R R2 ( X X )2
TH
2
TH s
ind
RTH
R2
s
R2
3V
s
2
R2
( X TH X 2 ) 2
s
2
TH
Torque-speed characteristics
Comments
1. The induced torque is zero at synchronous speed.
Discussed earlier.
2. The curve is nearly linear between no-load and full
load. In this range, the rotor resistance is much
greater than the reactance, so the rotor current,
torque increase linearly with the slip.
3. There is a maximum possible torque that cant be
exceeded. This torque is called pullout torque and
is 2 to 3 times the rated full-load torque.
Comments
4. The starting torque of the motor is slightly higher
than its full-load torque, so the motor will start
carrying any load it can supply at full load.
5. The torque of the motor for a given slip varies as
the square of the applied voltage.
6. If the rotor is driven faster than synchronous speed
it will run as a generator, converting mechanical
power to electric power.
Maximum torque
Maximum torque occurs when the power
transferred to R2/s is maximum.
This condition occurs when R2/s equals the
magnitude of the impedance RTH + j (XTH + X2)
R2
2
RTH
( X TH X 2 )2
sTmax
sTmax
R2
2
RTH
( X TH X 2 )2
Maximum torque
The corresponding maximum torque of an induction
motor equals
max
2
3VTH
1
2
2
2s RTH RTH
(
X
X
)
TH
2
Maximum torque
Rotor resistance can be increased by inserting
external resistance in the rotor of a wound-rotor
induction motor.
The
value of the maximum torque remains unaffected
but
the speed at which it occurs can be controlled.
Maximum torque
Example
A two-pole, 50-Hz induction motor supplies 15kW to a load
at a speed of 2950 rpm.
1. What is the motors slip?
2. What is the induced torque in the motor in N.m under
these conditions?
3. What will be the operating speed of the motor if its
torque is doubled?
4. How much power will be supplied by the motor when
the torque is doubled?
Solution
120 f e 120 50
1. nsync
3000 rpm
P
2
nsync nm 3000 2950
s
0.0167 or 1.67%
nsync
3000
2.
no Pf W given
assume Pconv Pload and ind load
ind
Pconv
15 103
48.6 N.m
2
2950
60
Solution
3. In the low-slip region, the torque-speed curve is linear
and the induced torque is direct proportional to slip. So,
if the torque is doubled the new slip will be 3.33% and
the motor speed will be
nm (1 s )nsync (1 0.0333) 3000 2900 rpm
4. Pconv ind m
2
(2 48.6) (2900 ) 29.5 kW
60
Example
A 460-V, 25-hp, 60-Hz, four-pole, Y-connected woundrotor induction motor has the following impedances in
ohms per phase referred to the stator circuit
R1= 0.641 R2= 0.332
X1= 1.106 X2= 0.464 XM= 26.3
1. What is the maximum torque of this motor? At what
speed and slip does it occur?
2. What is the starting torque of this motor?
3. If the rotor resistance is doubled, what is the speed at
which the maximum torque now occur? What is the
new starting torque of the motor?
4. Calculate and plot the T-s c/c for both cases.
Solution
VTH V
XM
R12 ( X 1 X M ) 2
460
26.3
3
255.2 V
2
2
(0.641) (1.106 26.3)
RTH
XM
R1
X
1
M
26.3
(0.641)
0.590
1.106 26.3
X TH X 1 1.106
Solution
1. sTmax
R2
2
RTH
( X TH X 2 )2
0.332
(0.590) (1.106 0.464)
2
0.198
Solution
The torque at this speed is
max
3VTH2
R R 2 ( X X )2
TH
TH
2
TH
3 (255.2) 2
2
2 (1800 )[0.590 (0.590) 2 (1.106 0.464) 2 ]
60
229 N.m
1
2s
Solution
2. The starting torque can be found from the torque eqn.
by substituting s = 1
2 R2
3VTH
1
s
start ind s 1
2
s
R2
2
R
(
X
X
)
TH
TH
2
s
s 1
3VTH2 R2
s [ RTH R2 ( X TH X 2 ) 2 ]
2
3 (255.2) 2 (0.332)
2
1800
[(0.590 0.332) 2 (1.106 0.464) 2 ]
60
104 N.m
Solution
3. If the rotor resistance is doubled, then the slip at
maximum torque doubles too
R2
sTmax
0.396
2
RTH
( X TH X 2 )2
Solution
The starting torque is now
start
3 (255.2) 2 (0.664)
2
1800
[(0.590 0.664) 2 (1.106 0.464) 2 ]
60
170 N.m
DC test
-
DC test
-
then
RDC
VDC
I DC
No-load test
No-load test
R2 (1 s)
s
R2
&
R 2 (1 s)
s
X2
No-load test
No-load test
6. At the no-load conditions, the input power measured by
meters must equal the losses in the motor.
7. The PRCL is negligible because I2 is extremely small
because R2(1-s)/s is very large.
8. The input power equals
No-load test
9. The equivalent input impedance is thus approximately
Z eq
V
I1,nl
X1 X M
Blocked-rotor test
In this test, the rotor is locked or blocked so that it
cannot move, a voltage is applied to the motor, and
the resulting voltage, current and power are
measured.
Blocked-rotor test
The AC voltage applied to the stator is adjusted so
that the current flow is approximately full-load
value.
The locked-rotor power factor can be found as
Pin
PF cos
3Vl I l
V
I
Blocked-rotor test
'
Z LR RLR jX LR
Z LR cos j Z LR sin
RLR R1 R2
'
X LR
X1' X 2'
X LR
f rated '
X LR X 1 X 2
ftest
Blocked-rotor test
X1 and X2 as function of XLR
Rotor Design
X1
X2
Wound rotor
0.5 XLR
0.5 XLR
Design A
0.5 XLR
0.5 XLR
Design B
0.4 XLR
0.6 XLR
Design C
0.3 XLR
0.7 XLR
Design D
0.5 XLR
0.5 XLR
Example
The following test data were taken on a 7.5-hp, four-pole, 208-V, 60Hz, design A, Y-connected IM having a rated current of 28 A.
DC Test:
VDC = 13.6 V
No-load Test:
Vl = 208 V
I = 8.17 A
Locked-rotor Test:
Vl = 25 V
I = 27.9 A
IDC = 28.0 A
f = 60 Hz
Pin = 420 W
f = 15 Hz
Pin = 920 W