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Three-
phase
supply
Stator Air gap Rotor
m T
s
Three-phase
windings Rotor windings
Three-
phase
supply
Stator Air gap Rotor
m T
s
Equivalent Circuit Of Induction Motor
Three-phase
windings Rotor windings Where :
Rs is resistance per-phase of stator winding
Three-
phase Rr is resistance per-phase of rotor winding
supply
Xs is leakage reactance per-phase of the
winding stator
Stator Air gap Rotor
m T Xs is leakage reactance per-phase of the
s winding rotor
Is Xs Rs Xr Xm is magnetizing reactance
Im Ir
Rm is Core losses as a reactance
Rr/s
Vs
Xm Rm
Im Ir
Rr/s
Vs
Xm Rm
Ps cu 3 I s Rs
2
Stator copper loss :
Pr cu 3 ( I r ) 2 Rr
' '
Rotor copper loss :
2 2
V V
Core losses : Pc 3 m 3 s
Rm Rm
Performance Characteristic of
Induction Motor
S
or Pd Pg (1 S )
Pd Pd 60
- Torque of motor : Td or Td
m 2 N m
Pg (1 S ) Pg
or
S (1 S ) s
Performance Characteristic of
Induction Motor
Po Pd Pnoload
Efficiency :
Pi Pc Ps cu Pg
Performance Characteristic of
Induction Motor
If Pg ( Pc Ps cu )
and Pd Pnoload
Is Ii Xs Rs Xr Is=Ir
Xs Rs Xr
Im Ir
Im Ir
Rr/s Rr/s
Vs Xm
Vs
Xm Rm Po
Pi
Rr/s Zi S
Vs Xm '
Rr
Rs j( X m X s X r )
'
Po
Pi
S
Vs
Ir
'
The rotor current is : 1
2
Rr'
2
2
Rs X s X r
'
S
Ii Xs Rs Xr Is=Ir
3 Rr' Vs2
Im Ir Td
' 2
Rr
Rr/s
S s Rs X s X r'
2
Vs
Po
Pi
S
Stator Air gap rotor
Tmax Td
Tst TL
Tm=TL
Operating point
Torque
Forward Forward Reverse
regeneration motoring plugging
Tmax
m s m s
m s
Tst
S=Sm
-Smax
s s Smax s =0 s
S=-1 S=0 S=1 S=2
Ns Nm =0
-Tmax
Performance Characteristic of
Induction Motor
d Td
Slip for the maximum torque Smax can be found by setting : 0
dS
R X X
1
2 ' 2 2
s s r
Performance Characteristic of
Induction Motor
3 Vs2
Tmax
Torque maximum is :
2s Rs Rs X s X r'
2 2
3 Vs2
Tmax
2
2s Rs Rs X s X r' 2
2
R
X
'
' 2
For the high Slip S. (starting) s X r Rs r
3 Rr' Vs2
So, the torque of motor is :
Td
S s X s X ' 2
r
3 Rr' Vs2
Tst
s X s X
And starting torque (slip S=1) is :
' 2
r
For low slip S region, the motor speed near unity or synchronous
X
speed, in this region the impedance motor is : ' 2 R'
s Xr r
Rs
S
3Vs2 S
So, the motor torque is : Td
s R 'r
Rr'
S max
R X X
And the slip at maximum torque is : 1
2 ' 2 2
s s r
3 Rr' Vs2
The maximum motor torque is : Td
' 2
Rr
S s Rs X s X r' 2
S
Stator Voltage Control
AC
Variable
IM
Controlling Induction Motor Speed by Voltage
3 Rr' Vs2
Td
Rr'
2
S s Rs X s X r'
2
S
Td
Vs > Vs1 > Vs2
Ii Xs Rs Xr Is=Ir Tmax
Im Ir
Rr/s
Vs
Po Tst TL
Pi
Tst1
Tst2
air
Stator rotor
gap
2 1
S=1 S=0
s
Nm =0 Ns
Frequency Voltage Control AC
Variable
Voltage
Sources IM
Controlling Induction Motor Speed by
Adjusting The Frequency Stator Voltage Vs Td
f
3 Rr' Vs2
Td
2
S s Rs
Rr'
X s X r'
2
S Td
fs2 < fs1 < fs
Tmax
Ii Xs Rs Xr Is=Ir Tst2
Im Ir Tst1
Tst TL
Vs Rr/s
f
Po
Pi
b m
And : S 1 m
b b
3 Rr' Vs2
The motor torque : Td
' 2
R
S s Rs r X s X r'
2
S
3 Rr' Vs2
Td
2
S b Rs
Rr'
X s X r'
2
S
If Rs is negligible, the maximum torque at the base speed as :
3 Vs2
Tmb
2S b X s X r'
Solution :
460
Input voltage per-phase : Vs 265 volt
3
Base frequency : b 2 f 2 x 3.14 x 60 377 rad / s
60 Po 60 x 11200
Base Torque : Tmb 61.11 Nm
2 N m 2 x 3.14 x 1750
Motor Torque : Tm 35 Nm
Tm 1 Tmb 61.11
2 1.321
Tmb Tm 35
Synchronous speed at this frequency is :
s b
s 1.321 x 377 498.01rad / s or
60 x 498.01
N s Nb 4755.65 rpm
2 x
p NS 4 x 4755.65
So, the supply frequency is : f s 158.52 Hz
120 b 120
cranes
CONTROLLING INDUCTION MOTOR SPEED USING
ROTOR RESISTANCE
(Rotor Voltage Control)
3 Rr' Vs2
Equation of Speed-Torque : Td
2
S s Rs
Rr'
X s X r'
2
S
3Vs2 S
In a wound rotor induction motor, an external Td
three-phase resistor may be connected to its s R 'r
slip rings,
RX
Stator
RX
Rotor
RX
Three-phase
supply
These resistors Rx are used to control motor starting and stopping
anywhere from reduced voltage motors of low horsepower up to
large motor applications such as materials handling, mine hoists,
cranes etc.
