EEE 360

Energy Conversion and

Transport
George G. Karady & Keith Holbert

Chapter 7
Induction Motors

12/08/21 360 Chapter 7 Induction Motor 1

 Lecture 18

12/08/21 360 Chapter 7 Induction Motor 2

 7.2 Construction

12/08/21 360 Chapter 7 Induction Motor 3

12/08/21 360 Chapter 7 Induction Motor 4
 Induction Motors
• The single-phase
induction motor is
the most frequently
used motor in the
world

• Most appliances,
such as washing
machines and
refrigerators, use a
single-phase
induction machine

• Highly reliable and

economical
Figure 7.1 Single-phase induction motor.
12/08/21 360 Chapter 7 Induction Motor 5
 Induction Motors
• For industrial
applications, the
three-phase
induction motor
Housing
is used to drive
machines
• Figure 7.2 Large Motor

three-phase
induction motor.
(Courtesy
Siemens).

12/08/21 360 Chapter 7 Induction Motor 6

 Induction Motors

Figure 7.3
Induction motor
components.

12/08/21 360 Chapter 7 Induction Motor 7

 Induction Motors
• The motor housing consists of three parts:
– The cylindrical middle piece that holds the stator iron
core,
– The two bell-shaped end covers holding the ball bearings.
– This motor housing is made of cast aluminum or cast iron.
Long screws hold the three parts together.
– The legs at the middle section permit the attachment of
the motor to a base.
– A cooling fan is attached to the shaft at the left-hand side.
This fan blows air over the ribbed stator frame.

12/08/21 360 Chapter 7 Induction Motor 8

 Induction Motors
Figure 7.4 Stator
of a large
induction
motor.
(Courtesy
Siemens).

12/08/21 360 Chapter 7 Induction Motor 9

 Induction Motors
• The iron core has cylindrical shape
and is laminated with slots
• The iron core on the figure has
paper liner insulation placed in
some of the slots.

• In a three-phase motor, the three

phase windings are placed in the
slots
• A single-phase motor has two
windings: the main and the starting
windings.

• Typically, thin enamel insulated

wires are used
Figure 7.5 Stator iron core without windings

12/08/21 360 Chapter 7 Induction Motor 10

 Induction Motors
• A single-phase motor has
two windings: the main and
the starting windings
• The elements of the
laminated iron core are
punched from a silicon iron
sheet.
• The sheet has 36 slots and 4
holes for the assembly of
the iron core.
Figure 7.6 Single-phase stator with main windings.

12/08/21 360 Chapter 7 Induction Motor 11

 Induction Motors
• The elements of the
laminated iron core
are punched from a
silicon iron sheet.

• The sheet has 36 slots

and 4 holes for the
assembly of the iron
core Figure 7.7 Stator iron core sheet.

12/08/21 360 Chapter 7 Induction Motor 12

 Induction Motors

Figure 7.8 Stator and rotor

magnetic circuit

12/08/21 360 Chapter 7 Induction Motor 13

 Induction Motors
Squirrel cage rotor.
• This rotor has a laminated iron core with slots,
and is mounted on a shaft.
• Aluminum bars are molded in the slots and the
bars are short circuited with two end rings.
• The bars are slanted on a small rotor to reduce
audible noise.
• Fins are placed on the ring that shorts the
bars. These fins work as a fan and improve
cooling.

12/08/21 360 Chapter 7 Induction Motor 14

 Induction Motors
Rotor bars (slightly skewed)

End ring

Figure 7.11 Squirrel cage rotor concept.

12/08/21 360 Chapter 7 Induction Motor 15

 Induction Motors

Figure 7.10 Squirrel cage rotor.

12/08/21 360 Chapter 7 Induction Motor 16
 Induction Motors
Wound rotor.
• Most motors use the squirrel-cage rotor because of the
robust and maintenance-free construction.
• However, large, older motors use a wound rotor with
three phase windings placed in the rotor slots.
• The windings are connected in a three-wire wye.
• The ends of the windings are connected to three slip rings.
• Resistors or power supplies are connected to the slip rings
through brushes for reduction of starting current and speed
control

12/08/21 360 Chapter 7 Induction Motor 17

 Induction Motors

Figure 7.9 Rotor of a large induction motor. (Courtesy

Siemens).

12/08/21 360 Chapter 7 Induction Motor 18

 7.3 Three-Phase Induction Motor

7.3.1 Operating principle

12/08/21 360 Chapter 7 Induction Motor 19

 Induction Motors
C A B
• This two-pole motor has three stator
phase windings, connected in three- A+
wire wye.
B- C-
• Each phase has 2 × 3 = 6 slots. The
phases are shifted by 120°

• The squirrel cage rotor has short- C+ B+

circuited bars.
A-
• The motor is supplied by balanced
three-phase voltage at the terminals.
• The stator three-phase windings
can also be connected in a delta Figure 7.12 Connection diagram of a
configuration. two-pole induction motor with
squirrel cage rotor.

