Synchronous and Induction Machines

Synchronous and Induction Machines

(EE-202)
S4 - EE, 2017

E S . I N by

KTU NOT
Mr. Dinto Mathew
Asst. Professor
Dept. of EEE, MACE

May 13, 2017

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 Module 4 - Overview
1 Synchronous motor
Construction
Principle of Operation
Methods of Starting
Effects of Excitation
V-curve
Inverted V-curve
Equivalent Circuit
E S . I N
NOT
Phasor Diagram

KTU
Losses and Efficiency
2 Three phase Induction Motor
Construction
Types
Principle of Operation
Torque-Slip Characteristics
Equivalent Circuit of Induction Motor
Phasor Diagram
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 1. Synchronous motor

1.1 Construction
Synchronous motor → Synchronous machine operated as motor.
Stator → Armature → Three-phase winding → connected to 3-phase
AC supply

. I N
Rotor → Field system → connected to DC supply.

E S
NOT
Can have either revolving armature or revolving field type construction.

KTU
But revolving field type(ie, stationary armature type) is more common.
Rating : 150rpm to 1500rpm, 150kW to 15MW.
Parts:
Laminated stator core & Stator winding(3-phase armature winding)

Stator core & windings are similar to alternator.

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 1. Synchronous motor

Rotating field structure with damper winding & slip rings

Salient pole field poles are commonly used.
Field construction is little different from alternator.

. I N
In addition to the field winding, a squirrel cage winding is also provided

E S
NOT
in the pole faces.
The slots on the rotor pole face are parallel to shaft.

KTU
The ends of this squirrel cage winding on the pole face are short circuited
using copper bars.
This winding is known as damper winding or amortisseur winding →
starting winding.

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 1. Synchronous motor

E S . I N
KTU NOT
Figure 1 : Rotor pole

Brushes & brush holders

End shields & shaft
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 1. Synchronous motor

E S . I N
KTU NOT
Figure 2 : Rotor pole with damper winding

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 1.2 Principle of Operation

Field winding(rotor) is excited

with DC supply → rotor
poles are created → rotor
poles retain the same polarity

E S . I N
NOT
throughout.

KTU
Stator winding is connected to
AC supply → stator poles are
created → polarity of stator
poles changes.
Figure 3 : Synchronous motor

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 1.2 Principle of Operation

E S . I N
KTU NOT
Figure 4 : Operation of synchronous Figure 5 : Operation of synchronous
motor(a) motor(b)

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 1.2 Principle of Operation

Consider stationary rotor in figure 4. Rotor S-pole is attracted to stator

N-pole → rotor tends to rotate in clockwise direction.
After half period(ie, T/2 seconds where T=1/f), polarity of stator poles

S . I N
is reversed. But polarity of rotor poles remains the same(figure 5).

E
NOT
Rotor S-pole is repelled by stator S-pole → rotor tends to rotate in

KTU
counter clockwise direction
=⇒ Torque acting on the rotor is not unidirectional but pulsating.
Due to the moment of inertia of rotor, it will not move in any direction.
Synchronous motor has no self-starting torque.

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 1.2 Principle of Operation

Consider the rotor rotating(by

some external means) in
clockwise direction(figure 4).
Rotor S-pole attracted by stator
N-pole → clockwise torque
After half period, stator poles

E S . I N
NOT
polarity is reversed.

KTU
If the rotor is rotated at such a
speed by some external means at
the starting moment that rotor
S-pole advances by a pole pitch
so that it is again under the
Figure 6 : Operation of synchronous
influence of stator N-pole motor(c)
(figure 6).

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 1.2 Principle of Operation

Torque acting on the rotor would be again clockwise → unidirectional

torque.
Now if the external means is removed, rotor will continue to rotate in
clockwise direction under the influence of clockwise continuous torque

N
acting on the rotor.

E S . I
For continuous torque, rotor must rotate at such a speed that it moves

NOT
through the distance equal to pole pitch in half the period.(ie, in T2 or

KTU
1
2f seconds).
If there are ’P’ number of poles, then the time taken for one complete
P
revolution = 2f seconds
2f
ie, rotor should rotate at a speed P × 60 revolutions per minute.
For continuous torque, the rotor should rotate at synchronous
speed(Ns = 120f
P )

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 1.3 Methods of Starting

Synchronous motor has no self-starting torque.

Motor must be brought up to synchronous speed by some external
means.

E S . I N
NOT
Methods

KTU
1 From DC source
2 By means of AC motor
3 By means of Damper winding

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 1.3 Starting - from DC source

Synchronous motor is coupled with DC compound motor & started by

means of DC compound motor.
Speed of DC motor is adjusted by means of speed regulator.

