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 (which is not possible
with fixed TNB supply)

Dr. Zainal salam; Power 1

Electronics and Drives
(Version 2),2002, UTMJB
 Variable-speed IM drives
Motivation for variable-speed AC drives:
Inverter configuration improved
Fast switching, high power switches
Sophisticated control strategy
Microprocessor/DSP implementation

Applications
Conveyer line (belt) drives
Roller table
paper mills
Traction, electric vehicles
Elevators, pulleys
Air-conditioning
Any industrial process that requires variable-
speed operation
The state-of-the-art in IM drives is such
that most of the DC drives will be replaced
with IM in very near future.
Dr. Zainal salam; Power 2
Electronics and Drives
(Version 2),2002, UTMJB
 Torque production (1)
Only squirrel-cage IM (SCIM) is
considered in this module

Neglecting all harmonics, the stator

establishes a spatially distributed magnetic
flux density in the air-gap that rotate at a
synchronous speed, 1 :

1 = e
p
where
e : supply frequency (in Hz)
p: pole pairs (p=1for 2 pole motor, p=2
for 4 pole motor etc)

If the rotor is initially stationary, its

conductor is subjected to a sweeping
magnetic field, inducing rotor current at
synchronous speed

Dr. Zainal salam; Power 3

Electronics and Drives
(Version 2),2002, UTMJB
 Torque production (2)

If the rotor is rotating at synchronous

speed (i.e. equals to f1), then the rotor
experience no induction. No current is
induced in the rotor.
At any other rotor speed, say wm, the
speed differential i-2 creates slip. Per-
unit slip is defined as:

1 m e
s= ; 1 =
1 p
where :
e : supply frequency
m : rotor frequency
p : pole pair

Dr. Zainal salam; Power 4

Electronics and Drives
(Version 2),2002, UTMJB
 Torque production (3)

Slip frequency is defined as: 2=1-m.

When rotor is rotating at m., rotor current

at slip frequency will be induced.

The interaction between rotor current and

air-gap flux produces torque.

Dr. Zainal salam; Power 5

Electronics and Drives
(Version 2),2002, UTMJB
 Single-phase equivalent
circuit (SPEC) 1:nS
R1 L1
L2

V1 Rm Lm Vm
V2 = nSVm R2

STATOR SIDE
ROTOR SIDE

R1 : Stator resistance
L1 : Stator leakage inductance
R2 : Rotor resistance
L2 : Rotor leakage inductance
Lm : Magnetising inductance
v1 : Supply voltage

Dr. Zainal salam; Power 6

Electronics and Drives
(Version 2),2002, UTMJB
 SPEC, referred to stator
I1 R1 L1 I2 L2

V1 Rm Lm R2
S

From previous diagram, SPEC is a dual

frequency circuit. On the stator is 1 and
on the rotor m

Difficult to do calculations.

We can make the circuit a single frequency

type, by referring the quantities to the
stator

Dr. Zainal salam; Power 7

Electronics and Drives
(Version 2),2002, UTMJB
 Rotor current
If E1 is the back EMF in the stator phase, then
the back EMF in an equivalent rotor phase with
the same effective turns ratio will be E 2 where :

E2 = sE1

At standstill, i.e when m = 0,

E2 = sE1 = 1E1 = E1

At synchronous speed, i.e when m = 1,

E2 = (0) E1 = 0

Hence the current in the rotor phase,

E2 sE1
I2 = =
R2 + jsX 2 R2 + jsX 2
E1
=
R2
+ jX 2
s
Note that the quantities are now referred to
the stator, but with the rotor resistance alteration.

Dr. Zainal salam; Power 8

Electronics and Drives
(Version 2),2002, UTMJB
 IM Performance calculation
using SPEC (1)
I1 R1 L1 I2 L2

V1 Rm Lm R2
S

Input Power : Pin = 3V1I1 cos

Note : V1 and I1 must be phase voltage and current

Stator copper loss : Pls = 3I12 R1

3V12
Core loss : Plc =
Rm
3I 2 2 R2
Power across the air - gap : Pg =
s
= Pin Pls Plc
Rotor copper loss : Plr = 3I 2 2 R2

Dr. Zainal salam; Power 9

Electronics and Drives
(Version 2),2002, UTMJB
Performance calculation (2)
Gross output power :
Po = Pg Plr
3I 2 2 R2 3 I 2
R (1 s )
= 3I 2 2 = 2 2 = Pg (1 s )
s s
Power at the shaft :
Psh = Po PFW ; PFW : friction and windage loss.

