Unit 2

U18EEI4201 - INDUCTION AND
SYNCHRONOUS MACHINES
Dr.N.Prakash - AP -III I
Department of Electrical & Electronics

Engineering
CH2 : STARTING AND SPEED CONTROL OF
THREE PHASE INDUCTION MOTORS
CH2 : Cogging and Crawling - Speed Control
COGGING AND CRAWLING
The important characteristics normally shown by a squirrel cage
induction motors are crawling and cogging. These characteristics are
the result of improper functioning of the motor that means either
motor is running at very slow speed or it is not taking the load.
COGGING
Cogging of induction motor occurs at
When the supply voltage is low, the starting torque is low and
when the poles on stator and rotor are equal, due to locking
tendency caused by the slot harmonics motor fails to start.
Cont…..
This characteristic of induction motor comes into picture when
motor refuses to start at all. Sometimes it happens because of low
supply voltage.
But the main reason for starting problem in the motor is because
of cogging in which the slots of the stator get locked up with the
rotor slots.
As we know that there is series of slots in the stator and rotor of
the induction motor.
When the slots of the rotor are equal in number with slots in the
stator, they align themselves in such way that both face to each
Cont….
This characteristic of the induction motor is called cogging.
Apart from this, there is one more reason for cogging.
If the harmonic frequencies coincide with the slot frequency due to
the harmonics present in the supply voltage then it causes torque
modulation.
As a result, of it cogging occurs. This characteristic is also known
as magnetic teeth locking of the induction motor.
Cont…
Methods to overcome Cogging
This problem can be easily solved by adopting several measures.

These solutions are as follows:
The number of slots in rotor should not be equal to the number of
slots in the stator.
Skewing of the rotor slots, that means the stack of the rotor is
arranged in such a way that it angled with the axis of the rotation.
CRAWLING OF INDUCTION
MOTOR
It has been observed that squirrel cage type induction motor has a
tendency to run at very low speed compared to its synchronous
speed, this phenomenon is known as crawling.
The resultant speed is nearly 1/7th of its synchronous speed.
Now the question arises why this happens? This action is due to
the fact that harmonics fluxes produced in the gap of the stator
winding of odd harmonics like 3rd, 5th, 7th etc. These harmonics
create additional torque fields in addition to the synchronous
torque.
Cont….
The torque produced by these harmonics rotates in the forward or
backward direction at Ns/3, Ns/5, Ns/7 speed respectively.
Here we consider only 5th and 7th harmonics and rest are
neglected. The torque produced by the 5th harmonic rotates in the
backward direction.
This torque produced by fifth harmonic which works as a braking
action is small in quantity, so it can be neglected. Now the seventh
harmonic produces a forward rotating torque at synchronous speed
Ns/7. Hence, the net forward torque is equal to the sum of the
torque produced by 7th harmonic and fundamental torque.
Cont….
The torque produced by 7th harmonic reaches its maximum
positive value just below 1/7 of Ns and at this point slip is high.
At this stage motor does not reach up to its normal speed and
continue to rotate at a speed which is much lower than its normal
speed.
This causes crawling of the motor at just below 1/7 synchronous
speed and creates the racket. The other speed at which motor
crawls is 1/13 of synchronous speed.
SPEED CONTROL METHODS OF
INDUCTION MOTOR
An induction motor is practically a constant speed motor, that
means, for the entire loading range, change in speed of the motor
is quite small.
Speed of a DC shunt motor can be varied very easily with good
efficiency, but in case of Induction motors, speed reduction is
accompanied by a corresponding loss of efficiency and poor power
factor.
As induction motors are widely being used, their speed control
may be required in many applications.
DIFFERENT SPEED CONTROL METHODS OF
INDUCTION MOTOR
 Induction Motor Speed Control From Stator Side
- By Changing The Applied Voltage
- By Changing The Applied Frequency
- Constant V/F Control Of Induction Motor
- Changing The Number Of Stator Poles

 Speed Control From Rotor Side
- Rotor Rheostat Control
- Cascade Operation
- By Injecting EMF In Rotor Circuit

BY CHANGING THE APPLIED
VOLTAGE
From the torque equation of induction motor,
Rotor resistance R2 is constant and if slip s is small then (sX 2)2 is so small that it can be
neglected. Therefore, T ∝ sE22 where E2 is rotor induced emf and E2 ∝ V

Thus, T ∝ sV2, which means, if supplied voltage is decreased, the developed torque decreases.
Hence, for providing the same load torque, the slip increases with decrease in voltage, and
consequently, the speed decreases. This method is the easiest and cheapest, still rarely used,
because
1.large change in supply voltage is required for relatively small change in speed.
2.large change in supply voltage will result in a large change in flux density, hence, this will
disturb the magnetic conditions of the motor.
BY CHANGING THE APPLIED
FREQUENCY
Synchronous speed of the rotating magnetic field of an induction motor is given
by,
Where, f = frequency of the supply and P = number of stator poles.

