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
Squirrel Cage Rotor
Construction
 Performance of Three-Phase Induction Motor
The speed of the rotating field (Synchronous speed ) is :

120 f 2 * 120 f 4f
ns rpm ms rad / sec .
P 60 P P
Slip speed is sl ms m sms
sl ms m
Slip, s is : s
ms ms
m Is the rotor speed , m 1 s ms
sl
Rotor frequency in Rad/Sec. is : r 2f s 2sf s
ms
Rotor frequency in Hz is : f r sf s
 Rs Xs I r Xr Rr
n s nr
Is Ir
Im sE
V EE
Xm aT 1

S ta to r Id eal R o to r
T ra n sfo rm e r
Per Phase Equivalent Circuit

Rs Xs X r Rr / s

Is Im I r
V Xm E

Per Phase Equivalent Circuit Referred to Stator

 Rs Xs X r Rr / s

Is Im I r
V Xm E

Rt Xt X r Rr / s

I r

Vt r E

Per Phase Simplified Equivalent Circuit Referred to Stator

 V Xm 1 X s X m
Vt t tan
Rs2 X s X m 2 2 Rs
jX m Rs jX s
Rt jX t
Rs j X s X m
Rs Xs X r Rr / s

Is Im I r
V Xm E

Per Phase Equivalent Circuit Referred to Stator

Is
Rr / s j X r X m I r
jX m
 Rt Xt Xr Rr / s

I r

Vt r E

Per Phase Simplified Equivalent Circuit Referred to Stator

Vt t 2 Rr
I r Pg 3I r

R Rr j X X s
t t r
s
2
Pm Pg 3I r Rr

2 Rr 2 2 1 s 1 s P
Pm 3I r


3I r Rr
3I r Rr g
s s
 2 Rr 1 s 1 s P
Pm 3I r
3I r2 Rr 3I r2 Rr g
s s
Rt Xt Xr Rr / s

I r

Vt r E

Rt Xt X r Rr

I r
1 s
Vt r E Rr
s
 Pm Pm 1 s Pg Pg sPg 3I r2 Rr
T T
m m 1 s ms ms sms sms

Vt t Rr
I r T
3 2
I r
R Rr j X X ms s

t t r
s

3 Vt2 Rr / s
T
ms Rr 2
j X t X r
2
Rt
s

3 2

Vt Rr / s
T
ms Rr 2 2
Rt s j X t X r



dT d 3 Vt2 Rr / s 0
0
ds ds ms Rr 2
j X t X r
2
Rt
s

Rr
sm
Rt 2 X t X r 2
3 Vt2
Tmax
2ms Rt Rt2 X t X r 2
A 3-phase, star connected, 6 pole, 60 Hz induction motor has the following
constants:Vt 231 V, Rt Rr 1 , X t X r 2
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.
N s 120 f / P 120 * 60 / 6 1200 rpm
4f 4 * * 60
ms 125.7 rad / sec .
P 6
For regenerative breaking
Rr 1
sm 0.24

Rt2 X r X t 2 1 16

3 Vt2 3 231 * 231 203.9 N .m
Tmax
2ms
Rt Rt2
X r X t 2 2 * 125.7 1 1 16
(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:
N 1 sm N s 1 0.24 * 1200 1488 rpm
Therefore the range of speed is 1200 to 1488 rpm.
) ii(


2
3
Vt * Rr / s 3 231 * 231 * 1 / s
T 150 N .m
ms 2 125 . 7 2


Rt Rr X r X t
s
2
1
1 16
s

1
Let x , then x 2 10.49 x 17 0
s
Then, x 2 or 8.5 then s . 5 or .118
Since stable operation is usually obtained only up to sm which is -0.24,
the feasible value of s is -0.118.

