2 POWER SYSTEM PROTECTION

Section 2.4 Induction Motor Start-Up Protection

Section 2.4.1 Introduction

During start-up, induction motors produce inrush currents of magnitudes that are several times greater than
their rated current. For more information on inrush current, see Section 3.2a. The duration of these currents
depends on the motor inertia, the type of load, and the method used to start the motor. Due to the increased
power dissipation, the motor must not remain under the above conditions longer than the permissible time
provided by the motor thermal capability.

Overcurrent or impedance relays may be used to protect the motor from long sustained inrush currents or
locked-rotor conditions. The duration and amplitude of the current during start-up must be known so that
the protection scheme can reliably identify conditions that require tripping from those that do not.

The protection coordination method provided in this section derives the transient trajectories of the motor
in the time domain for overcurrent relay schemes and in the complex impedance domain for impedance
relay schemes, and compares these trajectories with the corresponding characteristics of the protection
scheme. From this comparison, the required relay settings can be obtained.

Section 2.4.2 Motor Representation

During start-up, the stator current of the motor consists of two components: a dc offset and a symmetrical
current. The dc offset decays quickly with the L/R time constant of the motor. The symmetrical current has
a high initial rms value, since at low rotor speed the rotor impedance seen from the stator is small. As the
motor speed increases, the effective rotor impedance increases. At the same time, the rms value of the
symmetrical current decreases and attains its steady-state value.

Since the L/R time constants are much smaller than the mechanical time constants of the motor, the dc
offset may be neglected and the quasi-dynamic equivalent of Figure 2.4.1 can be used to obtain the rms of
the symmetrical motor current during the start-up transient.

Fig. 2.4.1 Quasi-dynamic representation

of an induction motor as seen from the stator
With reference to Figure 2.4.1, s represents the slip of the motor and Iex the excitation current of the motor.
This current has an ohmic component due to magnetizing losses and a reactive component which produces
the air-gap flux. The voltage, Vm, induced at the rotor will produce a rotor current limited by the rotor
leakage inductance and the rotor resistance.

AC Motor Model

For integral horsepower machines where the magnetizing inductance of the motor, Lm, is much larger than
the stator impedance, the above circuit can be simplified and the stator current and motor torque can be
obtained approximately.

Consider the motor with the following parameters:

Rs ≔ 0.641 Ω stator resistance

Rr ≔ 0.332 Ω rotor resistance

Ls ≔ 0.003 H stator leakage inductance

Lr ≔ 0.0012 H rotor leakage inductance

Lm ≔ 0.1 ⋅ H magnetizing inductance

P≔4 number of poles

2
J ≔ 0.9 ⋅ kg ⋅ m motor-load inertia

Let the supply voltage be

460.0 ⋅ V
Vs ≔ ――― voltage rms (line-to-neutral)
‾‾
3
Define.
rad
ωe ≔ 377 ⋅ ―― is the supply frequency
s

Xs ≔ Ls ⋅ ωe

Xr ≔ Lr ⋅ ωe

Xm ≔ Lm ⋅ ωe

The angle, , of the combined rotor and stator impedance is given as a function of the slip by

⎛ Xs + Xr ⎞
ϕ (s) ≔ atan ⎜――― ⎟
Rr
⎜ Rs + ― ⎟
⎝ s ⎠
The current and torque in the motor can be approximated by
Vs −1j ⋅ ϕ (s))
Ir (s) ≔ ―――――――― ⋅e
‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾
2
⎛ Rr ⎞ 2
R
⎜⎝ s + ― ⎟ + ⎛
⎝ X s + Xr⎞
⎠
s⎠

Vs
Is (s) ≔ ――+ Ir (s)
Xm ⋅ 1j

2
3 Rr Vs
Te (s) ≔ ― ⋅ P ⋅ ―― ⋅ ―――――――
2 s ⋅ ωe 2
⎛ Rr ⎞ 2
R
⎜⎝ s + ― ⎟ + ⎛ X
⎝ s + X ⎞
r⎠
s⎠

