Starting Techniques of Induction Machines

➢ Starting large induction motors directly on line will correspond to large

starting current surges which cause:
• severe voltage drops which affect the operation of other equipment and
increases the motor starting time.
• Motor winding excessive heating.
• Protection problems.
• severe torque transients.
➢ Starting time is a function of motor torque, moment of inertia and load
torque.
➢ Too long start-up can cause non-permissible temperature rise in the motor.
➢ Starters are classified into electromechanical and solid-state starters.
Electric Drives Dr. Ayman Abdel-Khalik 1
Starting Techniques of Induction Machines

• Starting current ranges from 5-8 times rated current.

• To limit the starting current surge, large induction
motors are started at reduced voltage. The full supply
voltage is then applied near rated speed.
• Normally, motors beyond 5 HP are provided with
starters.
• Bus voltage drop below 10% is generally not acceptable.

Electric Drives Dr. Ayman Abdel-Khalik 2

Starting time
The equation of rotor motion is given by;
𝑑𝜔𝑚
𝐽 = 𝑇𝑑 − 𝑇L
𝑑𝑡
The starting time is then given by
𝜔𝑓𝑙
𝐽
𝑡𝑠𝑡 = න 𝑑𝜔𝑚
0 𝑇𝑑 − 𝑇L

𝑇𝑎𝑐𝑐 = 𝑇𝑑 − 𝑇L is the accelerating torque

Electric Drives Dr. Ayman Abdel-Khalik 3

Energy loss during Starting
One can write,
𝑑𝜔𝑚 𝑑𝑠
𝜔𝑚 = 𝜔𝑠 1 − 𝑠 , = −𝜔𝑠
𝑑𝑡 𝑑𝑡
The rotor copper loss is given by

𝑃𝑟.𝑐.𝑙 = 𝑠𝑃𝑔 = 𝑠𝑇𝑑 𝜔𝑠

The stator copper loss can therefore be given by

𝑅𝑠
𝑃𝑠.𝑐.𝑙 = 𝑃𝑟.𝑐.𝑙
𝑅𝑟
Electric Drives Dr. Ayman Abdel-Khalik 4
Energy loss during Starting
The rotor energy copper loss is given by
𝑡 𝑡
𝑊𝑟.𝑐.𝑙 = න 𝑃𝑟.𝑐.𝑙 ∙ 𝑑𝑡 = න 𝑠𝑇𝑑 𝜔𝑠 ∙ 𝑑𝑡
0 0
𝑡 0
𝑑𝜔𝑚 1
𝑊𝑟.𝑐.𝑙 = න 𝑠𝐽 𝜔𝑠 ∙ 𝑑𝑡 = න −𝐽𝜔𝑠 𝑠𝑑𝑠 = 𝐽𝜔𝑠 2
2
0 𝑑𝑡 1 2
The total energy copper loss during starting is given by
𝟏 𝟐
𝑹𝒔
𝑊𝑐𝑜 = 𝑊𝑟.𝑐.𝑙 + 𝑊𝑠.𝑐.𝑙 = 𝑱𝝎𝒔 𝟏 +
𝟐 𝑹𝒓

Electric Drives Dr. Ayman Abdel-Khalik 5

Energy loss during Starting

1 2
𝑅𝑠
𝑊𝑐𝑜 = 𝑊𝑟.𝑐.𝑙 + 𝑊𝑠.𝑐.𝑙 = 𝐽𝜔𝑠 1 +
2 𝑅𝑟
Note:
• 𝑊𝑟.𝑐.𝑙 = Kinetic energy at no-load speed (Synchronous
speed)
• As 𝑅𝑟 increases, 𝑊𝑐𝑜 decreases.
• As 𝐽 increases, 𝑊𝑐𝑜 increases.

EM Electric Drives Dr. Ayman Abdel-Khalik 6

1) Direct on Line (DOL) Starter

• This method is normally limited to small cage

induction motors (less than 5Hp), because starting
current can be as high as eight times the full load
current of the motor (depending on cage design).
• DOL has advantages of simple equipment, low
cost, high starting torque and eventually fast start.
• Protection must be provided for the motor such as
over-current protection, under-voltage protection,
and short circuit protection.

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1) Direct on Line (DOL) Starter (Cont.)

