Chapter 7: INDUCTION MOTORS 7.

1 Induction motor construction

- Stator exactly the same synchronous machines as for

- Rotor can be either a Squirrel Cage or Wound Rotor

Wound Rotor - Y-connected 3-phase windings on rotor - Accessable via slip rings - Can modify torque-speed curve by inserting resistors into rotor circuit

7.2 Basic Induction Motor Concepts

Refer to Electrical Engineering Principles and Applications 4th edition by Allan R. Hambley, Chapter 17. 7.2.1 Rotating Stator Field

Chap 17.2.1 cont

Ba = Kia (t )cos( ) Bb = Kib (t )cos( 120) Bc = Kic (t )cos( 240) ia (t ) = I m cos(t ) ib (t ) = I m cos(t 120) ic (t ) = I m cos(t 240) Bgap = Ba + Bb + Bc Bgap = 3 KI m cos(t ) 2

The field in the gap rotates counter clockwise with an angular speed of .

7.2.2 Development of induced torque Synchronous Speed: - Maximum flux density occurs at = t . - Thus in 2 pole machine, point of max flux rotates anticlockwise at

d = dt
- Similarly a P-pole machines field rotates at:

sync =

P/2

nsync

120 f e = P

known as synchronous angular velocity HOW CAN I CHANGE THE DIRECTION OF ROTATION??

How is torque produced: - Stator sets up P rotating magnetic poles at sync - Induces voltages in squirrel-cage conductors proportional to the velocity of the rotor bars relative to the magnetic field: eind = vBl - Voltages result in currents in rotor conductors - Rotor currents establish magnetic poles on rotor: Nr , Sr - Interaction of Stator and Rotor poles produces torque: Nr Ss and Sr Ns

7.2.2 cont

- Figure for case of purely resistive conductors resulting in maximum induced current directly under stator poles.

Effect of Rotor Inductance on Torque - Equivalent circuit for a rotor conductor

Z c = Rc + jsLc

Vc Ic = Rc + jsLc

- Current lags hence peak current occurs after stator pole passes by hence reduced torque - rs < 90 - Upper limit to motor speed - Rotor and Stator magnetic fields rotate at nsync, but rotor turns at slower speed

7.2.3 Concept of Rotor slip - Frequency of induced voltages depend on relative speed (stator field vs rotor) and number of poles - Stator field at synchronous speed sync and rotor mechanical speed m - Hence relative speed or slip speed: slip = sync - m or nslip = nsync - nm

- Slip is defined as: - nm = (1 s )nsync

sync m n sync n m s= = sync n sync

m = (1 s )sync

7.2.4 Electrical frequency on the rotor - Operates like rotating transformer: Primary = Stator, Secondary = Rotor - Induces voltages at slip frequency slip = ssync - Locked rotor i.e. stationary: Slip s = 1 and fr = fs - At synchronous speed s = 0, fr = 0

f r = sf e fr =
-

nsync nm nsync

f e = (nsync nm )

P fe 120 f e

fr =

P (nsync nm ) 120

7.3 The Equivalent Circuit of an Induction Motor

7.3.1 Transformer model

- Circuit elements: o Stator resistance and leakage reactance: R1 and X1 o Core Loss resistance RC and Magnetizing reactance Xm refer to BH-curves. Why the difference? o E1 = Primary internal stator voltage coupled to secondary rotor voltage ER via effective turns ratio aeff.

- Primary difference wrt transformer lies in effects of varying rotor frequency on the rotor voltage ER and the rotor impedances RR and XR.

7.3.2 Rotor Circuit Model - Stator voltage induces voltage on rotor windings - The greater the relative motion between the rotor and stator magnetic fields, the greater the induced rotor voltage and frequency: eind = vBl - Maximum induced voltage at locked rotor condition: ER0 - Voltage and frequency directly proportional to slip of the rotor: E R = sE R 0 f r = sf e . - Rotor contains both reactance and resistance o RR is independent of slip o XR depends on rotor inductance LR and frequency of induced voltage and current: o X R = r LR = 2f r LR = 2sf e LR = s(2f e LR ) = sX R 0 with XR0 the locked rotor reactance - Resulting equivalent circuit:

IR =

sE R 0 RR + jsX R 0

IR =

ER0 RR / s + jX R 0

- All rotor affects due to varying rotor speed accounted for by varying impedance, or rather varying resistance. - At low slip RR/s >> XR0, IR varies linearly with slip - At high slip XR0>> RR/s, IR approaches steady state value

7.3.3 Final PER PHASE Equivalent Circuit - Need to refer rotor part of model to the stator side

' E1 = ER = aeff ER 0

I2 =

IR aeff

R 2 R Z 2 = aaff R + jX R 0 = 2 + jX 2 s s

- PROBLEM for cage motors: Almost impossible to determine RR, XR0 and aeff. - Possible to directly determine referred values (Chap 7.11)

