Induction Motor

Why induction motor (IM)?

Robust; No brushes. No contacts on rotor shaft
High Power/Weight ratio compared to Dc motor
Lower Cost/Power
Easy to manufacture
Almost maintenance-free, except for bearing and
other mechanical parts
Disadvantages
Essentially a fixed-speed machine
Speed is determined by the supply frequency
To vary its speed need a variable frequency
supply
Construction
Stator
Construction
Rotor
Squirrel Cage
Construction
Performance of Three-Phase Induction Motor
The speed of the rotating field (Synchronous speed ) is :
Slip speed is
Slip, s is :
Is the rotor speed ,
rpm
P
f
n
s
120
= . sec /
4 120
60
* 2
rad
P
f
P
f
ms
t t
e = =
ms m ms sl
se e e e = =
ms
m ms
ms
sl
s
e
e e
e
e
= =
m
e
( )
ms m
s e e = 1
Rotor frequency in Rad/Sec. is :
s s
ms
sl
r
sf f t t
e
e
e 2 2 = =
Rotor frequency in Hz is :
s r
sf f =
E
s
X
m
X
s
R
s
n
r
n
m
I
s
I
E
1 T
a
sE
r
I
r
X
r
R
r
I '
Stator
Ideal
Transformer
Rotor
V
Per Phase Equivalent Circuit
s
X
m
X
s
R
m
I
s
I
E
r
X
'
s R
r
/
'
r
I
'
V
Per Phase Equivalent Circuit Referred to Stator
t
X
t
R
E
r
X
'
r
I
'
r t
V u Z
s R
r
/
'
Per Phase Simplified Equivalent Circuit Referred to Stator
s
X
m
X
s
R
m
I
s
I
E
r
X
'
r
I
'
V
s R
r
/
'
( )
2 2
m s s
m
t
X X R
X V
V
+ +
=
|
.
|

\
| +
=

s
m s
t
R
X X
1
tan
2
t
u
( )
( )
m s s
s s m
t t
X X j R
jX R jX
jX R
+ +
+
= +
s
X
m
X
s
R
m
I
s
I
E
r
X
'
r
I
'
V
s R
r
/
'
Per Phase Equivalent Circuit Referred to Stator
( ) | |
m
r m r r
s
jX
I X X j s R
I
'
+
'
+
'
=
/
t
X
t
R
E
r
X s R
r
/
'
r
I
'
r t
V u Z
Per Phase Simplified Equivalent Circuit Referred to Stator
( )
r t
r
t
t t
r
X X j
s
R
R
V
I
'
+ +
|
.
|

\
|
'
+
Z
=
'
u
|
|
.
|

\
|
'
'
=
s
R
I P
r
r g
2
3
r r g m
R I P P
' '
=
2
3
( )
g r r r r
r
r m
P s
s
s
R I R I
s
R
I P =
|
.
|

\
|

' '
=
' '

|
|
.
|

\
|
'
'
= 1
1
3 3 3
2 2 2
( )
g r r r r
r
r m
P s
s
s
R I R I
s
R
I P =
|
.
|

\
|

' '
=
' '

|
|
.
|

\
|
'
'
= 1
1
3 3 3
2 2 2
t
X
t
R
E
r
X s R
r
/
'
r
I
'
r t
V u Z
t
X
t
R
E
r
X'
r
R'
r
I '
r t
V u Z
r
R
s
s
'
|
.
|

\
|
1
m
m
P
T
e
=
( )
ms m
s e e = 1
( )
g m
P s P = 1
ms
g
ms
g
s
sP P
T
e e
= =
|
|
.
|

\
|
'
' =
s
R
I T
r
r
ms
2
3
e
( )
r t
r
t
t t
r
X X j
s
R
R
V
I
'
+ +
|
.
|

\
|
'
+
Z
=
'
u
( )
(
(
(
(

' + +
|
.
|

\
|
'
+
'
=
2
2
2
/ 3
r t
r
t
r t
ms
X X j
s
R
R
s R V
T
e
ms
r r
s
R I
e
' '
=
2
3
( ) ( )
2 2
r t t
r
m
X X R
R
s
'
+ +
'
=
0 =
ds
dT
( )
0
/ 3
2
2
2
=
(
(
(
(