Then motor speed N 1 s N s 1.118 * 1200 1342 rpm

 Vt 231
I r 27.2 A
2 2



Rt Rr
s




X r X t 2 1


1
0.118
16

Ns N
For the motor speed N rpm. 2 s
Ns
Then for plugging N s 1200rpm N 1200rpm
1200 1200
s 2
1200
Vt 231
I r 54.1A
2
1 0.5 2 16

Rt

Rr
s


X r X t

2


3 I r2 Rr 3
* 54.1 *1 / 2 34.9 N .m

T .
ms s 125.7
 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
m
TL
ms V d e c r e a s in g

T
variable terminal voltage control variable frequency control
Low speed range Wide speed range
Lower rated speed Lower & higher rated speed
 2- Variable Frequency Control
a f / f rated Per-Unit Frequency

1- Operation Below the Rated Frequency a <1

Erated Erated 1
Im * At rated frequency
Xm f rated 2 Lm
E E 1
Im * At any frequency, f
aX m a * f rated 2 Lm

Comparing of the above equations, Im will stay constant at a value equal to its rated
value if
f E E rated
E a E rated E rated
f rated f f rated

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:

aE rated Erated
I r
2 2

Rr aX 2
Rr X 2
r r
s as
ams m sl ms Synchronous Speed at rated frequency f rated
s
ams ams m Angular Speed at frequency f
ams m sl
sa sl ams m
ms ms


2 Rr * Rr / as
2
3 3 Erated Torque at frequency f
T I r
ams s ms Rr
2

X r
2

as
3 Erated
2
Rr Tmax
sm
2ms X r
At a given f and E
aX r

Rr
2 Rr * Rr / as
2
T
3
I r
3 E rated X r
ams s ms Rr 2
as
X r
2

as

2
3E rated
T as consta nt sl (6-51)
ms Rr
 m

ms

ams

T
Braking Motoring
 V/f Control
Rs Xs X r Rr / s

Is Im I r
V Xm E

Rs Xs X r Rr / s

Im Is I r
V Xm E
 V/f Control
At rated frequency

3 2 R 3 V 2
* R /s
T I r r
rated r
(6.52)
ms s ms Rs Rr / s X s X r
2 2

3 Vrated 2
Tmax (6.53)
2ms R R X X
2 2
s s s r

At any frequency, f, a 1

3 2
Vrated * Rr / as
T (6.54)
ms Rs / a Rr / as X s X r
2 2

3 2
Vrated
Tmax (6.55)
2ms R / a R / a X X
2 2
s s s r
V/f Control
m

m s

a m s

T
 Operation above the rated frequency a>1
The terminal voltage has o be constant = Rated Volatge= Vrated

V consta nt Flux when a

At any frequency, f, a 1
3 2
Vrated * Rr / as
T 2
ms Rs Rr / s a X s X r
2 2 (6.56)

3 2
Vrated (6.57)
Tmax
2ms a Rs Rs a X s X r
2 2
 m

C o n sta n t to rq u e
lo c u s

ms f rated

ams C o n sta n t to rq u e
lo c u s

T
Ex6-3 A 3-phase, Y-connected, 60 Hz, 4 pole induction motor has the following parameters:

Rs Rr 0.024 and X s X r 0.12

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.
f 12
a 0.2
f rated 60
3 2
Vrated
From (6.55) Tmax
2ms Rs / a Rs / a X s X r
2 2

Tmax a 0.2 0.024 / 1 0.024 / 1 2 0.24 r 2
0.68 Motoring
Tmax a 1.0 0.024 / 0.2 0.024 / 0.2 2 0.24 2

Tmax a 0.2 0.024 / 1 0.024 / 1 2 0.24 r 2

1.46 Breaking
Tmax a 1.0 0.024 / 0.2 0.024 / 0.2 0.24
2 2
 At starting torque s=1

From (6.54) 3 2
Vrated * Rr / as
T
ms Rs / a Rr / as 2 X s X r 2

0.024 / 0.2
2
Tstart a 0.2 0.048 / 0.2 0.24
2
2.6
Tstart a 1.0 0.024 / 1
2
0.048 / 1 0.24
2