𝑽𝒔
𝑰𝒔𝒕(𝑫𝑶𝑳) =
𝒁𝒃𝒍

𝑍𝑏𝑙 : Blocked rotor impedance

Starting current for 4kW IM
Electric Drives Dr. Ayman Abdel-Khalik 8
1) Direct on Line (DOL) Starter (Cont.)

Starting torque profile Starting speed profile

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2) Auto Transformer

• Operated by a two-position switch

(manually / automatically using a timer)
to change over from start to run position.
• In starting position, supply is connected
to stator windings through an auto-
transformer which reduces applied
voltage to 50, 60, and 70% of normal
value.
• Auto transformer starters are larger in
size and expensive.

Electric Drives Dr. Ayman Abdel-Khalik 10

2) Auto Transformer (Cont.)
• The reduced voltage decreases the motor phase current.
• For a 50% tapping, the motor current is halved, and supply current will
be half of the motor current. Thus, starting current taken from supply
will only be 25% the line current under DOL starting.
• The torque is significantly reduced since torque is proportional to the
voltage squared.
• To avoid large switching current transients when the transformer is
bypassed, and to connect the motor to the power grid directly, first
switch 2 is opened and 3 is closed with 1 still closed. Finally, 1 is
opened.

Electric Drives Dr. Ayman Abdel-Khalik 11

2) Auto Transformer (Cont.)
If the voltage is reduced by a factor
𝑥, then
𝑉𝑝ℎ = 𝑥𝑉𝑠 , 𝑻𝒔𝒕 𝑨𝒖𝒕𝒐 = 𝒙𝟐 𝑻𝒔𝒕 𝑫𝑶𝑳
𝑥𝑉𝑠
𝐼𝑠𝑡(𝑝ℎ) = , 𝑰𝒔𝒕(𝑳𝒊𝒏𝒆_𝒂𝒖𝒕𝒐) = 𝒙𝑰𝒔𝒕(𝒑𝒉)
𝑍𝑏𝑙
𝑰𝒔𝒕(𝑳𝒊𝒏𝒆_𝒂𝒖𝒕𝒐)
= 𝒙𝟐
𝑰𝒔𝒕(𝑫𝑶𝑳)

• Suitable for applications requiring

low starting torque such as fan or
pumping loads.
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3) Star/Delta Starting

• In induction motors that are designed to normally operate

with delta connection, it is possible, during starting, to
reduce the phase voltage by switching to wye connection.
• To start the motor, the switch is thrown to the Y position.
After the motor gains sufficient speed (75 % to 80 % full
speed), the switch is thrown to ∆ position (normal position).

Electric Drives Dr. Ayman Abdel-Khalik 13

3) Star/Delta Starting(Cont.)

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3) Star/Delta Starting (Cont.)
𝑽𝑳
• Under Y-connection, the phase voltage 𝑉𝑠𝑌 becomes: 𝑽𝒔𝒀 =
𝟑
The phase current, for same slip, 𝐼𝑠𝑌 , is reduced by a factor of 3, then
𝑰𝒔∆
𝑰𝑳𝒀 = 𝑰𝒔𝒀 =
𝟑
Now, the line current in ∆-connection 𝐼𝐿∆ is
𝑰𝑳∆ = 𝟑𝑰𝒔∆ = 𝟑𝑰𝑳𝒀
Hence, the line current is three times less under wye connection.
𝑻𝒔∆
• The torque is proportional to phase voltage squared, then 𝑻𝒔𝒕𝒀 =
𝟑
• Only low load torque (at low speeds) and slightly frequent start
applications are adequate for this technique.

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Dr. Ayman Abdel-Khalik
4) Resistance Stator Starting
• Resistors are inserted in series
with the windings.
• When the speed stabilizes, the
resistors are eliminated, and
the motor is connected directly
to the mains.
• This process is usually
controlled by a timer.
• Resistance is designed based
on max starting current and
minimum starting torque.
Commonly,
𝑰𝒔𝒕 = 𝟒. 𝟓𝑰𝒓𝒂𝒕𝒆𝒅
𝑻𝒔𝒕 = 𝟎. 𝟕𝟓𝑻𝒓𝒂𝒕𝒆𝒅
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Dr. Ayman Abdel-Khalik
5) Soft Starters
• The AC voltage reduction is implemented through AC voltage controllers.
• They are used in applications such as fans, pumps, or conveyors were
speed control is not required.
• There are two basic soft starter configurations:

• Y- Connection can be used with

either star or delta connected
motors (standard connection).
• Δ-Connection reduces the
thyristor current rating by 𝟑.
However, the 6-terminals of the
motor phases should be
provided.
Y-connection Δ-connection
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Dr. Ayman Abdel-Khalik
5) Soft Starters (Cont.)
• The stator current is continuous (no voltage control) if the firing angle α < ϕ (power factor
angle) and discontinuous if α > ϕ.
• As the motor power factor angle varies with speed, the firing angle should be
continuously varied such that α > ϕ. ( to ensure a discontinuous mode of operation)
• The soft starters produce notable voltage and current low-order harmonics that pollute
the power grid and produce additional motor losses.

