Lecture 6: Induction Machine

Contents

Introduction of Induction Machine

Rotating Magnetic Field

Torque Production

Per Unit Slips

Equivalent Circuit of Induction machine

Parameters Measurement
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 Induction Machine
 Induction machine is an AC electromechanical energy conversion device.
 Induction machines are perhaps the most widely used of all electric motors
 The ability to produce a rotating shaft has been fundamental in the development of the modern word
 Rotational motion is utilized in many industrial processes, in transportation and in data storage
 The most convenient way to produce rotation is by the use of an electrical machine.
 Three phase induction is a single fed machine as it requires only one power source for the stator an no
power source is needed for the rotor
 Rotor voltage is induced due to magnetic field produced by the stator
 The principle of operation is simple based on Faraday’s law of electromagnetic induction
 The characteristics of this machine can be augmented when power electronic converters are used as a supply
source
 Advantages:
 Simple in design
 Rugged and maintenance free due to the absence of carbon brushes
 Almost constants speed from no-load to full load condition
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 Rotating Magnetic Field
 Induction machine works due to the interaction of a rotating magnetic
field and the currents induced in a winding that is in the rotating field
 Single phase induction machine:
 If a coil is positioned on an annulus (stator of the machine and constructed
out of iron) and is connected to a sinusoidal supply, a pulsating field will
be produced.
 A second coil is placed on the rotor of the machine that is located within
the stator
 Rotor is made from iron and is mounted on a shaft with bearings so that it
is free to rotate within the stator
 The coil on the rotor will experience the pulsating magnetic field produced
by the stator and a voltage will be induced by transformer action.
 If the rotor winding is connected in a short-circuit, rotor current will flow
 The interaction of the stator flux and the rotor current will produce a
pulsating torque (zero net torque) so rotation will not occur 4
 Rotating Magnetic Field (cont.)
 Three phases induction machine:
 If two additional windings are added to the stator, displaced by space
by and from the single-phase machine and all three windings (A-A’,
B-B’, and C-C’) are connected to sinusoidal supplies that are delayed
in time by one third and two thirds of a cycle from the original =>
The rotating field will be provided
 The flux wave will complete one revolution of the stator for every
complete cycle of the supply
 The speed of rotation of the flux-wave is referred to as the
synchronous speed (unit: radians per second):

where
 = synchronous speed of rotation of the flux wave (rad/sec)
 = frequency of the three-phase supply (Hz) Three phase windings
 =number of pole pairs produced by each phase of the winding

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 Torque Production
 If the rotor is prevented from rotating, voltages at the supply frequency will be induced into
each of the rotor windings by transformer action.
 By connecting the rotor windings in a short-circuit rotor currents will flow and will interact
with the flux produced by the stator winding to produce a force on the rotor conductors (
Because the rotor is mounted on bearings, this force will be translated into a torque
 If the rotor is not restrained, this torque will produce rotation in the same direction as the stator field
 For ideal system with no rotational losses (windage and friction), the rotor would reach a steady state
condition when it is rotating at the same speed as the stator flux, the synchronous speed.
→ At the synchronous speed, the rotor winding will not cut any flux and will not have any voltage induced in it Rotor
current will be zero and no torque will be produced to maintain rotation The rotor will rotate at just below the
synchronous speed where the torque produced by windage and friction.
→ Remarks:

 As the rotor speed approaches the synchronous speed, the resulting torque produced must also reduce (because the

current in a short-circuit rotor will decrease)

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 Per unit Slip
 Per unit slip () is defined as the difference between the speed of the stator flux () and the speed of
rotation of the rotor ()

 Remarks:
 When a mechanical load is applied to an induction motor, the slip will increase until the reotor current is sufficient
to produce the rquired mechanical torque for the load
 The rotor frequency is given by

and the rotor voltage () induced at the slip is given by

where is the rotor voltage when the rotor is stationary ()

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 Example 1
A three-phase, 50 Hz induction machine has a stator winding that produces 4 poles (2 pole pairs).
The machine operates at a slip of 0.02. Calculate the synchronous speed, the rotor speed, the
frequency of the rotor currents and the speed of rotation of the rotor mmf. Use a stationary
reference frame.
Solution:
 Synchronous speed = rad/sec
 Rotor speed= rad/sec

 Speed of rotation of rotor mmf this is with reference to the rotor which is rotating at 153.94 rad/sec
→ Speed of rotation of rotor mmf with respect to a stationary reference frame =
which is the same as the synchronous speed

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Equivalent Circuit of An Induction Machine (i)