' + +
|
.
|

\
|
'
+
'
r t
r
t
r t
ms
X X j
s
R
R
s R V
ds
d
e
( )
(
(
(
(

'
+ +
|
.
|

\
|
'
+
'
=
2
2
2
/ 3
r t
r
t
r t
ms
X X j
s
R
R
s R V
T
e
( )
(
(

'
+ +
=
2 2
2
max
2
3
r t t t
t
ms X X R R
V
T
e
A 3-phase, star connected, 6 pole, 60 Hz induction motor has the following
constants: 231 =
t
V V, O =
'
= 1
r t
R R , O =
'
= 2
r t
X X
1. the motor is used for regenerative braking,
(i) Determine the range of load torque it can hold and the corresponding
range of speed.
(ii) Calculate the speed and current for a load torque of 150 N.m.
2. If the motor is used for plugging, determine the breaking torque and current
for a speed of 1200 rpm.
rpm P f N
s
1200 6 / 60 * 120 / 120 = = =
. sec / 7 . 125
6
60 * * 4 4
rad
P
f
ms
= = =
t t
e
For regenerative breaking
( )
24 . 0
16 1
1
2
2
=
+
=
+
'
+
'
=
t r t
r
m
X X R
R
s
( )
m N
X X R R
V
T
t r t t
t
ms
. 9 . 203
16 1 1
231 * 231
7 . 125 * 2
3
2
3
2
2
2
max
=
(

+
=
(
(

+ ' +
=
e
(i) the range of active load torque the motor can hold: 0 to 203.9 N.m. The
speed in rpm at the maximum torque:
( ) ( ) ( ) rpm N s N
s m
1488 1200 * 24 . 0 1 1 = = =
Therefore the range of speed is 1200 to 1488 rpm.
(ii)
( )
m N
s
s
X X
s
R
R
s R V
T
t r
r
t
r t
ms
. 150
16
1
1
/ 1 * 231 * 231
7 . 125
3 / * 3
2
2
2
2
=
(
(
(
(

+
|
.
|

\
|
+
=
(
(
(
(
(
(

+
'
+
|
|
.
|

\
|
'
+
'
=
e
Let x
s
=
1
, then 0 17 49 . 10
2
= + + x x
Then, 5 . 8 2 = or x then 118 . 5 . = or s
Since stable operation is usually obtained only up to
m
s which is -0.24,
the feasible value of s is -0.118.
Then motor speed
( ) rpm N s N
s
1342 1200 * 118 . 1 1 = = =
( )
A
X X
s
R
R
V
I
t r
r
t
t
r
2 . 27
16
118 . 0
1
1
231
2
2
2
=
+
|
.
|

\
|

+
=
+ ' +
|
|
.
|

\
|
'
+
= '
2. For the motor speed N rpm
s
s
N
N N
s

=
rpm N
s
1200 =
rpm N 1200 =
Then for plugging
2
1200
1200 1200
=

= s
( )
( )
A
X X
s
R
R
V
I
t r
r
t
t
r
1 . 54
16 5 . 0 1
231
2
2
2
=
+ +
=
+
'
+
|
|
.
|

\
|
'
+
=
'
( ) m N
s
R I
T
r r
ms
. 9 . 34 2 / 1 * 1 . 54 *
7 . 125
3
.
3
2
=

=
' '
=
2
e
Speed Control of Induction Motor
1- Variable Terminal Voltage Control
2- Variable Frequency Control
3- Rotor Resistance Control
4- Injecting Voltage in Rotor Circuit
1- Variable Terminal Voltage Control
ms
e
m
e
L
T
T
V decreasing
variable frequency control variable terminal voltage control
Wide speed range Low speed range
Lower & higher rated speed Lower rated speed
2- Variable Frequency Control
rated
f f a / =
Per-Unit Frequency
1- Operation Below the Rated Frequency a <1
m rated
rated
m
rated
m
L f
E
X
E
I
t 2
1
* = =
At rated frequency
m rated m
m
L f a
E
aX
E
I
t 2
1
*
*
= =
At any frequency, f
Comparing of the above equations, will stay constant at a value equal to its rated
value if
m
I
rated
rated
rated
E
f
f
E a E = =
rated
rated
f
E
f
E
=
The above equation suggests that the flux will remain constant if the
back emf changes in the same ratio as the frequency, in other ward,
when E/f ratio is maintained constant.
The rotor current at any frequency f can be obtained from the following equation:
( ) ( )
2
2
2
2
r
r
rated
r
r
rated
r
X
as
R
E
X a
s
R
aE
I
'
+
|
.
|