The following graphs show the torque, stator current, and power factor of the motor.

s ≔ 1 , 0.98 ‥ 0

250

225

200

175

150

⎛ kg ⋅ m 2 ⎞ 125
Te s ⎜―――
( )
2 ⎟ 100
⎝ s ⎠
75

50

25

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

s
Fig. 2.4.2 Motor torque
 155

140

125

110

|Is (s)| 95
――
amp
80

65

cos (ϕ (s)) ⋅ 100 50

35

20

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

s

Fig. 2.4.3 Stator current and power factor

The rms stator current and the impedance of the stator are functions of the motor slip. To coordinate the
overcurrent or impedance relay, the slip response must be obtained from the rotational dynamics of the
motor. The equation describing the rotor speed is

2 d
―⋅ J ⋅ ―ωr ＝ Te − TL
P dt

where J is the motor-load inertia, r is the rotor's speed in rad/sec, and TL is the load torque, generally a
function of rotor speed.

The rotor speed is found by numerical integration of the motion equation. From the rotor speed, the slip, s,
can be found and, thus, the rms of the motor current and stator impedance can be derived.
Section 2.4.3 Protection Schemes

An overcurrent relay will begin closing its contacts as soon as the motor begins the start-up acceleration,
since the motor current will be higher than the pick-up current of the relay. The relay contacts will close if
the area between the stator rms current waveform and the pick-up current of the relay exceeds the relay
setting. If Irl is the relay pick-up current and n is a relay constant, this area can be expressed as the integral,
t
⌠ n
⎮
⌡ ⎛
⎝ I s − Irl ⎞
⎠ dτ
0

Therefore, during start-up, the overcurrent relay will not trip if the stator current falls below Irl before the
value of the above integral becomes equal to or greater than K (a relay setting constant). Thus, if the relay
parameters, Irl, K, and n are known, the simulation can predict the relay response to various start-up
conditions.

An impedance relay will see a varying impedance from the stator. Initially, in the start-up, the motor
impedance will fall within the relay characteristic. For a locked-rotor condition, the motor impedance will
not change and will continue to stay inside the relay characteristic. For normal start-up, as the motor
accelerates and its power factor increases, the stator impedance seen by the relay will follow a trajectory
that moves outside the relay characteristic. Thus, from simulations, the time the stator impedance trajectory
remains within the relay characteristic can be found and the proper time delays for correct protection can
be determined.

Section 2.4.4 Mathcad Formulation

For the motor given above, consider the following fan type of load:

N⋅m 2
TL (ω) ≔ 0.0021 ――― 2
⋅ω
⎛ rad ⎞
⎜⎝――s ⎟⎠

The user may simulate any other type of load by changing the above function.

Solution for the Motion Equation

The motion equation is written in terms of the motor slip.

2 ⋅ ωe constant for converting the motion
M ≔ −――⋅ J
P equation in terms of slip
⎛ 2 ⋅ ωe ⎞
Te (s) − TL ⎜――⋅ (1 − s)⎟
⎝ P ⎠
Ds (s) ≔ ―――――――― time derivative of slip
M

Notice that the argument of TL is expressed in terms of the slip.

For a second order numerical integration, define the time step.
dt ≔ 0.005 s
h1 ≔ 1.5 ⋅ dt h2 ≔ 0.5 ⋅ dt

Define a function providing the increments of the slip between two integration steps.
Δs ⎛⎝s1 , s2⎞⎠ ≔ h1 ⋅ Ds ⎛⎝s1⎞⎠ − h2 ⋅ Ds ⎛⎝s2⎞⎠

Solve numerically the motion equation.

s ≔1 s ≔1 initial conditions at t=0

0 1

i ≔ 1 ‥ 700 step counter

t ≔ 0 ⋅ sec t ≔ 1 ⋅ sec
0 1

t ≔ i ⋅ dt calculate time vector

i

s ≔ s + Δs ⎛s , s ⎞ numerical integration
i+1 i ⎝ i i − 1⎠

Calculation of System Response

From the slip solution the system responses can be obtained.

