THREE-PHASE

INDUCTION MOTOR
Part-2
 Torque Under Running Conditions
TE2Ir cos2; or TIr cos2 (Er)
where, E2= rotor emf/phase under standstill conditions
Ir= rotor current/phase under running conditions
Er sE R
Now, Er  sE Ir   2 cos   2
2 Zr 2
R2  (sX )2 R2  (sX )2
2 2 2 2
sE R ksE R
T 2 2  2 2
R2  (sX )2 R2  (sX )2 R22  (sX 2)2
2 2 2 2
k sE 2R
Also, T  21 2 2 2 (Er ) where, k  3
1 2N
R  (sX ) S
2 2
The above torque expression can be written as follows: when, s 1
sE 2R sE 2R
T 3 2 2  3 2 2 where, Z 2  R2  (sX )2 k E 2R
2N R2  (sX )2 2N Z 2 r 2 2 T 1 2 2
S 2 2 S r R2  X 2
2 2
Example 34.10 The star connected rotor of an induction motor has a standstill
impedance of (0.4+j4) ohm/phase and the rheostat impedance is (6+j2) ohm/phase.
The motor has an induced emf of 80 V between slip-rings at standstill when
connected to its normal supply voltage. Find:
(i) rotor current at standstill with the rheostat is in the circuit.

(ii) When the slip-rings are short-circuited and motor is running with a slip of 3%.
Solution: (1) Standstill conditions
Voltage/rotor phase = 80/3 =46.2 V
Rotor and starter impedance/phase= ((0.4+j4)+ (6+j2)= (6.4+j6)=8.7743.15o.
Rotor current/phase=46.2/8.77 5.27 A (power factor =cos43.15o =0.729)
(2) Running Conditions: Here starter impedance is cutout.
Rotor voltage/phase, Er=sE2= 0.0346.2= 1.386 V
Rotor reactance/phase, Xr=sX2=0.034=0.12 ohm
Rotor impedance/phase, Zr= 0.4+j0.12=0.417616.7o.
Rotor current/phase =1.386/0.4176=3.32 (power factor =cos16.7o =0.96)
 Condition for Maximum Torque
Under Running Conditions
ksE R sE 2R
The torque of a rotor under running conditions is T  2 2 k 2 2
R2  (sX )2 1 R2  (sX )2
2 2 2 2
The condition for maximum torque may be obtained by differentiating the above
expression with respect to slip s and then putting it equal to zero.
However, it is simpler to put Y=1/T and than differentiate it.
R2  (sX )2 R2 (sX )2 R sX 2
Y 2 2  2  2  2  2
ksE R ksE R ksE R ksE kE R
2 2 2 2 2 2 2 2 2

dY   R2  X 2  0 R
2 X2
 2  2  0; R2  s2 X 2; R  sX
ds ks2E kE R ks2E kE2R2 2 2 2 2
2 2 2 2
Hence, torque under running condition is maximum at that value of the slip s which
makes rotor reactance per phase equal to rotor resistance per phase.
This slip is sometimes written as sb and the maximum torque Tb.
 Slip corresponding to maximum torque is s=R2/ X2.

Putting R2= s X2 in the above equation for the torque, we get

ksE (sX ) kE s2 X kE ksE
Tmax  2 2  2 2  2 (or 2)
(sX )2  (sX )2 2(sX )2 2X
2
2R
2
2 2 2

Substituting value of s=R2/ X2 in the k ( R / X ) E 2R k E2

torque equation, we get Tmax  1 2 2 2 2  1 2
R 2  ( R / X )2 X 2 2 X 2
2 2 2 2

E 2
Since , k  3 we have Tmax  23N 2 X2 N-m.
1 2N
S S 2
From the above, it is found
1. That the maximum torque is independent of rotor resistance as
such.
2. However, the speed or slip at which maximum torque occurs is
determined by the rotor resistance. As seen from above, torque
becomes maximum when rotor reactance equals its resistance. Hence,
by varying rotor resistance (possible only with slip-ring motors)
maximum torque can be made to occur at any desired slip (or motor
speed).
3. maximum torque varies inversely as standstill reactance. Hence,
it should be kept as small as possible.
4. maximum torque varies directly as the square of the applied
voltage.
5. for obtaining maximum torque at starting (s=1), rotor resistance
must be equal to rotor reactance.
 Relation Between Torque and Slip
A family of torque/slip curves is shown in Fig. 32.21 [1] for a range of s= 0 to
s=1 with R2 as the parameter. ksE2 R2
We have seen that T  2
R2  ( sX 2 ) 2
It is clear that when s=0, T=0, hence the curve starts from point 0.
At normal speeds, close to synchronism, the term (sX2) is small and hence
Speed % of Ns
negligible w.r.t. R2.
0.0 0.2 0.4 0.6 0.8 1.0
or if R2 is constant. T s
R2 0.04