AC Wound Rotor Induction Motors where the resistor is wired into the
motor secondary slip rings and provides a soft start as resistance is
removed in steps.
AC Squirrel Cage Motors where the resistor is used as a ballast for soft
starting also known as reduced voltage starting.
This method increase the starting torque while limiting the starting current.
The wound rotor induction motor are widely used in applications requiring
frequent starting and braking with large motor torque (crane, hoists, etc)
The three-phase resistor may be replaced by a three-phase diode rectifier
and a DC chopper. The inductor Ld acts as a current source Id and the DC
chopper varies the effective resistance:
Re R(1 k )
Where k is duty cycle of DC chopper
The speed can controlled by varying the duty cycle k, (slip power)
Id
Ld
D1 D3 D5
Stator
Vd GTO
Rotor R Vdc
Three-phase
supply D4 D6 D2
The slip power in the rotor circuit may be returned to the supply by
replacing the DC converter and resistance R with a three-phase full
converter (inverter)
Three-phase
supply
Id Transformer Na:Nb
Ld
D1 D3 D5 T1 T3 T5
Stator
Vd Vdc
Rotor
Slip Power D4 D6 D2 T2 T4 T6
Controlled rectifier/
Diode rectifier
inverter
Example:
A three-phase induction motor, 460, 60Hz, six-pole, Y connected, wound rotor
that speed is controlled by slip power such as shown in Figure below. The
motor parameters are Rs=0.041 W, Rr=0.044 W, Xs=0.29 W, Xr=0.44 W and
Xm=6.1 W. The turn ratio of the rotor to stator winding is nm=Nr/Ns=0.9. The
inductance Ld is very large and its current Id has negligible ripple.
The value of Rs, Rr, Xs and Xr for equivalent circuit can be considered
negligible compared with the effective impedance of Ld. The no-load of motor is
negligible. The losses of rectifier and Dc chopper are also negligible.
The load torque, which is proportional to speed square is 750 Nm at 1175 rpm.
(a) If the motor has to operate with a minimum speed of 800 rpm, determine
the resistance R, if the desired speed is 1050 rpm,
(b) Calculate the inductor current Id.
(c) The duty cycle k of the DC chopper.
(d) The voltage Vd.
(e) The efficiency.
(f) The power factor of input line of the motor.
460
Vs 265.58 volt
3
p 6
2 x 60 377 rad / s
s 2 x 377 / 6 125.66 rad / s
The equivalent circuit :
The dc voltage at the rectifier output is :
Vd I d Re I d R (1 k )
and
Nr
Er S Vs S Vs nm
Ns
Vd 1.65 x 2 Er 2.3394 Er
Nr
Using : Er S Vs S Vs nm
Ns
Vd 2.3394 S Vs n m
Pr
If Pr is the slip power, air gap power is : Pg
S
Pr 3Pr (1 S )
Developed power is : Pd 3( Pg Pr ) 3( S)
S S
Because the total slip power is 3Pr = Vd Id and Pd TL m
(1 S )Vd I d
So,
Pd TLm TLm (1 S )
S
TLs R(1 k )
m s 1 2
( 2.3394 V n
s m )
Which shows that for a fixed duty cycle, the speed decrease with load
torque. By varying k from 0 to 1, the speed can be varied from minimum
value to s
And : R 2.3856 W