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Procedia Computer Science 86 (2016) 293 – 296

2016 International Electrical Engineering Congress, iEECON2016, 2-4 March 2016, Chiang Mai,
Thailand

Analytical approach to determine speed-torque curve of induction

motor from manufacturer data
Pichai Aree
Thammasat University, KlongLuang, Pathumthani, 12120, Thailand

Abstract

Induction motors are widely used every production process today. Their torque-speed characteristics are the most important
properties. This paper describes a simple and efficient analytical technique to determine speed-torque performance curve of
induction motor from manufacturer data. The obtained speed-torque curve is verified against that derived from the conventional
equivalent model where the motor’s parameters are already known. A good agreement between the obtained speed-torque curves
is clearly observed. The motor’s performance torque curves derived with an aid of the analytical formula from the manufacturer
catalog are also presented.
© 2016 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license
© 2016 The Authors. Published by Elsevier B.V.
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review underresponsibility
Peer-review under responsibility
of of
thethe Organizing
Organizing Committee
Committee of iEECON2016.
of iEECON2016

Keywords: Induction motor, speed-torque curve, induction machine;

1. Introduction

Squirrel-cage three-phase induction motors are widely used for most industrial and commercial applications since
their constructions are very simple [1]. It is a common practice to plot speed versus torque to investigate the motor’s
characteristics. This plot is related to the locus of all corresponding points of speed and torque, known as the speed-
torque curve [2]. Understanding some details of induction motor performances via the speed-torque curve is very
much important to apply them with the right application, in which the motor torque and driven equipment torque are
relatively matched [3]. The curve is also useful for different kinds of electrical machine analysis.

The speed-torque curves of induction motors are usually determined from a set of their parameters. These
parameters are derived from the no-load and lock-rotor measurements. Often the tested parameters are not available
from the manufacturer. Only a standard set of performance parameters is available. These parameters are known as

1877-0509 © 2016 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the Organizing Committee of iEECON2016
doi:10.1016/j.procs.2016.05.076
294 Pichai Aree / Procedia Computer Science 86 (2016) 293 – 296

rated voltage, current, speed, and torque (breakdown and locked-rotor torque). There are some approaches to
determine motor parameters from the manufacturer technical data in such a way that the motor’s speed-torque
characteristics can be obtained [4, 5]. However, the existing methods are quite complicate due to solving a set of
nonlinear equations. Hence, this paper presents fast and efficient analytical solution to determine the speed-torque
curve of induction motors. The obtained speed-torque curve is verified against the true curve computed from the set
of known parameters.

2. Analytical Solution to Speed-Torque Curve Determination of Induction motors

The section provides an analytical solution to estimate the speed-torque curve characteristics. The induction
motor is normally represented by standard equivalent single-cage model as shown in Fig. 1. In order to compute the
induced torque of motors, it is rather convenient to simplify the circuit in which the stator voltage and impedance
can be replaced by Thevenin voltage and impedance as shown in the equivalent circuit (Fig. 1). The Thevenin
voltage and impedance are expressed by,
 Rs jXls jXlr Rth jXth jXlr

Is Ir
Vs jXm Rr Vth Ir Rr
s s

Fig. 1. Common equivalent circuit model of induction motor

Vth X mVs  Rs 2   X ls  X m 2 (1)

Rth 2 ( R 2  ( X  X )2 )
Rs X m (2)
s m ls

X th  Rs2 X m  X m X ls ( X m  X ls )  ( Rs2  ( X m  X ls ) 2 ) (3)

According to the Thevenin equivalent circuit, the magnitude of rotor current can be written by,
Ir Vth  Rth  Rr / s 2   X th  X lr 2 (4)
The developed power of motor is given by [1],
Pd 3I r2 Rr (1  s ) / s (5)
where s is referred as slip. Since the torque is given by the ratio of developed power to rotor’s speed Z rm in rad/sec
or (1  s )Z sm , the induced torque can be written by making use of Eq. (4) and (5) by,
3RrVth2
Te
Zsm den 
s s 2  (2 Rth Rr / den) s  Rr2 / den  (6)

2
where den Rth2   X th  X lr 
From Eq. 6, it can be re-written in compact form as,
Te b0 s ( s 2  a1s  a0 ) (7)
In order to fit to standard set of performance parameters available from the manufacturer data using Eq. (7), at least
two speed-torque points are needed. The first operating point is the lock-rotor torque at which the slip becomes
unity. Hence,
Tst b0 (1  a1  a0 ) (8)
 Pichai Aree / Procedia Computer Science 86 (2016) 293 – 296 295