Torque [N-m]
Hence, for low values of slip, the torque/slip
curve is approximately straight line.
0.02
R2=2 ohm
R2=3 ohm
As slip increases (for increasing load on R2=4 ohm
the motor), the torque also increases and K=0.3; E2=100 V; X2=10 ohm; =0.03 Wb
0.00
becomes maximum when s=R2/X2. 1.0 0.8 0.6 0.4 0.2 0.0
Slip
This torque is known as ‘pull-out’ or
‘breakdown’ toque Tb or ‘stalling torque’.
 Speed % of Ns
0.0 0.2 0.4 0.6 0.8 1.0
As the slip further increases (i.e. motor speed falls)
with further increases in motor load, then R2 becomes 0.04

Torque [N-m]
negligible as compared to (sX2).
0.02
s 1
 
R2=2 ohm

Therefore, for large values of slip T R2=3 ohm

R2=4 ohm

( sX 2 ) 2 s 0.00
1.0
K=0.3; E2=100 V; X2=10 ohm; =0.03 Wb

0.8 0.6 0.4 0.2 0.0

Slip

Hence, the torque/slip curve is a rectangular hyperbola.

So, we see that beyond the point of maximum torque, any further increase in motor
load results in decrease of torque developed by the motor.
The result is that the motor slows down and eventually stops.
The circuit-breakers will be tripped open if the circuit has been so protected.
In fact, the stable operation of the motor lies between the values of s=0 and that
corresponding to maximum torque.

It is seen that although maximum torque does not depend on R2, yet
the exact location of Tmax is dependent on it.
Greater the R2 greater is the value of slip at which the maximum
torque occurs.
 Effect of Change in Supply Voltage on
Torque and Speed
ksE2 R2
We have seen that T
R22  ( sX 2 ) 2

As E2V where V is the supply voltage. Hence TsV 2

Obviously, torque at any speed is proportional to the square of the applied voltage.
If stator voltage decreases by 10%, the torque decreases by 20%.
Changes in supply voltage not only affect the starting torque Tst but torque under
running conditions also.
If V decreases, then T also decreases. Hence, for maintaining the same torque, slip
increases i.e. speed falls.

Let V change to V’, s to s’ and T to T’; then

T sV 2

T ' s 'V '2
 Effect of Changes in Supply Frequency
on Torque and Speed
Any important changes in frequency take place on a large distribution
system except during a major distribution.
However, large frequency changes often take place on isolated, low-
power systems in which electric energy is generated by means of diesel
engines or gas turbines.
Example of such systems are: emergency supply in a hospital and the
electric system on a ship etc.
The major effect of change in supply frequency is on motor speed.
If frequency drops by 10%, then motor speed also drops by 10%.
Machine tools and other motor-driven equipment meant for 50Hz
causes problem when connected to 60Hz supply.
Everything runs (60-50)100/50=20% faster than normal and this
may not be acceptable in all applications.
In that case, we have to use either gears to reduce motor speed or
an expensive 50 Hz source.
A 50 Hz motor operates well on a 60 Hz line provided its terminal
voltage is raised to 60/50=6/5 (i.e. 120%) of the name-plate rating.
In that case, the new breakdown torque becomes equal to the
original breakdown torque and the starting torque is only slightly
reduced.
However, power factor, efficiency and temperature rise remain
satisfactory.
Similarly, a 60 Hz motor can operate satisfactory on 50 Hz supply
provided its terminal voltage is reduced to 5/6 (i.e. 80%) of its
name-plate rating.
 Full-Load Torque and Maximum Torque
s f R2
Let sf be the slip corresponding to full-load torque, then Tf 
1 R22  ( s f X 2 ) 2
and Tmax  Tf 2s f R2 X 2
2X2  
Tmax R 2  ( s X ) 2
2 f 2
T 2s f R2 / X 2
Dividing both the numerator and the  f 
denominator by X22, we get Tmax ( R / X ) 2  s 2
2 2 f