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Dr. Ayman Abdel-Khalik
5) Soft Starters (Cont.)

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Soft Start Adjustments
1) Ramp Start: 2) Current limit start: 3) Kick start :
The initial torque is set to To start at a controlled To break away a high
break away the motor torque level friction load

Ramp stop:
By gradually decreasing the motor voltage

Electric Drives Dr. Ayman Abdel-Khalik 20

6) Start-Up Control of Wound Rotor IMs
➢ A wound-rotor induction motor is commonly used for heavy load frequent starts
and/or limited speed control motoring or generating applications at large power
levels (above a few hundred kW).
➢ One of the important examples is the variable speed pumped storage systems ,
the latest in large-scale storage technology. These systems enable grid operators
to:
•integrate extensive wind and solar capacity,
•match supply to demand minute by minute and,
•further enhance energy production efficiency throughout their fuel
portfolio.
➢ Doubly fed induction machines with static frequency converters feeding the rotor
is the preferred architecture for the motor/generator in variable speed pumped
storage plants (PSPs) and marine vessels (tugboats) with unit outputs above 50
up to 400 MW!

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Dr. Ayman Abdel-Khalik
Variable Speed PSPs
• Pumped storage is the largest and most cost-effective means of storing
energy for electricity grids.

• Up to 80% of the
energy consumed
during the storage
cycle is recovered and
can be sold when
demand peaks.

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Dr. Ayman Abdel-Khalik
Variable Speed PSPs

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Dr. Ayman Abdel-Khalik
6) Start-Up Control of Wound Rotor IMs
➢ The main purpose of employing slip-ring motors is to limit the starting current or to
control a load speed in limited speed range.
➢ External rotor resistance method of starting is most commonly adopted, for reasons
of cost.
➢ Static drives generate harmonics and distort the supply voltage, and call for larger
sizes of cables.

Advantages:
• Adding an additional external rotor resistance does not affect the maximum torque,
Tmax.
𝑹𝒓 +𝑹𝒆𝒙
• High starting torque (Rex can be adjusted such that Sm = 1) 𝒔𝒎 = .
𝑹𝟐𝒔 +𝑿𝟐𝒆𝒒

• The starting energy loss will be reduced as Rex increases

𝑅2
𝑊𝑐𝑜 = 0.5𝐽𝜔𝑠2 1+
𝑅𝑟 +𝑅ex

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Dr. Ayman Abdel-Khalik
6) Start-Up Control of Wound Rotor IMs
• At start, supply power is connected to stator through a three-pole contactor
and, at a same time, an external rotor resistance is added.
• The high resistance limits staring current and allows the motor to start safely
against high load.
• As the motor starts, the external rotor resistance is gradually cut out of
circuit in steps.
• Resistors are normally of the wire-wound type, connected through brushes
and slip rings to each rotor phase. They are tapped with points brought out to
fixed contactors.
• For high power motors (250kW to 10.000kW), liquid resistance starter (such
as AKEP) are employed.

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Dr. Ayman Abdel-Khalik
External Rotor Resistance Connection
• Normally the external resistances are connected in star.
• For large motors, calling for high resistance grids, they may also be
connected in delta, to reduce their current rating and hence the cost.