12/08/21 360 Chapter 7 Induction Motor 20

 Induction Motors
Operation Principle
• The three-phase stator is supplied by balanced three-
phase voltage that drives an ac magnetizing current
through each phase winding.
• The magnetizing current in each phase generates a
pulsating ac flux.
• The flux amplitude varies sinusoidally and the
direction of the flux is perpendicular to the phase
winding.

12/08/21 360 Chapter 7 Induction Motor 21

 Induction Motors
Operation Principle
• The three fluxes generated by the phase
windings are separated by 120° in space and
in time for a two-pole motor
• The total flux in the machine is the sum of the
three fluxes.
• The summation of the three ac fluxes results
in a rotating flux, which turns with constant
speed and has constant amplitude.

12/08/21 360 Chapter 7 Induction Motor 22

 Induction Motors
Operation Principle
• The rotating flux induces a voltage in the short-
circuited bars of the rotor. This voltage drives
current through the bars.
• The induced voltage is proportional with the
difference of motor and synchronous speed.
Consequently the motor speed is less than the
synchronous speed
• The interaction of the rotating flux and the rotor
current generates a force that drives the motor.
• The force is proportional with the flux density and
the rotor bar current
12/08/21 360 Chapter 7 Induction Motor 23
 Induction Motors
• The figure shows the three b
rot
A+

components of the magnetic field at a

phase angle of –60°. c
B- C-
c b
• Each phase generates a magnetic field
vector. a

• The vector sum of the component

vectors a, b, c gives the resulting C+ B+

rotating field vector Φrot,

• The amplitude is 1.5 times the A-

individual phase vector amplitudes,

and Φrot rotates with constant speed.
Figure 7.13 Three-phase winding-
generated rotating magnetic field.

12/08/21 360 Chapter 7 Induction Motor 24

 Induced Voltage Generation

12/08/21 360 Chapter 7 Induction Motor 25

 Induction Motors
Magnetic field B into page
v v
Conductor
Faraday’s law moving
• Voltage is induced in a upward with
speed v
conductor that moves
perpendicular to a Induced voltage V
magnetic field,
Conductor length L
• The induced voltage is:

Figure 7.14 Voltage induced in

a conductor moving through a
magnetic field.

12/08/21 360 Chapter 7 Induction Motor 26

 Induction Motors
• The three-phase winding on b
rot
A+

the stator generates a rotating

field. c
B- C-

• The rotor bar cuts the c b

magnetic field lines as the a

field rotates.
• The rotating field induces a C+ B+

voltage in the short-circuited

rotor bars A-

• The induced voltage is

proportional to the speed
difference between the
rotating field and the
spinning rotor V = B L (vsyn – v m)

12/08/21 360 Chapter 7 Induction Motor 27

 Induction Motors
• The speed of flux cutting is rot
the difference between the b A+

magnetic field speed and the c

rotor speed. B-
c b
C-

• The two speeds can be a

calculated by using the radius

at the rotor bar location and C+ B+

the rotational speed.

A-

v syn  2  rrot n syn

v mot  2  rrot nm Vbar  2  rrot B rot  n syn  n m 

12/08/21 360 Chapter 7 Induction Motor 28

 Induction Motors
• The voltage and current generation in the rotor bar require a
speed difference between the rotating field and the rotor.
• Consequently, the rotor speed is always less than the magnetic
field speed.
• The relative speed difference is the slip, which is calculated
using

n sy  n m  sy   m
s 
n sy  sy
f
The synchronous speed is n sy 
p 2

12/08/21 360 Chapter 7 Induction Motor 29

 Motor Force Generation

12/08/21 360 Chapter 7 Induction Motor 30

 Induction Motors
• The interaction B B B B B
between the magnetic
field B and the
current generates a
force + F
F=BLI

Figure 7.15 Force direction on a current-

carrying conductor placed in a magnetic
field (B) (current into the page).
12/08/21 360 Chapter 7 Induction Motor 31
 Induction Motors Brotating

Force
Force generation in a motor Ir
• The three-phase winding
generates a rotating field;
• The rotating field induces a Rotor Bar
current in the rotor bars;
• The current generation requires
a speed difference between the
Ring
rotor and the magnetic field;
• The interaction between the
field and the current produces Figure 7.16 Rotating
the driving force. magnetic field generated
driving force.