Tf 2s f a

Let a=R2/X2 =resistance/reactance, then Tmax a 2  s 2
f

operating torque at any slip s 2sa

In general, 
maximum torque a2  s2
 Starting Torque and Maximum Torque
The staring torque Tst and the maximum torque Tmax can be written as follows:

R2 1
Tst  and Tmax 
R22  X 22 2X2

Tst 2 R2 / X 2 2a
  
Tmax 1  ( R / X ) 2 1  a 2
2 2

R rotor restistance
where, a 2  per phase
X 2 rotor reactance
 Variations in Rotor Resistance
The magnitude of the rotor current varies with load carried by the motor.
Rotor output N N
As we seen that,  or, Rotor output  Rotor input 
Rotor input Ns Ns

 Rotor input 
Ns
 Rotor output Also, Rotor output  2N  T  KNT
N

 Rotor input 
Ns
 KNT  KN sT Now,
Rotor Cu loss
s 3I 22 R2
N Rotor input Rotor input 
s
3I 22 R2 I 22 R2
  KN sT  T Tst I 22st R2 since s  1
s s

I 2 R2 Tst  I 2st 
2
sf  
2f
T f  s f  Full load slip 
sf Tf  If 
 

where, I2st and I2f are the rotor currents for starting and full-load running conditions.
Induction Motor as a Generalized Transformer
The transfer of energy from stator to the rotor of an induction motor takes place
entirely inductively, with the help of flux mutually linking the two.
Hence, an induction motor is essentially a transformer with stator forming the
primary and rotor forming (the short-circuited) rotating secondary (Fig. 32.45).
 The vector diagram is similar to that of a transformer.
In the vector diagram of Fig. 32.46 V1 is the applied
voltage per stator phase.
R1 and X1 are stator resistance and leakage reactance
per phase respectively, shown external to the stator
winding in Fig. 32.45.
The applied voltage V1 produces a magnitude flux
which links both primary and secondary thereby
producing a counter emf of self-induction E1 in primary
(i.e. stator) and a mutually induced emf Er (sE2) in
secondary (i.e. rotor).
There is no secondary voltage V2 in secondary because
whole of the induced emf Er is used up in circulating
the rotor current as the rotor is closed upon itself
(which is equivalent to its being short-circuited).
Obviously, V1  E1  I1R1  jI1X1
The magnitude of Er depends on voltage transformation ratio K between stator and
rotor and the slip. As it is wholly absorbed in the rotor impedance.
Er  I 2 Z 2  I 2 R2  jI 2 X 2
In the vector diagram I0 is the no-load primary current.
It has two components (i) the working or iron loss
components Iw which supplies the no-load motor losses
and (ii) the magnetizing component Im which sets up
magnetic flux in the core and the air gap.
2  I2
Obviously, I 0  I w m
In Fig. 32-45, Iw and Im are taken care of by an exciting
circuit containing R0=E1/Iw; and X0=E1/Im , respectively.
Even though the frequencies of stator and rotor currents are different, yet magnetic
fields due to them are synchronous with each other, when seen by an observer
stationed in space- both field rotate at synchronous speed Ns.
The current following in the short-circuited rotor produces a magnetic field, which
revolves round the rotor in the same direction as the stator field. The speed of rotation
of the rotor field is 120 f r 120sf N N
Nr    sN s  N s s  Ns  N
P P Ns

Hence, speed of the rotating field of Rotor speed, N  N s  N r  (1  s) N s

the rotor with respect to the
stationary stator or space is  sN s  N  ( N s  N )  N  N s
 Rotor Output
Primary current I1 consists of two parts, I0 and I2’. It is the later which is transferred
to the rotor.
If the applied primary voltage V1, some is absorbed in the primary itself (=I1Z1) and
the remaining E1 is transferred to the rotor.
'
If the angle between E1 and I2’ is , then Rotor input/phas e  E1I 2 cos 