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Dr. Ayman Abdel-Khalik
Cutting off The External Resistance

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Dr. Ayman Abdel-Khalik
Cutting off The External Resistance

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Dr. Ayman Abdel-Khalik
Variable rotor resistance based on solid state converter
There are few ways to implement the variable rotor resistance
based on solid state converter using:

Half-controlled rectifier Diode-rectifier-static switch

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Dr. Ayman Abdel-Khalik
Starting time: 1) DOL starting
To simplify the estimation of the machine starting time, a fan load is assumed,

where the accelerating torque may be approximated by the motor torque:

𝑑𝜔𝑚
𝐽 ≈ 𝑇𝑑
𝑑𝑡
𝑑𝜔𝑚 𝑑𝑠
Since = −𝜔𝑠 , then
𝑑𝑡 𝑑𝑡
𝑑𝑠 2𝑠𝑠𝑚
−𝐽𝜔𝑠 = 𝑇𝑑 = 𝑇𝑚𝑎𝑥 2 2
𝑑𝑡 𝑠 + 𝑠𝑚
Assuming the machine is started from zero (𝑠 = 1) to a full load slip of 𝑠𝑓𝑙 , then

𝑡𝑠𝑡 𝑠𝑓𝑙
𝐽𝜔𝑠 𝑠 2 + 𝑠𝑚
2
න 𝑑𝑡 = − න ∙ 𝑑𝑠
0 1 2𝑠𝑚 𝑇𝑚𝑎𝑥 𝑠

2
𝐽𝜔𝑠 1 − 𝑠𝑓𝑙 2
1
𝑡𝑠𝑡 = + 𝑠𝑚 ln
2𝑠𝑚 𝑇𝑚𝑎𝑥 2 𝑠𝑓𝑙

Electric Drives Dr. Ayman Abdel-Khalik 30

Starting time: 1) DOL starting
This can be rewritten as
2
0.5𝐽𝜔𝑠 2 1 − 𝑠𝑓𝑙 2
1
𝑡𝑠𝑡 = 𝑚𝑎𝑥 + 𝑠𝑚 ln
𝑃𝑟𝑐𝑙 2 𝑠𝑓𝑙
𝑚𝑎𝑥
Where, 𝑃𝑟𝑐𝑙 is the rotor copper loss at maximum torque and 0.5𝐽𝜔𝑠 2 is the no-load kinetic
energy.
For slip ring rotors, the starting time can be controlled by controlling the rotor resistance.
The minimum starting time can then be obtained using
𝜕𝑡𝑠𝑡
=0
𝜕𝑠𝑚
Which yields,

𝒐𝒑𝒕 𝟏−𝒔𝟐𝒇𝒍 𝒐𝒑𝒕 𝑱𝝎𝒔 𝟏−𝒔𝟐𝒇𝒍 𝒐𝒑𝒕 𝟐 𝟏

𝒔𝒎 = and 𝒕𝒔𝒕 = 𝒐𝒑𝒕 + 𝒔𝒎 𝒍𝒏
𝟐𝒍𝒏
𝟏 𝟐𝒔𝒎 𝑻𝒎𝒂𝒙 𝟐 𝒔𝒇𝒍
𝒔𝒇𝒍

Electric Drives Dr. Ayman Abdel-Khalik 31

Starting time: 2) Constant Accelerating torque
For inverter fed motors, the machine can be started under a constant accelerating
torque, 𝑇𝑎𝑐𝑐 , hence;
𝑑𝜔𝑚
𝐽 = 𝑇𝑎𝑐𝑐
𝑑𝑡
Then,
𝑡𝑠𝑡
𝐽𝜔𝑠 𝑠𝑓𝑙 𝑱𝝎𝒔
න 𝑑𝑡 = − න 𝑑𝑠 𝒕𝒔𝒕 = 𝟏 − 𝒔𝒇𝒍
0 𝑇𝑎𝑐𝑐 1 𝑻𝒂𝒄𝒄
If stator impedance is neglected, then
2
3𝑉𝑠2 3 𝑉𝑠
𝑇𝑑 ≈ ′ 𝑠 or 𝑇𝑑 ≈ 𝜔𝑠𝑙𝑖𝑝 , where 𝜔𝑠𝑙𝑖𝑝 = 𝑠𝜔𝑠
𝜔𝑠 𝑅𝑟 𝑅𝑟′ 𝜔𝑠
Under constant V/f control, 𝑉𝑠 = 𝐾0 𝜔𝑠 . The starting current is then given by

𝑉𝑠 𝐾𝜔𝑠𝑙𝑖𝑝
𝐼𝑠 = =
𝑅𝑟 𝑅𝑟 + 𝑗𝜔𝑠𝑙𝑖𝑝 𝐿𝑒𝑞
+ 𝑗𝜔𝑠 𝐿𝑒𝑞
𝑠
If 𝑇𝑑 is constant, 𝜔𝑠𝑙𝑖𝑝 will also be constant 𝐼𝑠 will also be constant.

Electric Drives Dr. Ayman Abdel-Khalik 32