Vrated
From Fig. 6.1(d) Ir
Rs / a Rr / as 2 X s X r 2

I r , start a 0.2 0.024 / 1 0.024 / 1 2 0.24 2

0.72
I r , start a 1 0.024 / 0.2 0.024 / 0.2 2 0.24 2
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

f 30
a 0 .5
f rated 60
3 2
Vrated * Rr / s
At rated frequency,f=60Hz, From (6.52) T
ms Rs Rr / s 2 X s X r 2
3 2
Vrated * 0.024 / 0.04 2
3 *Vrated
Trated 1.34
ms 0.024 0.024 / 0.04 2 0.24
2 ms [1]

3 2
Vrated * Rr / as
At f=30Hz, From (6.54) T
ms Rs / a Rr / as 2 X s X r 2

3 2
Vrated * 0.024 / 0.5 s
Trated
ms 0.024 0.024 2
2 [2]
0.5 0.5s 0.24

 Equating [1] and [2] s 2 0.98s 1 0

s 0.089 and s 0.43

N a ms 1 s 0.5 *1800 * 1 0.089 820 rpm

Ex 6-5
A 480V, 60 Hz 4 pole 1710 rpm, Y-connected induction motor has the following parameters
per phase: Rs 0.3 , Rr 0.15 , X s X r 1.1 X m 40
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 s s m .
(iii) Calculate the frequency, the stator current, and voltage at rated breaking torque and
1400 rpm.
:Solution
120 f 120 * 60
Ns 1800 rpm ms 2 * 1800 188.5 rad / sec
P 4 60
N s N 1800 1710
s 0.05
Ns 1800
 Rr 0.15
Z r jX r j1.1 3 j1.1 3.195320.14o
s 0.05
o Z r * Z m
Z s Rs jX s 0.3 j1.1 1.1474.75 Z in Zs
Z r Z m
3.195320.14 * 4090
Z in 1.1474.75 3.927437.245o
3.195320.14 4090
V ph 480 / 3
Is 70.563 A
Z in 3.9274
Zm 4090
I r * Is * 70.563 68.57 A
Z r Z m 3.195320.14 4090
E I r * Z r 0.971 * 3.1953 218.93V
=Rated torque

3 I r 2 Rr 3 0.15
T . * 68.517 * 224.14 N .m
ms s 188.5 0.05
 20 1
At 20 Hz) i( a
60 3



3 2
E rated * Rr / as 2
3 218.93 * 0.15 * 3 / s 224.14
T N .m
ms R 2 188.5 2 2
r
as


2
X r


0.15


1.1



1s
3
0.152 * 9 2
1.1 s 3.063 or 1.21s 2 3.063s 0.2025 0
s
s 2.4635 It is not acceptable value, s 0.0679 resonable value.
1
m a ms 1 s * 188.5 * 1 0.0679 58.567 rad / sec
3
1
or N a * N s 1 s * 1800 * 1 0.0679 559.26 rpm
3
At 20 Hz
20
E * 218.95 72.977V
60
Rr 0.15 j1.1
Z r jaX r 2.23949.424o
s 0.0679 3
E 72.9770
I r 32.588 9.424o A
Z r 2.23949.424
E 72.9770
Im 5.473 90o A
jaX m j 40 / 3
I s I r I m 33.9167 18.584 A
) ii(
 2x x 3 * 0.05 x
S FL 0.05 0.075 Sn 0.075
3y y 2 y
n 600 * 1 s 555 rpm
E
For constant flux, the cons tan t
f
20
At 20 Hz E * 218.93 72.977V
60
Rr 0.15 j1.1
Z r jaX r 2.03310.39o
s 0.075 3
E 72.9770
I r 35.896 10.39 o A
Z r 2.03310.39
E 72.9770
Im 5.473 90o A
jaX m j 40 / 3
I s I r I m 37 .274 18.694 A
N s 1400 90 1310 rpm
90
s 0.069
1310
120 * f 120 * f
Ns 1310
P 4
f 43.66 Hz
43.66
E aE rated * 218.93 158.6V
60
aE rated 158.6
I r 68.46 159.78

Rr / s jaX r 0.15 /( 0.069) j 0.73 *1.1

I m remais the same 5.473 90o A

I s I r I m 68.46 159.78 5.474 90 70.52 155.55 A

V E Z s I s 158.60 0.3 j 0.73 *1.1 * 70.52 155.55

173.62 20.3V