Total rotor input  3E1I 2' cos 

The electrical input to the rotor which is wasted in the form of heat is
 3I 2 Er cos   or 3I 22 R2 )
 rotor output
  1 s
rotor input

 rotor Cu loss  s  rotor input

N Actual Speed
rotor efficiency  1  s  
N s Synchronou s Speed

The induction motor is called asynchronous motor because the rotor

of an induction motor does not run at synchronous speed (the speed
of rotation of the magnetic flux, produced by the primary winding of
a dynamo).
 Equivalent Circuit of the Rotor
E2
When motor is loaded, the Ir  s (1) I  E2
(2)
r
rotor current I2 is given by R22  ( sX 2 ) 2 ( R2 / s) 2  ( X 2 ) 2

The rotor circuit which actually consists of a fixed resistance R2 and a variable
reactance sX2 (proportional to slip) connected across Er=sE2 [Fig.32.47(a)and Eq
(1)] can be looked upon as equivalent to a rotor circuit having a fixed reactance X2
connected in series with a variable resistance R2/s (inversely proportional to slip)
and supplied with constant voltage E2 [Fig. 32.47(b) and Eq. (2) ].
 R2 1 
It can be written as:  R2  R2   1 (3)
s s 
It consists of two parts:
1. The first part R2 is the rotor resistance itself and represents the rotor Cu
loss. 1 
2. The second part is 2  1 .
R
s 
This is known as the load resistance RL and is the electrical equivalent of the
mechanical load on the motor.
In other words, the mechanical load on an induction motor can be represented
by a non-inductive resistance of the value R2  1 1 .
s 

The equivalent rotor circuit

along with the load
resistance RL may be
drawn as in Fig. 32.48.
 Equivalent Circuit of an Induction Motor
As in the case of a transformer, in this case also, the secondary values may be
transferred to the primary and vice versa.
It should be remembered that when shifting impedance or resistance from
secondary to primary, it should be divided by K2 whereas current should be
multiplied by K.
The equivalent circuit of an induction motor where all values have been referred to
primary i.e. stator is shown in Fig. 32. 49.
As shown in Fig. 32.50, the exciting
circuit may be transferred to the left,
because inaccuracy involved is negligible
but the circuit and hence the calculations
are very much simplified.
This is known as the approximate
equivalent circuit of the induction motor.

If transformation ratio is assumed

unity i.e. E2/E1=1, then the equivalent
circuit is as shown in Fig. 32.51
instead of that in Fig. 32.49b.
 Power Balance Equation
With respect to Fig. 32.49(a), following power
relations in an induction motor can be deduced:
2
Input power  3V1I1 cos 1 Stator Cu loss  I1 R1

2R
Stator Core loss  I w 0

Power transferred to rotor  3I 2'2 R2' / s Rotor Cu loss  3I 2'2 R2'

Mechanical power developed by rotor (Pm) or gross power developed by rotor (Pg)
1  s 
 Rotor input  Rotor Cu losses  3I 2'2 R2' / s  3I 2'2 R2'  3I 2'2 R2'   watt
 s 
If Tg is the gross torque developed by the rotor, then
2N 1  s 
Tg    Tg   3I 2'2 R2' / s  3I 2'2 R2'  3I 2'2 R2'   watt
60  s 
 1  s  60
Tg  3I 2'2 R2'   N-m Now, N  N s (1  s)
 s  2N
 '2 R ' / s
 3 I
Hence gross torque becomes Tg  3I '2 R2'  
1 s 60 60 2 2

2  s  2 N (1  s) 2 N-m
s Ns

3I 2'2 R2' / s 3I 2'2 R2'

Tg  9.55  9.55 N-m
Ns Ns s
Since gross torque in synchronous watts is equal to
Tg  3I 2'2 R2' / s Synch. watt
the power transferred to the rotor across the air-gap.