7.4 Power and torque in induction motors

7.4.1 Losses and Power-Flow Diagram

- Pin : 3 phase input power - PSCL: Stator copper losses 3I2R1 - Pcore: Core losses due to hysteresis and eddy currents - PAG: Power transferred to the rotor across the airgap - PRCL: Rotor copper losses 3I2R2 - Pconv: Remaining elect energy conv to mech energy - PF&W: Friction and windage losses - Pstray: Stray losses - Pout: Power out available for torque to load - Prot = PF&W + Pstray + Pcore: Rotational losses constant with changing speed because as => (PF&W + Pstray ) and Pcore

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7.4.2 Power and Torque in an IM

PSCL = 3I12 R1 Pcore = 3E12 / RC

2 PAG = Pin PSCL Pcore = 3I 2 2 PRCL = 3I R RR = 3(aeff I 2 ) 2

R2 s

R2 2 = 3I 2 R2 = sPAG 2 aeff

1 s 2 Pconv = PAG PRCL = 3I 2 R2 = Pdev = (1 s ) PAG s P P PAG = conv = RCL (1 s ) s Pout = Pconv PF &W Pmisc

ind = dev =

Pconv

(1 s ) PAG P = AG (1 s )sync sync

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7.4.3 Separating PRCL and Pconv

2 - Recall: PRCL = 3I 2 R2

1 s 2 Pconv = 3I 2 R2 s R2 1 s = R2 + R2 - Hence: s s

- From Electrical Engineering Principles and Applications 4th edition by Allan R. Hambley, Chapter 17:

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7.4.4 Torque-Speed Characteristic - From Electrical Engineering Principles and Applications 4th edition by Allan R. Hambley, Ch. 17 - Finally the torque-speed characteristic can be explained! - Recall: o At low slip RR/s >> XR0, IR varies linearly with slip o At high slip XR0>> RR/s, IR approaches steady state value

- Start assuming rotor is at synchronous speed - Small slip s result in sLc << Rc hence
o Torque is proportional to slip assuming small slip!

- Slowing down sLc eventually dominates

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7.5 IM Torque-speed characteristics

7.5.1 Induced Torque from a Physical Standpoint. Self read. 7.5.2 Derivation of IM Induced Torque Equation

ind = dev =

Pconv

m
PAG

(1 s) PAG P = AG (1 s )sync sync

2 2

R2 = 3I s

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15

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7.5.3 Comments on the IM Torque-Speed curve

1. 2. 3. 4. 5. 6. 7.

Induced torque = 0 at synchronous speed TS-curve linear between no load and full load (low slip). Pullout torque not be exceeded. Starting torque > full-load torque Torque at fixed slip varies with V2. If rotor speed > sync speed = generator. Plugging = reversal of 2 phases to quickly break IM.

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7.5.4 Maximum (Pullout) Torque in an IM

ind =

PAG

sync

Hence ind is maximum when PAG is maximum.

2 R PAG = 3I 2 2 , maximum Since ind is when power in s

R2/s is max, which is when

R2 2 2 = RTH + ( X TH + X 2 ) s
From figure below use principle of maximum power transfer.

Hence slip at pull-out torque:

s=

R2
2 RTH + ( X TH + X 2 ) 2

(7-53)

Maximum or pull-out torque from eq 7-50

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 Note: slip @ max R2, BUT value of max is independent of R2.

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7.11 Determining circuit model parameters

7.11.1 No-Load Test (open circuit) - Only load is friction and windage - Slip is very, very small - Power measured must equal losses in motor - P = PNL = PSCL + (Pcore + PF &W + Pmisc ) = 3I1 R1 + Prot in - IM large to create flux through high airgap reluctance,
2

hence very small Xm compared to R2/s: X NL X 1 + X m -

Z NL =

V I1, nl

RNL =

PNL 3I12,nl

2 2 X NL = Z NL RNL

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7.11.2 R1: DC Test

R1 =

1 VDC 2 I DC

7.11.3 Blocked-rotor Test (short circuit) - Voltage is increased intil current is approx rated current - Measure voltage, current, power - Problem: o f r = sf e hence with s = 1 reactance X = 2f r L = 2f e L which is much higher than at usual s 0.03. o IEEE recommends operation at 25% of rated frequency

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7.11.3 cont

RLR = R1 + R2 = V I1

PLR R2 = RLR R1 2 3 I1
' 2 2 X LR = Z LR RLR

- Locked rotor impedance at test frequency ftest: o

Z LR =

- Rotor impedance at rated frequency frated:

f rated ' X LR = X LR = X 1 + X 2 o f test o Usually X 1 = X 2 hence X m = X NL X 1 = X NL 0.5 X LR

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7.11.4 Summary for parameter tests: 1. Do DC test to get R1. 2. Do No-Load Test at rated voltage a. Measure: V, I, P b. Calculate: ZNL, RNL, XNL. 3. Do (B)locked rotor test at 25% frequency and rated current: a. Measure: V, I, P, ftest b. Calculate: ZLR, RLR, XLR. 4. Calculate Parameters: a.

X LR =

f rated ' X LR = X 1 + X 2 f test

b. X 1 = X 2 c. R2 = RLR R1 d. X m = X NL X 1 = X NL 0.5 X LR

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