\
|
'
=
'
+
|
.
|

\
|
'
=
'
ms
sl
ms
m ms
a a
a
s
e
e
e
e e
=

=
ms
e
m
e
Angular Speed at frequency f
Synchronous Speed at rated frequency
rated
f
( )
(
(
(
(

'
+
|
.
|

\
|
'
'
=
|
|
.
|

\
| '
'
=
2
2
2
2
/ * 3 3
r
r
r rated
ms
r
r
ms
X
as
R
as R E
s
R
I
a
T
e e
Torque at frequency f
At a given f and E
r
r
m
X a
R
s
'
'
~
m ms sl
a e e e =
ms
sl
ms
m ms
a
sa
e
e
e
e e
=

=
(
(

'
=
r
rated
ms
X
E
T
2
max
2
3
e
( ) ( )
sl
r ms
rated
nt consta as
R
E
T e
e
=
'
=
2
3
r
r
X
as
R
'
>>
'

(6-51)
( )
(
(
(
(

'
+
|
.
|

\
|
'
'
=
|
|
.
|

\
| '
'
=
2
2
2
2
/ * 3 3
r
r
r rated
ms
r
r
ms
X
as
R
as R E
s
R
I
a
T
e e
ms
e
m
e
ms
ae
T
Braking Motoring
s
X
m
X
s
R
m
I
s
I
E
r
X
'
s R
r
/
'
r
I
'
V
V/f Control
s
X
s
R
s
I
E
r
X
'
s R
r
/
'
r
I
'
V
m
I
m
X
V/f Control
( ) ( )
(
(

' + + ' +
'
=
|
|
.
|

\
|
'
' =
2 2
2
2
/
/ * 3 3
r s r s
r rated
ms
r
r
ms
X X s R R
s R V
s
R
I T
e e
(6.52)
( ) (
(

' + +
=
2 2
2
max
2
3
r s s s
rated
ms X X R R
V
T
e
(6.53)
At rated frequency
( ) ( )
(
(

' + + ' +
'
=
2 2
2
/ /
/ * 3
r s r s
r rated
ms
X X as R a R
as R V
T
e
(6.54)
( ) ( ) (
(

' + +
=
2 2
2
max
/ /
2
3
r s s s
rated
ms X X a R a R
V
T
e
(6.55)
At any frequency, f,
1 < a
V/f Control
ms
e
m
e
ms
ae
T
Operation above the rated frequency a>1
The terminal voltage has o be constant = Rated Volatge=
nt consta V =
rated
V
| + a when Flux
(6.56)
( ) ( )
(
(

'
+ +
=
2 2 2
2
max
2
3
r s s s
rated
ms X X a R R
V
a
T
e
(6.57)
At any frequency, f,
1 > a
( ) ( )
(

'
+ +
'
+
'
=
2
2
2
2
/
/ * 3
r s r s
r rated
ms
X X a s R R
as R V
T
e
ms
e
m
e
ms
ae
T
Constant torque
locus
Constant torque
locus
rated
f
Ex6-3 A 3-phase, Y-connected, 60 Hz, 4 pole induction motor has the following parameters:
O =
'
= 024 . 0
r s
R R
O =
'
= 12 . 0
r s
X X
and
The motor is controlled by the variable frequency control with a constant V/f ratio. For
the operating frequency of 12 Hz, calculate:
1-The breakdown torque as a ratio of its value at the rated frequency for both motoring
and breaking.
2- The starting torque and rotor current in terms of their values at rated frequency.
2 . 0
60
12
= = =
rated
f
f
a
From (6.55)
( ) ( )
(
(