Developed (electromagnetic) torque :

Po 3I 2 2 R2 (1 s )
Te = =
m s m

Since
1 m
s= m = (1 s )1 ,
1
3I 2 2 R2
Te =
s1

But 1 = e ; e is the supply frequency.
p
Then,
3 pI 2 2 R2
Te =
s e
Dr. Zainal salam; Power 10
Electronics and Drives
(Version 2),2002, UTMJB
 Example calculation
A single phase equivalent circuit of a 6-pole SCIM
that operates from a 220V line voltage at 60Hz is
given below. Calculate the stator current, output
power, torque and efficiency at a slip of 2.5%. The
fixed winding and friction losses is 350W. Neglect
the core loss.

I1 R1 X1 I2 X2

0.2 0.5 0.2

V1 Xm R2
20 0.1

V1 = 220V line-to line 3

220V
= = 127V
3
= 2.5% = 0.025

Dr. Zainal salam; Power 11

Electronics and Drives
(Version 2),2002, UTMJB
 Calculation (solution)
X 1 = 0.5, X 2 = 0.2, X m = 20
R
Z in = ( R1 + jX 1 ) + jX m // 2 + jX 2
s
0.1
+ j 0 .2
= 0.2 + j 0.5 + j 20 0 . 025 = 4.220 o
0.1 + j 0.2 + j 20
0.025
V 220 3 o
I1 = 1 = o
= 30 .0 20 A
Z in 4.220
Pin = 3V1I1 cos = 3( 220 3)(30)(cos 20 o )
= 10,758W
Pls = 3I12 R1 = 3(30 2 )(0.2) = 540W
Power transferred to rotor (neglecting core loss)
Pg = Pin Pls
= 10,758 540 = 10,216W
Gross power
Po = Pg (1 s ) = 10,216(1 0.025) = 9,961W
Power at the shaft
Psh = Po PFW = 9,961 350 = 9,611W
Output power 9611
Efficiency = = = 89.3%
Input power 10758
Electromagnetic Torque
P Po 9611
Te = o = =
m ( e1 p ) (1 s ) 2 (60 / 3)(1 0.025)
= 78.4 N .m Dr. Zainal salam; Power 12
Electronics and Drives
(Version 2),2002, UTMJB
 Starting current
For the previous example, Calculate the stating
current when motor is first switched on to rated
applied voltage.

Solution :
At standstill, s = 1
0.1 + j 0.2
Z in = = 0.2 + j 0.5 + j 20
0 .1 + j 0. 2 + j 20
= 0.76
V 220 3
I1 = 1 = = 167 A
Z in 0.76

Note that the starting current is about 5 times than

full load current.
This is common for induction motors.Care should be
taken when starting induction motors.

Dr. Zainal salam; Power 13

Electronics and Drives
(Version 2),2002, UTMJB
 Approximate SPEC

+
R1 L1 L2

LM R2
V1
s

Since Lm is large, the circuit above can be drawn

V1
I2 =
2
R2
+ 1 ( L1 + L2 )
2 2
R1 +
s
Power at the rotor (per phase),
R
Po = I 2 2 2
s
Electromagnetic (developed) torque,
3Po 3R2V12
Te = =
1 R2
2
+ 1 ( L1 + L2 )
2 2
s1 R1 +
s

Dr. Zainal salam; Power 14

Electronics and Drives
(Version 2),2002, UTMJB
 Single (fixed supply)
frequency characteristics (1)
For a give frequency 1 , the torque (versus slip)
characteristics can be shown as below.
Note that :
1 m
s= ; at standsill s = 1, at sync speed, s = 0.
1

TORQUE(+)
e e
e MOTORING
m m m
Tem
PLUGGING (max torque or GENERATING
pull-out torque)

Tes (starting torque) zero slip

e (sync.speed)
0 unity slip SPEED
(standstill) rated slip

SLIP,s
TORQUE(-)

Dr. Zainal salam; Power 15

Electronics and Drives
(Version 2),2002, UTMJB
 Single frequency
characteristics (2)

CURRENT TORQUE

operating point
EFFICIENCY (rated torque)

POWER
FACTOR rated current

rated slip
SLIP
0
1.0
Standstill synchronous speed

Dr. Zainal salam; Power 16

Electronics and Drives
(Version 2),2002, UTMJB
 Single (fixed) frequency
characteristic
As slip is increased from zero
(synchronous), the torque rapidly reaches
the maximum. Then it decreases to
standstill when the slip is unity.