2 ⋅ ωe 60
ωr ≔ ――⋅ ⎛1 − s ⎞ ⋅ ―― rotor speed in rpm
i P ⎝ i⎠ 2 ⋅ π

Vs
Zs ≔ ―― complex stator impedance
i Is ⎛s ⎞
⎝ i⎠
Simulation Results

The above responses are shown in the following graphs.

1.8⋅10³

1.6⋅10³

1.4⋅10³

1.2⋅10³

⎛ rad ⎞1⋅10³
ωr ⎜――
i ⎝ s ⎟ ⎠ 800

500 ⋅ s 600

i
400

200

0 0.35 0.7 1.05 1.4 1.75 2.1 2.45 2.8 3.15 3.5
t (s)
i

Fig. 2.4.4 Percent slip and rotor Rpm

150

135

120

105

90

|Is ⎛s ⎞| (A) 75
| ⎝ i⎠|
60

45

30

15

0 0.35 0.7 1.05 1.4 1.75 2.1 2.45 2.8 3.15 3.5
t (s)
i

Fig 2.4.5 Stator RMS current

The steady state of the motor is

|Is ⎛⎛s ⎞⎞| = 19.726 A stator current
| ⎝⎝ 700⎠⎠|
rad
= ⎛⎝1.758 ⋅ 10 ⎞⎠ ――
3
ωr rotor rpm
700 s
s = 0.023 rotor slip
700
Overcurrent Relay Response

The response of an overcurrent relay to the above start up is investigated next.

Relay constants as defined in Section 2.4.3:

K≔5 s n≔2
Ip ≔ 40 A relay pick-up current

From the above data, the relay characteristic can be obtained. Define trip-time as function of continuous
current rms.
K
T (I) ≔ ――― n
⎛I ⎞
⎜⎝―
Ip
− 1⎟
⎠

Plot relay characteristic along with the calculated stator current response.
x ≔ 2.3 ⋅ Ip , 2.3 ⋅ Ip + 0.1 ⋅ Ip ‥ ⎛⎝|Is (1)|⎞⎠

3.5

3.15

2.8

2.45

t (s) 2.1
i
1.75

t (s)
i 1.4

1.05
T (x) (s)
0.7

0.35

15 30 45 60 75 90 105 120 135 150

|Is ⎛⎛s ⎞⎞| (A) Ip (A) x (A)
| ⎝⎝ i⎠⎠|
Fig 2.4.4 Relay time duration and RMS stator current response

With reference to the above figure, the rms of the stator current initially exceeds the pick-up current of the
relay, shown by the vertical line in Figure 2.4.4. The relay will operate if the area between this line and the
waveform of the stator rms current is greater than the constant, K, for the time the stator current exceeds the
relay pick-up current. This condition may force the relay to trip, even though the start-up is normal and the
stator rms current eventually falls below the relay characteristic. Calculation of the area between the
graphed lines of stator and pick-up current is done below.
Define the variable, R, only for the values of stator currents exceeding the relay pick-up current.
⎛ |Is ⎛⎛s ⎞⎞| ⎞
| ⎝⎝ i⎠⎠|
R ≔ if |Is ⎛⎛s ⎞⎞| > Ip , ―――− 1 , 0⎟
⎜
i ⎜⎝| ⎝⎝ i⎠⎠| Ip ⎟⎠

Initialize variable to hold area value.

n dt
A ≔0 A ≔ A + ⎛R ⎞ ⋅ ―
0 1 0 ⎝ 0⎠ s
Calculate the area.
n dt
A ≔ A + ⎛R ⎞ ⋅ ―
i+1 i ⎝ i⎠ s

Area ≔ max (A) Area = 5.79

Since the calculated area is greater than the K of the relay, the relay will operate for the above response.