It is seen from the approximate ' V1

I2 
circuit of Fig. 32.50 that ( R1  R2' / s)  j ( X1  X 2' )

2
3 V1 R2'
Tg  9.55 N-m
N s ( R  R' / s)2  ( X  X ' ) 2 s
1 2 1 2

The gross torque Tg is different from shaft torque, which is

less than Tg by the torque required to meet windage and
frictional losses.
 Maximum Power Output
Fig. 32.52 shows the approximate equivalent
circuit of an induction motor with the
simplification that (i) exciting circuit is omitted
i.e. I0 is neglected and (ii) K is assumed unity.
As seen, gross power output for 3-phase induction
motor is
Pg  3I12 RL

V1 3 V 2R
Now, I1   P  1 L
g
( R01  RL ) 2  X 01
2
( R01  RL ) 2  X 01
2

The condition for maximum power output can be found be differentiating

the above equation with respect to load resistance RL and by equating the first
derivative to zero. If it is done, it will be found that

d Pg d Pg   d Pg  R

 3V12  RL 0  L 0
dRL dRL  ( R  R )2  X 2  dRL  ( R  R ) 2  X 2 
 01 L 01   01 L 01 
 d [( R  R ) 2 X2 ]
dR 01 L
d Pg  RL  [( R01  RL ) 2  X 01
2 ] L R
L
01
 0 dRL dRL
dRL  ( R  R ) 2  X 2  0
 01 L 01  2
[( R01  RL )  X 01]2 2

d [( R  R ) 2 X2
2 ] dRL  R
[( R01  RL ) 2  X 01
01 L 01  0
L
dRL dRL
2 2
2 ]  R [ d ( R01  RL )  01 ]  0 where, Z
[( R01  RL ) 2  X 01
dX
= leakage
L 01
dRL dRL impedance of the motor as
2 2 dRL referred to primary
[( R01  RL )  X 01]  RL [2 ( R01  RL ) ]0
dRL

[(R01  RL ) 2  X 01
2 ]  2R ( R  R )  0
L 01 L
2  2R R  R2  X 2  2R R  2R2  0
R01 01 L L 01 L 01 L Hence, the power output is
2  X 2  R2  0
R01 2  R2  X 2  Z 2
RL maximum when the equivalent
01 L 01 01 01 load resistance is equal to the
standstill leakage impedance of
 RL  Z 01 the motor.
 Corresponding Slip
1 
We know that, RL  R2   1 For maximum output power, RL  Z 01
s 
1  Hence, s 
R2 This is the slip corresponding to
 Z 01  R2   1
s  Z 01  R2 maximum gross power output.

3V12 RL The value of Pgmax is obtained by

We know that, Pg  substituting RL by Z01 in the
( R01  RL ) 2  X 01
2 above equation.

3V12 Z 01 3V12 Z 01
Pg max  Pg max 
2 2
( R01  Z 01)  X 01 2  2R Z  Z 2  Z 2  R2
R01 01 01 01 01 01

3V12 Z 01 3V12 3V12

Pg max   Pg max  
2
2 R01Z 01  2Z 01 2 R01  2Z 01 2( R01  Z 01)

It should be noted that V1 is voltage/phase of the motor and K

has been taken as unity.
Example 34.35 A 100 kW (output), 3300 V, 50 Hz, 3-phase, star connected induction
motor has a synchronous speed of 500 rpm. The full load slip is 1.8% and full-load
power factor 0.85. Stator copper loss= 2440 W. Iron loss= 3500 W. Rotational loss=
1200 W. Calculate: (i) The rotor copper loss, (ii) the line current, and (iii) the full-
load efficiency.

Solution: Pm= output + rotational losses = 100+1.2=101.2 W

(i) Rotor Cu Loss  s  Pm  0.018 101.2 1.855 kW

1 s 1 0.018

(ii) Rotor input, R2 = Pm + rotor Cu loss

= 101.2+1.855=103.055 kW
Stator input= P2 + stator Cu and iron losses
=103.055+2.44+3.5=108.995 kW

(iii) Full-load efficiency= 100,000/108,995=0.917 or 91.7%

Example 34.36 The power input to the rotor of a 440 V, 50 Hz, 6 pole, 3-phase
induction motor is 100 kW. The rotor electromotive force is observed to make 120
cycles per minute. Calculate: (i) the slip, (ii) the rotor speed, (iii) mechanical power
developed, (iv) the rotor Cu loss per phase, and (v) speed of a stator field with
respect to rotor.