Hence, the synchronous speed changes with change in supply frequency.
Actual speed of an induction motor is given as N = Ns (1 - s). However, this
method is not widely used. It may be used where, the induction motor is supplied
by a dedicated generator (so that frequency can be easily varied by changing the
speed of prime mover).
Also, at lower frequency, the motor current may become too high due to
decreased reactance. And if the frequency is increased beyond the rated value, the
maximum torque developed falls while the speed rises.
CONSTANT V/F CONTROL OF
INDUCTION MOTOR
This is the most popular method for controlling the speed of an induction motor.
As in above method, if the supply frequency is reduced keeping the rated supply
voltage, the air gap flux will tend to saturate.
This will cause excessive stator current and distortion of the stator flux wave.
Therefore, the stator voltage should also be reduced in proportional to the
frequency so as to maintain the air-gap flux constant.
The magnitude of the stator flux is proportional to the ratio of the stator voltage
and the frequency. Hence, if the ratio of voltage to frequency is kept constant, the
flux remains constant. Also, by keeping V/F constant, the developed torque
remains approximately constant. This method gives higher run-time efficiency.
Therefore, majority of AC speed drives employ constant V/F method (or variable
voltage, variable frequency method) for the speed control. Along with wide range
of speed control, this method also offers 'soft start' capability.
CHANGING THE NUMBER OF
STATOR POLES
From the above equation of synchronous speed, it can be seen that synchronous
speed (and hence, running speed) can be changed by changing the number of stator
poles.
This method is generally used for squirrel cage induction motors, as squirrel cage
rotor adapts itself for any number of stator poles. Change in stator poles is achieved
by two or more independent stator windings wound for different number of poles in
same slots.For example, a stator is wound with two 3phase windings, one for 4 poles
and other for 6 poles.for supply frequency of 50 Hz
i) synchronous speed when 4 pole winding is connected, Ns = 120*50/4 = 1500 RPM
ii) synchronous speed when 6 pole winding is connected, Ns = 120*50/6 = 1000 RPM
ROTOR RHEOSTAT CONTROL
This method is similar to that of armature rheostat control of DC

shunt motor. But this method is only applicable to slip ring motors,
as addition of external resistance in the rotor of squirrel cage
motors is not possible.
CASCADE OPERATION
In this method of speed control, two motors are
used. Both are mounted on a same shaft so that
both run at same speed. One motor is fed from a
3phase supply and the other motor is fed from the
induced emf in first motor via slip-rings. The
arrangement is as shown in following figure.
Motor A is called the main motor and motor B is
called the auxiliary motor.Let,
Ns1=frequency of motor A
Ns2=frequency of motor B
P1=number of poles stator of motor A
P2=number of stator poles of motor B
N=speed of the set and same for both
motor
f = frequency of the supply
Cont….
Now, slip of motor A, S1 = (Ns1 - N) / Ns1.
frequency of the rotor induced emf in motor A, f1 = S1f

Now, auxiliary motor B is supplied with the rotor induce emf
therefore, Ns2 = (120f1) / P2 = (120S1f) / P2.
now putting the value of S1 = (Ns1 - N) / Ns1
•
Cont…
At no load, speed of the auxiliary rotor is almost same as its
synchronous speed.
i.e. N = Ns2. from the above equations, it can be obtained that
With this method, four different speeds can be obtained

1. when only motor A works, corresponding speed = .Ns1 = 120f / P1
2. when only motor B works, corresponding speed = Ns2 = 120f / P2

3. if commulative cascading is done, speed of the set = N = 120f /
(P1 + P2)
4. if differential cascading is done, speed of the set = N = 120f (P1 -
P2)
BY INJECTING EMF IN ROTOR
CIRCUIT
In this method, speed of an induction motor is controlled by injecting a voltage in
rotor circuit. It is necessary that voltage (emf) being injected must have same
frequency as of the slip frequency.
However, there is no restriction to the phase of injected emf. If we inject emf
which is in opposite phase with the rotor induced emf, rotor resistance will be
increased. If we inject emf which is in phase with the rotor induced emf, rotor
resistance will decrease.
Thus, by changing the phase of injected emf, speed can be controlled. The main
advantage of this method is a wide rage of speed control (above normal as well as
below normal) can be achieved. The emf can be injected by various methods such
as Kramer system, Scherbius system etc.
THANK YOU….!

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U18EEI4201 - INDUCTION AND

Department of Electrical & Electronics

Cogging of induction motor occurs at

This problem can be easily solved by adopting several measures.

backward direction at Ns/3, Ns/5, Ns/7 speed respectively.

- By Changing The Applied Voltage

- By Changing The Applied Frequency

- Constant V/F Control Of Induction Motor

- Changing The Number Of Stator Poles

- Rotor Rheostat Control

- By Injecting EMF In Rotor Circuit

neglected. Therefore, T ∝ sE22 where E2 is rotor induced emf and E2 ∝ V

Where, f = frequency of the supply and P = number of stator poles.

This method is similar to that of armature rheostat control of DC

frequency of the rotor induced emf in motor A, f1 = S1f

now putting the value of S1 = (Ns1 - N) / Ns1

With this method, four different speeds can be obtained

2. when only motor B works, corresponding speed = Ns2 = 120f / P2

4. if differential cascading is done, speed of the set = N = 120f (P1 -

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