The transformer model of an induction motor with the effective turns ratio

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 Equivalent Circuit of Induction Machine (ii)
 The equivalent circuit of an induction machine is based on that of a transformer.
 Power is transferred from the stator to the rotor for the induction machine is equivalent to that of power
transfer from the primary to the secondary of a transformer
 Only difference:
 The rotor of the induction machine is always connected in short-circuit and the rotor currents are at slip
frequencyAs the rotor (secondary) voltage is also proportional to slip, variation in the voltage and frequency can
be accounted by dividing the rotor quantities by slip
 Notes on equivalent circuit:
 An induction motor is called a singly excited machine (as opposed to a doubly excited synchronous
machine) because power is supplied to only the stator circuit.
 Since an induction motor does not have an independent field circuit, its model will not contain an
internal voltage source such as the internal generator voltage in a synchronous machine.
 As in any transformer, there is a certain resistance and self-inductance in the primary (stator) windings.
 The stator resistance is called and the stator leakage reactance is called . These two components appear right
at the input to the machine model. 10
 Induction Machine vs Transformer
 The flux in the machine is related to the internal applied voltage
 The curve of magnetomotive force versus flux, i.e., Magnetization
curve:
 The slope of the induction motor’s magnetomotive force-flux
curve is much shallower than the curve of a good transformer
because of an air gap.
 An air gap greatly increases the reluctance of the flux path and
therefore reduces the coupling between primary and secondary
windings. As a result,
⁃ As higher reluctance, the higher magnetizing current is required to
obtain a given flux level
⁃ The magnetizing reactance in the circuit will have smaller value (or
larger value of susceptance than in ordinary transformer) The magnetization curve of Transformer
vs Induction machine
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 Rotor Circuit Model (i)
 When the voltage is applied to the stator windings, a voltage is induced in the
rotor windings of the machine, the greater the relative motion between the
rotor and the stator magnetic fields, the greater the resulting rotor voltage and
rotor frequency.
 The largest relative motion occurs when the rotor is stationary, called the locked-
rotor or blocked-rotor condition, so the largest voltage and rotor frequency are
induced in the rotor at this condition.
 The smallest the voltage (0 V) and frequency (0 Hz) occur when the rotor moves
at the same speed as the stator magnetic field, resulting in no relative motion.
 The magnitude and frequency of the voltage induced in the rotor at any speed
between these extremes is directly proportional to the slip of the rotor.
 The magnitude of the induced voltage at any slip is given by
Rotor Circuit model

where is the magnitude of the induced rotor voltage at locked-rotor

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 Rotor Circuit Model (cont.)
 The frequency of the induced voltage at any slip is given by

 The reactance of an induction motor rotor depends on the inductance of

the rotor and the frequency of the voltage and current in the rotor.
 The rotor reactance is given by

 where is the blocked rotor-rotor reactance

 The rotor current flow can be found by

 The rotor equivalent circuit can be also shown alternatively and have:
 The rotor voltage is a constant Rotor part equivalent circuit
 The rotor impedance contains all the effects of varying rotor slip.

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 Rotor Circuit Model (cont.)
 At the very low slips, the resistive term , the
rotor resistance predominate and the rotor
current varies linearly with the slip.
 At high slips, is much larger than , the rotor
current approaches a steady state value as
the slip becomes very large.

Rotor current 14
 Final Equivalent Circuit
 If the effective turns ratio of an induction motor is  Per-phase equivalent circuit
, the transformed rotor voltage becomes

 The rotor current becomes:

and the rotor impedance becomes

The following assumptions are then made:

Remarks: , and are very difficult or impossible to

determine directly on the cage rotors

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 Parameter Measurements
 Before the machine performance can be calculated, the value of each of the equivalent circuit parameters
needs to be known
 Open circuit (no-load) test:
 Enable magnetizing branch parameters to be evaluated
 For the induction machine, the rotor current needs to be zero (i.e., can be obtained by rotating the rotor at
synchronous speed <= by using an additional machine to provide a mechanical power input to the machine staff)
 The rotor winding will now not cut any flux so no voltage will be induced (the term will be infinite as , so no
rotor current will flow)
 The measurements should be made at the normal stator three-phase supply voltage and frequency
 If an additional machine is not available to drive the rotor at synchronous speed, the test can be performed at no
load (but not be accurate because of the non zeros of slip and the measured input power will include the windage
and friction loss)

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 Parameter Measurements (cont.)
 Short-circuit (locked rotor) test:
 The combined stator/rotor winding resistance and leakage inductance can be found (the magnetizing branch is
neglected)
 The rotor of the machine is locked to prevent rotation
 As the measurements should be conducted with a three-phase supply at the rated machine current (achieved at a
lower voltage than the rated value), the measurements of stator voltage, current, and power are made
 Remarks:
 These tests do not enable the individual stator/rotor parameters of resistance and leakage reactance to be calculated
 It is usually assumed that the leakage reactance are equal
 The stator winding resistance needs to be measured using a dc supply, once this is known the referred rotor resistance
can be found

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 Parameter Measurements (cont.)
 also
 Rotor copper losses (), Power across the air gap (), and Mechanical output power ():
;
-
 Electromagnetic Torque:

Per-phase equivalent circuit

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 Example 2
 Open circuit and locked rotor tests are performed on a three-phase, star connected, 4-pole induction

machine. The machine normally operates from a 415 V (line), 50 Hz supply and has a rated current of 60
A. Measurements using a DC supply found the resistance of one phase of the stator winding to be .
Open circuit test: Supply voltage =415 V (line), current =14 A, input power=1400 W
Locked rotor test: Supply voltage=155V (line), current =60A, input power=7000 W
Calculate the per-phase approximate equivalent circuit parameters of the machine. Use these
parameters to calculate the machine troque when operating at a slip of 10%

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 Summary
 An induction machine does not have a separate field circuit; instead, it depends on transformer
action to include voltages and currents in its field circuit
 The rotor voltage induced by the relative motion between the rotor and the stator magnetic field
produces a rotor current
 The rotor current interacts with the stator magnetic field to produce the induced torque in the
motor
 The equivalent circuit of induction machine is similar to that of a transformer, except for the
effects of varying speed.
 An induction motor normally operates at a speed near synchronous speed but it can never
operate at exactly . There must always be some relative motion in order to induce a voltage in
the induction motor’s field circuit.

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