'
+ +
=
2 2
2
max
/ /
2
3
r s s s
rated
ms X X a R a R
V
T
e
( )
( )
( ) ( )
( ) ( )
68 . 0
24 . 0 2 . 0 / 024 . 0 2 . 0 / 024 . 0
24 . 0 1 / 024 . 0 1 / 024 . 0
0 . 1
2 . 0
2 2
2 2
max
max
=
+ +
+ +
=
=
=
r
a T
a T
( )
( )
( ) ( )
( ) ( )
46 . 1
24 . 0 2 . 0 / 024 . 0 2 . 0 / 024 . 0
24 . 0 1 / 024 . 0 1 / 024 . 0
0 . 1
2 . 0
2 2
2 2
max
max
=
+
+
=
=
=
r
a T
a T
Motoring
Breaking
At starting torque s=1
From (6.54)
( ) ( )
(

' + + ' +
'
=
2 2
2
/ /
/ * 3
r s r s
r rated
ms
X X as R a R
as R V
T
e
( )
( )
( ) ( )
( ) ( )
6 . 2
24 . 0 1 / 048 . 0
1 / 024 . 0
24 . 0 2 . 0 / 048 . 0
2 . 0 / 024 . 0
0 . 1
2 . 0
2 2
2 2
=
(

+
(

+
=
=
=
a T
a T
start
start
From Fig. 6.1(d)
( ) ( )
2 2
/ /
r s r s
rated
r
X X as R a R
V
I
' + + ' +
=
( )
( )
( ) ( )
( ) ( )
72 . 0
24 . 0 2 . 0 / 024 . 0 2 . 0 / 024 . 0
24 . 0 1 / 024 . 0 1 / 024 . 0
1
2 . 0
2 2
2 2
,
,
=
+ +
+ +
=
=
=
a I
a I
start r
start r
Ex6-4 If the rated slip of induction motor of EX6.3 is 0.04, Calculate the motor speed for
rated torque and f=30Hz. The motor is controlled with a constant V/f ratio
5 . 0
60
30
= = =
rated
f
f
a
At rated frequency,f=60Hz, From (6.52)
( ) ( )
(

' + + ' +
'
=
2 2
2
/
/ * 3
r s r s
r rated
ms
X X s R R
s R V
T
e
( ) ( )
( ) 34 . 1
* 3
24 . 0 04 . 0 / 024 . 0 024 . 0
04 . 0 / 024 . 0 * 3
2
2 2
2
ms
rated rated
ms
rated
V V
T
e e
=
(
(

+ +
=
At f=30Hz, From (6.54)
( ) ( )
(

' + + ' +
'
=
2 2
2
/ /
/ * 3
r s r s
r rated
ms
X X as R a R
as R V
T
e
( )
( )
(
(
(
(

+
|
.
|

\
|
+
=
2
2
2
24 . 0
5 . 0
024 . 0
5 . 0
024 . 0
5 . 0 / 024 . 0 * 3
s
s V
T
rated
ms
rated
e
[1]
[2]
Equating [1] and [2]
0 1 98 . 0
2
= + s s
089 . 0 = s
43 . 0 = s and
( ) ( ) rpm s a N
ms
820 089 . 0 1 * 1800 * 5 . 0 1 = = = e
A 480V, 60 Hz 4 pole 1710 rpm, Y-connected induction motor has the following parameters
per phase: O = 3 . 0
s
R , O = ' 15 . 0
r
R , O = ' = 1 . 1
r s
X X O = 40
m
X
The motor is controlled by variable frequency control at a constant flux of rated value.
(i) Calculate the speed and stator current at half the rated torque and 20 Hz supply.
(ii) Solve part (i) assuming the speed-torque curves to be parrallel stright lines for
m
s s < .
(iii) Calculate the frequency, the stator current, and voltage at rated breaking torque and
1400 rpm.
Ex 6-5
Solution:
rpm
P
f
N
s
1800
4
60 * 120 120
= = =
sec / 5 . 188
60
1800 * 2
rad
ms
= =
t
e
05 . 0
1800
1710 1800
=