Impedance Relay

From the graph of the stator impedance in the R-X plane, the time delay setting of the impedance relay
can be determined.

6.45

5.55

5.1

4.65

4.2

⎛ kg ⋅ m ⎞ 3.75
2
Im ⎛Zs ⎞ ⎜――― ⎟ 3.3
⎝ i⎠ ⎝ s 3 ⋅ A 2 ⎠
2.85

2.4

1.95

1.5

0.5 1.5 2.5 3.5 4.5 5.5 6.5 7.5 8.5 9.5 10.5 11.5 12.5
⎛ kg ⋅ m 2 ⎞
Re ⎛Zs ⎞ ⎜――― ⎟
⎝ i⎠ ⎝ s 3 ⋅ A 2 ⎠
Fig. 2.4.6 Stator impedance trajectory

Initially, the stator impedance is mostly reactive with small magnitude. As the motor attains its steady state,
the stator impedance increases in magnitude and becomes more resistive. The response of the power factor
of the motor (stator impedance angle) is shown in the next figure.
 0.94

0.9

0.86

0.82

0.78

0.74

cos ⎛arg ⎛Zs ⎞⎞ 0.7

⎝ ⎝ i⎠⎠ 0.66

0.62

0.58

0.54

0.5

0 0.35 0.7 1.05 1.4 1.75 2.1 2.45 2.8 3.15 3.5
t (s)
i

Fig. 2.4.7 Stator impedance angle

Relay Settings

Consider the following settings of an impedance relay that protects the motor. The impedance relay setting
at locked-rotor impedance is given by
ZD ≔ 2.9 Ω

TD ≔ 1.1 relay reach in Percent of ZD

ϕr ≔ 75 deg relay maximum torque angle

R-X Relay Characteristic

Define a conversion function from polar-to-rectangular coordinates.

⎛ θ ⎞ ⎛ θ ⎞
r (θ) ≔ cos ⎜―― ⋅ π⎟ + 1j ⋅ sin ⎜―― ⋅ π⎟
⎝ 180 ⎠ ⎝ 180 ⎠

1j ⋅ ϕ
ZD ⋅ TD ⋅ e r
Zr0 ≔ ―――― center
2

Offset the characteristic to pass through zero.

Zr ≔ |Zr0| ⋅ r (i) + Zr0

i
Plot relay characteristic along with the motor impedance trajectory.

6.3

5.6

4.9

4.2

⎛ kg ⋅ m 2 ⎞ 3.5
Im Zs ⎜―――
⎛ ⎞ ⎟
⎝ i⎠ ⎝ s 3 ⋅ A 2 ⎠ 2.8
2.1

⎛ kg ⋅ m ⎞ 1.4
2
Im ⎛Zr ⎞ ⎜――― ⎟
⎝ i⎠ ⎝ s 3 ⋅ A 2 ⎠ 0.7
0

-0.7

-1.5 0 1.5 3 4.5 6 7.5 9 10.5 12 13.5

⎛ kg ⋅ m 2 ⎞ ⎛ kg ⋅ m 2 ⎞
Re Zs ⎜―――
⎛ ⎞ ⎟ Re Zri ⎜―――
⎛ ⎞ ⎟
⎝ i⎠ ⎝ s 3 ⋅ A 2 ⎠ ⎝ ⎠ ⎝ s3 ⋅ A2 ⎠
Fig. 2.4.8 Impedance characteristic

Time Delay Calculations

The time at which the stator ohms intersects the relay characteristic is found by searching the magnitude of
the stator impedance for the time it becomes equal to the radius of the relay characteristic. For this purpose,
the stator impedance is shifted by a vector corresponding to the center of the relay characteristic.

j ≔0
0

j ≔ if ⎛|Zs − Zr0| < |Zr0| , i , j ⎞

i+1 ⎝| i | i⎠

max (j) ⋅ dt = 0.93 s

The time calculated above is approximately the time inside the relay characteristic.