At synchronous speed, torque is almost

zero.

At standstill, torque is not too high, but the

current is very high. Thus the VA
requirement of the IM is several times than
the full load. Not economic to operate at
this condition.

Only at low slip, the motor current is low

and efficiency and power factor are high.

Dr. Zainal salam; Power 17

Electronics and Drives
(Version 2),2002, UTMJB
 Typical IM Drive System

IDC
+
VDC

IM

Modulation Index,

IM

Dr. Zainal salam; Power 18

Electronics and Drives
(Version 2),2002, UTMJB
 Variable speed characteristics
For variable speed operation, the supply is
an inverter.

The frequency of the fundamental AC

voltage will determine the speed of IM. To
vary the speed of IM, the inverter
fundamental frequency need to be
changed.

The inverter output frequency must be kept

close to the required motor speed. This is
necessary as the IM operates under low
slip conditions.

To maintain constant torque, the slip

frequency has to be maintained over the
range of supply frequencies.

Dr. Zainal salam; Power 19

Electronics and Drives
(Version 2),2002, UTMJB
 Variable voltage, variable
frequency (VVVF) operation
In order for maximum torque production,
motor flux should be maintained at its
rated value.
= m sin 1t
But the back emf is :
d
e1 = N = N1 m cos 1t
dt
In RMS,
1
E1 = N11 m = 4.44 f1 N1 m
2
E1
or = 4.44 N1 m
f1
Therefore, in order to maintain the motor flux,
the ( E1 f1 ) ratio has to be kept constant.
This is popularly known as the constant Volt/Hertz
operation

Dr. Zainal salam; Power 20

Electronics and Drives
(Version 2),2002, UTMJB
 Constant Torque region
Hence for VVVF operation, there is a need
to control the fundamental voltage of the
inverter if its frequency (and therefore the
frequency of the IM) need to be varied.

To vary the fundamental component of the

inverter, the MODULATION INDEX can
be changed.

The rated supply frequency is normally

used as the base speed

At frequencies below the base speed, the

supply magnitude need to be reduced so as
to maintain a constant Volt/Hertz.

The motor is operated at rated slip at all

supply frequencies. Hence a constant
torque region is obtained.

Dr. Zainal salam; Power 21

Electronics and Drives
(Version 2),2002, UTMJB
 Variable speed operation

TORQUE(+) f1 f f1 > f 2 > f 3 > f 4 > f 5

2
f3
f4
f5
rated torque

0
SPEED
rated slip
SLIP,s

TORQUE(+) rated torque

0 SLIP,s SPEED

Dr. Zainal salam; Power 22

Electronics and Drives
(Version 2),2002, UTMJB
 Constant Power region

Above base speed, the stator voltage

reaches the rated value and the motor
enters a constant power region.

In this region, the air-gap flux decreases.

This is due to increase in frequency
frequency while maintaining fixed
voltage.

However, the stator current is maintained

constant by increasing the slip. This is
equivalent to field weakening mode of a
separately excited DC motor.

Dr. Zainal salam; Power 23

Electronics and Drives
(Version 2),2002, UTMJB
 Constant Power region

TORQUE(+)

rated torque

SLIP,s SPEED
Base speed
TORQUE(+)

"FIELD WEAKENING"
CONSTANT TORQUE
REGION

0 SLIP,s Base speed SPEED

Dr. Zainal salam; Power 24

Electronics and Drives
(Version 2),2002, UTMJB
 VVVF Summary

CONSTANT TORQUE CONSTANT POWER

Electromagnetic torque,eT
Terminal (supply)
voltage, V1

slip frequency,fs

slip,s
0 Base speed SPEED

Dr. Zainal salam; Power 25

Electronics and Drives
(Version 2),2002, UTMJB
 Examples
A three-phase 4-pole, 10 horsepower, 460V
rms/60Hz (line-to line) runs at full-load
speed of 1746 rpm. The motor is fed from
an inverter. The flux is made to be constsnt.
Plot the torque-speed graphs for the
following frequency: 60Hz, 45 Hz, 30Hz,
15Hz.

A three-phase induction motor is using a

three-phase VSI for VVVF operation. The
IM has the following rated parameters:
voltage: 415V (RMS)
frequency: 50Hz
slip (p.u) 5%
pole pair 2
If the inverter gives 415V (RMS) with
modulation index of 0.8, calculate the required
modulation index if the motor need to be
operated at rotor mechanical speed of 10Hz.

Dr. Zainal salam; Power 26

Electronics and Drives
(Version 2),2002, UTMJB