It can be easily seen from Eq. (7) that the coefficient b0 is given by
b0 Tst 1  a1  a0  (9)
Next, the second operating point relates to the break-down or maximum torque that must be employed to find the
remaining coefficients. At the maximum torque condition, the derivative of torque in Eq. (7) with respect to slip is
given by,
dTbr ds b0 (a0  sb2 ) ( sb2  a1sb  a0 ) 2 (10)
Referred to Eq. (10), it can be seen that the coefficient a0 is related to the break-down slip sb by,
a0 sb2 (11)
Hence, the break-down torque is rewritten by making use of Eq. (11) as,
Tbr b0 (2sb  a1 ) (12)
Next substituting Eq. (11) into Eq. (8), then equating Eq. (8) and Eq. (12), the remaining coefficient a1 is solved by,
a1 Tst (1  sb2 )  2Tbr sb  (Tbr  Tst ) (13)
The coefficients a0  a2 are finally found. They can be employed to compute the speed-torque curve of motor from
the manufacturer technical data.

3. Results and Discussions

This section provides numerical example of how the full speed-torque curve can be produced from lock-rotor
and break-down torques. Firstly, a parameter set of 460V three-phase induction motor with Rs=0.641ohm,
Rr=0.332ohm, Xls= Xlr=1.106ohm, Xm= 26.3ohm is employed to generate the starting torque (106.56Nm) and break-
down torque (230.8Nm) using the equivalent circuit [1]. Then, the obtained analytical formulas are applied for
computing the coefficients in Eq. (7). The obtained coefficients are as follows, a0 =0.0406, a1 =0.1442,
b0 =126.249. Finally, the plot of speed versus torque using Eq. (7) is shown in Fig. 2.

Fig. 2. Motor Speed-torque curve

It can be clearly seen that the speed-torque curves obtained from the full equivalent circuit model and analytical
formulas are perfectly matched, confirming a good accuracy. Moreover, the analytical formula is applied to
determine the speed-torque curve of three different designed motors whose data are taken from Siemens product
catalogs [6]. The motor specifications are listed as indicated in Table 1. After applying the proposed solution, the
performance curves of three induction motors are plotted as illustrated in Fig. 3.
296 Pichai Aree / Procedia Computer Science 86 (2016) 293 – 296

Table 1. Siemens induction motor data

Model kW Volt Rated speed Trated(Nm) Tst/Trated Tbr/Trated smax

M1: Cast-iron series [6] pp. 2/13 2.2 400 1455 14 2.1 3.3 0.1993
M2: Aluminum series[6] pp. 2/18 2.2 400 1465 14.3 2.1 3.6 0.1647
M3: Aluminum series[6] pp. 2/36 2.5 400 1400 17 1.9 2.8 0.3610

Fig. 3. Speed-torque curves of three induction motors

It is apparent from Fig. 3 that the whole shapes of motor speed-torque curves are mostly influenced by the
manufacture designed ratio of lock-rotor and break-down torque to the rated torque. It should be noted that break-
down slips given in Table 1 are not provided from the manufacture but rather estimated from the given rated speeds
using the approximated technique in [1]. It is also seen that the break-down torque of motor M3 is slightly shifted
into the higher region of operating slip since the value of its rated speed is lowest among three motors under
investigation. According to the presented results, the proposed analytical solution potentially gives sufficient
information of the motor’s speed-torque curve.

4. Conclusions

This paper presents analytical formula for full speed-torque curve determination of induction motor based on
available manufacturer data. The motor speed-torque characteristic is verified against that obtained from the
equivalent circuit model in which its parameters are already known. The proposed analytical method produces
accurate motor’s speed-torque curve in the satisfactory manner. Hence, this approach provides fast and efficient way
to explore the whole speed-torque curves of induction motors.

References

[1] Sen P C, Principles of electrical machines and power electronics. 2nd ed., Canada: Wiley; 2013.
[2] Cochran P, Polyphase Induction Motors: Analysis, Design, and Application. New York: Marcel Dekker; 1989.
[3] Rockwell Automation, Application Basic of Operation of Three-phase Induction Motors: Design Duty Types Selection Dimensioning.
Schenectady, New York: Power Technologies Inc; 2004.
[4] Pedra J. On the determination of induction motor parameters from manufacturer data for electromagnetic transient program. IEEE Trans.
Power Systems 2008; 23: 1709-1718.
[5] Haque M H. Determination of NEMA design induction motor parameters from manufacturer data. IEEE Trans. Energy Conversion 2008; 23:
997-1004.
[6] http://w3.siemens.no/home/no/no/sector/industry/automation/drives/Documents/D81-1_2013_English.pdf