12/08/21 360 Chapter 7 Induction Motor 32

 7.3.2 Equivalent circuit

12/08/21 360 Chapter 7 Induction Motor 33

 Induction Motors
• An induction motor has two magnetically coupled circuits:
the stator and the rotor. The latter is short-circuited.
• This is similar to a transformer, whose secondary is
rotating and short-circuited.
• The motor has balanced three-phase circuits; consequently,
the single-phase representation is sufficient.
• Both the stator and rotor have windings, which have
resistance and leakage inductance.
• The stator and rotor winding are represented by a resistance
and leakage reactance connected in series
12/08/21 360 Chapter 7 Induction Motor 34
 Induction Motors
• A transformer represents the magnetic coupling
between the two circuits.
• The stator produces a rotating magnetic field that
induces voltage in both windings.
– A magnetizing reactance (Xm) and a resistance connected in
parallel represent the magnetic field generation.
– The resistance (Rc) represents the eddy current and hysteresis
losses in the iron core
• The induced voltage is depend on the slip and the turn
ratio

12/08/21 360 Chapter 7 Induction Motor 35

 Induction Motors

X sta =  sy L sta R sta Irot_t X rot_m =  rot L rot R rot

Ista Irot
V sup Rc Xm V sta V rot = s V rot_s

Stator Rotor

Figure 7.17 Single-phase equivalent circuit of a

three-phase induction motor.

12/08/21 360 Chapter 7 Induction Motor 36

 Induction Motors
• In this circuit, the magnetizing reactance generates a flux that
links with both the stator and the rotor and induces a voltage in
both circuits.
• The magnetic flux rotates with constant amplitude and
synchronous speed.
• This flux cuts the stationary conductors of the stator with the
synchronous speed and induces a 60 Hz voltage in the stator
windings.
• The rms value of the voltage induced in the stator is:

N sta  max  sy
Vsta 
2
12/08/21 360 Chapter 7 Induction Motor 37
 Induction Motors
• The flux rotates with the synchronous speed and the rotor
with the motor speed.
• Consequently, the flux cuts the rotor conductors with the
speed difference between the rotating flux and the rotor.
• The speed difference is calculated using the slip equation:
( sy   m )   sy s
• The induced voltage is:
N rot  max ( sy   m ) N rot  max  sy s
Vrot  
2 2
12/08/21 360 Chapter 7 Induction Motor 38
 Induction Motors
• The division of the rotor and stator induced voltage
results in:
N rot
Vrot  Vsta s  Vrot _ s s
N sta
• This speed difference determines the frequency of the rotor
current
 rot  sy   m  sy s
f rot     s f sy
2 2 2

12/08/21 360 Chapter 7 Induction Motor 39

 Induction Motors
• The division of the rotor and stator induced voltage
results in: N rot
Vrot  Vsta s  Vrot _ s s
N sta
• This speed difference determines the frequency of the rotor
current
 rot  sy   m  sy s
f rot     s f sy
2 2 2
• The rotor circuit leakage reactance is:

X rot _ m  Lrot  rot  Lrot  sy s  X rot s

12/08/21 360 Chapter 7 Induction Motor 40

 Induction Motors
• The relation between rotor current and the rotor-
induced voltage is calculated by the loop voltage equation:

Vrot  Vrot_s s  I rot ( Rrot  j X rot s )

• The division of this equation with the slip yields

 Rrot 
Vrot_s  I rot   j X rot 
• The implementation s of this equation
 simplifies the equivalent
circuit

12/08/21 360 Chapter 7 Induction Motor 41

 Induction Motors
Xsta Rsta Irot_t Xrot Rrot/s

Ista Irot
Vsup Rc Xm Vsta Vrot_s

Stator Rotor
Figure 7.18 Modified equivalent circuit of a three-phase
induction motor.

The rotor impedance is transferred to the stator side. This

eliminates the transformer

12/08/21 360 Chapter 7 Induction Motor 42

 Induction Motors
Xsta Rsta Xrot_t Rrot_t/s

Ista Irot_t
Vsup Rc Xm Vsta

Stator Rotor
Air gap
Figure 7.19 Simplified equivalent circuit of a three-phase
induction motor.

12/08/21 360 Chapter 7 Induction Motor 43

 Induction Motors
• The last modification of the equivalent circuit is the
separation of the rotor resistance into two parts:

Rrot _ t
 Rrot _ t 
1 s 
R rot _ t
s s
• The obtained resistance represents the outgoing
mechanical power
1  s  R
rot _ t
s

12/08/21 360 Chapter 7 Induction Motor 44

 Induction Motors
Xsta Rsta Xrot_t Rrot_t

Ista Irot_t
Vsup Rc Xm Vsta Rrot_t(1-s)/s

Stator Rotor
Air gap

Figure 7.20 Final single-phase equivalent circuit of a three-phase

induction motor.

12/08/21 360 Chapter 7 Induction Motor 45