Solution: (i) we know that, f ' sf So, s  f / f ' (120/ 60) / 50  0.04

(ii) Ns= 120f/P=12050/6=1000 rpm; and

N= (1-0.04) 1000=960 rpm
(iii) Pm= (1-s)P2=(1-0.04) 100=96 kW
(iv) Total Cu loss= sP2=0.04100 = 4 kW;
Cu loss/phase= 4/3 = 1.333 kW
(v) Speed of the stator field with respect to rotor is = 1000 – 960
= 40 rpm
Example 34.38 A 400 V, 50 Hz, 6-pole, -connected, 3- induction motor consumes
45 kW with a line current of 75 A and runs at a slip of 3%. If stator iron loss is 1200
W, windage and friction loss is 900 W and resistance between two terminals is 0.12
. Calculate: (i) power supplied to the rotor, P2, (ii) rotor Cu loss, Pcr, (iii) power
supplied to the load, Pout, (iv) efficiency, and (v) shaft torque developed.

Solution: cos   451000  0.866 lag

3  40075
A line current of 75A means a phase-current of 75/3 i.e. 43.3A
Next, winding resistance has to be worked out Refer to Fig. 34.40.

r and 2r are in parallel have an equivalent resistance measured at a

and b terminals in delta connected motor as (r×2r/3r)=2r/3 ohms
From the data given, (2r/3)=0.12, r=0.18 ohm
Total stator Cu loss= 3×43.32×0.18=1012 W
Total input to stator= 45,000 W
Stator output= 45,000-(1012+1200)=42,788 W
Rotor Cu Loss= Slip × Rotor input= 0.03 × 42,788=1248 W
Rotor mechanical output power= 42,788-1248= 41,504 W
Shaft output= Mechanical output of rotor – Mechanical Loss
=41,504-900= 40,604 W

Efficiency  40,604100%  92.23%

45,000

Shaft output torque, T  40,60460  400 N  m

2 970
Example 34.41 An 18.65 kW, 4 pole, 50 Hz, 3 phase induction motor
has friction and windage losses of 2.5% of the output. The full-load
slip is 4%. Compute for full-load: (i) the rotor Cu loss, (ii) the rotor
input, (iii) the shaft torque, and (iv) the gross electromagnetic torque.
Solution: Motor output, Pout= 18,650 W
Friction and windage loss, Pw=2.5% of 18,650 = 466 W
Rotor gross output, Pm= 18,650+466 =19,116 W

(i) Rotor Cu loss  s ;

gross output power, Pm 1 s
Rotor Cu loss  s gross output power, Pm  0.04 19,116  796.6 W
1 s 1 0.04

(ii) Rotor Cu loss  s; Rotor input, P  Rotor Cu

s
loss  796.6 19,912.5
Rotor input, P 2 0.04
2
(iii) Tsh=9.55Pout/N= 9.5518,650/1440=123.7 N-m
(iv) Gross torque, Tg=9.55Pm/N= 9.5519,116/1440=126.8 N-m
or Tg=P2/2Ns=19,91318,650/(225)=127 N-m
 No-Load Test
Without connecting any load on the induction motor
shift, full voltage is applied across the stator windings
terminals. Since output of the motor at no-load is zero,
the whole of the input power is wasted as various losses.
At no-load, the speed of the rotor is very nearly equal to
the synchronous speed. The slip at no-load is very small
and therefore the quantity RL=R2(1-s)/s, of the equivalent
mechanical load is very high.
The rotor induced emf and the rotor current, therefore,
are negligibly small. The rotor for practical purpose may
be considered as an open circuit.
No-load test of an induction motor is, therefore, similar
to no-load (or open-circuit) test on a transformer.
The losses at no-load are: (i) Cu-loss in the stator
winding; (ii) Core (or iron) losses in the stator and
rotor; and (iii) Frictional and windage losses.
From the total input at no-load, the Cu loss in the stator
winding can be subtracted to get core loss plus
friction losses.
The core-loss, and friction and windage losses at no-load
are nearly the same as would occur under full load
condition. So these losses are called fixed losses. This
is because core loss depends on applied voltage,
whereas friction and windage losses depend upon
speed of the rotation of rotor.
Applied voltage is assumed to be constant and the
variation of speed of an induction motor from no-
load to full-load is negligibly small.
Connection diagram for no-load test on an induction
motor is shown in Fig. 4.30.
In practice, it is neither necessary nor feasible to run the
induction motor synchronously so that the no-load test is
carried out with different values of applied voltage,
below and above the value of normal rated voltage.
The power input
(Wo) is measured
by two
wattmeters, no-
load current (Io)
by an ammeter
and applied
voltage (Vo) by a
voltmeter. Fig. 4.30