=
s
s
N
N N
s
O Z = + = + =
'
+
'
=
'
o
r
r
r
j j X j
s
R
Z 14 . 20 1953 . 3 1 . 1 3 1 . 1
05 . 0
15 . 0
O Z = + = + =
o
s s s
j jX R Z 75 . 74 14 . 1 1 . 1 3 . 0
m r
m r
s in
Z Z
Z Z
Z Z
+
'
'
+ =
*
( ) ( )
( ) ( )
O Z =
Z + Z
Z Z
+ Z =
o
in
Z 245 . 37 9274 . 3
90 40 14 . 20 1953 . 3
90 40 * 14 . 20 1953 . 3
75 . 74 14 . 1
A
Z
V
I
in
ph
s
563 . 70
9274 . 3
3 / 480
= = =
( )
( ) ( )
A I
Z Z
Z
I
s
m r
m
r
57 . 68 563 . 70 *
90 40 14 . 20 1953 . 3
90 40
* =
Z + Z
Z
=
+
'
=
'
V Z I E
r r
93 . 218 1953 . 3 * 971 . 0 * = =
' '
=
( ) m N
s
R I
T
r r
ms
. 14 . 224
05 . 0
15 . 0
* 517 . 68 *
5 . 188
3
.
3
2
= =
' '
=
2
e
Rated torque=
3
1
60
20
= = a
( )
( )
m N
s
s
X
as
R
as R E
T
r
r
r rated
ms
.
2
14 . 224
1 . 1
3
1
15 . 0
/ 3 * 15 . 0 * 93 . 218
5 . 188
3 / * 3
2
2
2
2
2
=
(
(
(
(
(
(
(
(
(

+
|
|
|
.
|

\
|
=
(
(
(
(
(

'
+
|
|
.
|

\
|
'
'
=
2
e
(i) At 20 Hz
063 . 3 1 . 1
9 * 15 . 0
2
2
= + s
s
or 0 2025 . 0 063 . 3 21 . 1
2
= + s s
4635 . 2 = s It is not acceptable value, 0679 . 0 = s resonable value.
( ) ( ) sec / 567 . 58 0679 . 0 1 * 5 . 188 *
3
1
1 rad s a
ms m
= = = e e
or ( ) ( ) rpm s N a N
s
26 . 559 0679 . 0 1 * 1800 *
3
1
1 * = = =
V E 977 . 72 95 . 218 *
60
20
= =
O Z = + =
'
+
'
=
'
o
r
r
r
j
X ja
s
R
Z 424 . 9 2394 . 2
3
1 . 1
0679 . 0
15 . 0
A
Z
E
I
o
r
r
424 . 9 588 . 32
424 . 9 2394 . 2
0 977 . 72
Z =
Z
Z
=
'
=
'
A
j jaX
E
I
o
m
m
90 473 . 5
3 / 40
0 977 . 72
Z =
Z
= =
A I I I
m r s
584 . 18 9167 . 33 Z = +
'
=
At 20 Hz
(ii)
2x
x
3y
y
20Hz
60Hz
n
T
FL
T
2
FL
T
1800
600
05 . 0
3
2
= =
y
x
S
FL
075 . 0
2
05 . 0 * 3
= =
y
x
075 . 0 = =
y
x
S
n
( ) rpm s n 555 1 * 600 = =
For constant flux, the t cons
f
E
tan =
At 20 Hz V E 977 . 72 93 . 218 *
60
20
= =
O Z = + =
'
+
'
=
'
o
r
r
r
j
X ja
s
R
Z 39 . 10 033 . 2
3
1 . 1
075 . 0
15 . 0

A
Z
E
I
o
r
r
39 . 10 896 . 35
39 . 10 033 . 2
0 977 . 72
Z =
Z
Z
=
'
=
'

A
j jaX
E
I
o
m
m
90 473 . 5
3 / 40
0 977 . 72
Z =
Z
= =
A I I I
m r s
694 . 18 274 . 37 Z = +
'
=
A same the remais I
o
m
90 473 . 5 Z = =
( ) ( ) A I I I
m r s
55 . 155 52 . 70 90 474 . 5 78 . 159 46 . 68 Z = Z + Z = +
'
=
( )
V
j I Z E V
s s
3 . 20 62 . 173
55 . 155 52 . 70 * 1 . 1 * 73 . 0 3 . 0 0 6 . 158
Z =
Z + + Z = + =
Hz f
f
P
f
N
s
rpm N
s
s
66 . 43
1310
4
* 120 * 120
069 . 0
1310
90
1310 90 1400
=
= = =
= =
= =
( ) 78 . 159 46 . 68
1 . 1 * 73 . 0 ) 069 . 0 /( 15 . 0
6 . 158
/
6 . 158 93 . 218 *
60
66 . 43
Z =
+
=
' + '
= '
= = =
j X ja s R
aE
I
V aE E
r r
rated
r
rated