S . I N
Synchronous motor is excited & synchronised with AC supply mains

E
NOT
At the moment of synchronising, synchronous motor is switched on

KTU
with the AC mains & DC motor is disconnected from the DC supply
mains.
Thereafter synchronous machine will operate as a motor & DC machine
acts as a load on it.

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 1.3 Starting by means of AC motor

Synchronous machine is coupled with induction motor

Usually induction motor will have two poles less than the synchronous
motor and hence induction motor will be capable of raising the speed

. I N
of the synchronous machine to synchronous speed.

E S
NOT
Induction motor is normally started & the speed of synchronous machine
is brought to synchronous speed.

KTU
Synchronous machine must be synchronised with the bus-bars before
switching the AC supply to synchronous motor.
Thereafter synchronous machine will operate as a motor & induction
machine can be uncoupled.

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 1.3 Starting by means of Damper winding

Synchronous motor is made self-starting by providing damper

winding in the field pole faces.
Damper winding → short-circuited copper bars embedded in the faces
of field poles

. I N
Synchronous motor with damper winding starts as a squirrel cage
induction motor
E S
KTU NOT
AC supply is given to the stator winding → rotating magnetic field is
produced → induces emf & hence currents in the damper winding →
causes the rotor to rotate.
When motor attains about 95% of synchronous speed, field winding(ie,
rotor winding) is excited → rotor gets magnetically locked by the
rotating magnetic field → machine will run as synchronous motor at
synchronous speed.

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 1.3 Starting by means of Damper winding

Merits
When machine is overloaded, it doesn’t stop → continues running as
a squirrel cage induction motor(→ When speed falls slightly below Ns
due to overloading, an emf is induced in the damper winding which in

. I N
turn produces torque and keeps the motor running even on overload)

E S
NOT
Demerits
Since damper winding resistance is low, at starting machines takes large

KTU
current from the supply mains. To avoid large starting current, external
resistance is added in the rotor winding during starting period.
Field windings should be highly insulated for withstanding high induced
emf due to induction at starting(→ Usually field windings are having
low voltage ratings. eg: 110V or 250V).

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 Effect of Load on Synchronous Motor

Floating Condition

E S . I N
KTU
Figure 7 : Phasor during floating
NOT

Figure 8 : Field alignment

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 Effect of Load on Synchronous Motor

Floating Condition
When the synchronous machine(run by a prime mover) is synchronised,
induced emf across the stator circuit of the motor(also called as back

. I N
emf or counter emf or excitation voltage) is equal to the applied

E S
NOT
voltage ’V, but in opposite direction(fig. 7).
The centre lines of stator pole & rotor DC field pole coincide(fig. 8).

KTU
Since V = E, resultant voltage = 0 → so armature current = 0.
Motor intake is zero as there is neither load nor losses to be met.
This operating condition is known as floating.

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 Effect of Load on Synchronous Motor

No-load Condition

E S . I N
KTU NOT
Figure 9 : Phasor at No-load Condition

Figure 10 : Field alignment

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 Effect of Load on Synchronous Motor
No-load Condition
After synchronising, when the external prime mover is removed, motor
tends to slow down.
There is no change in speed. But there is merely a shift in relative
positions of stator & rotor poles & both of them continue to rotate at
synchronous speed(Ns ).

E S . I N
Rotor poles falls back a little relative to the stator pole.

KTU
torque angle(δ)(fig. 10).
NOT
Angular displacement between the rotor & stator poles is called as

Hereafter applied voltage(V) & induced emf(E) are no longer in phase

opposition(E lags V by angle δo ).
Resultant of V & E, ie ER causes a current(Io ) to flow in the stator
winding.
Io = EZRs
Io lags ER by an angle called as internal angle(θ)(fig. 9).
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 Effect of Load on Synchronous Motor

 
Internal angle(θ) = tan−1 RXes
where Re = effective armature resistance per phase
Xs = synchronous reactance per phase Zs = synchronous impedance
per phase

E S . I N √

NOT
At no-load, motor draws total power equal to 3VIo cos Φo from the
AC supply.

KTU
At no-load, torque angle(δo ) is very small → resultant voltage(ER )
acting across the armature circuit is small → hence Io is small.
If we neglect motor losses at no-load, torque angle(δo ) can be assumed
as zero.

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 Effect of Load on Synchronous Motor

Loaded condition

E S . I N
KTU NOT
Figure 11 : Phasor at Loaded condition

Figure 12 : Field alignment

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 Effect of Load on Synchronous Motor
Loaded condition
When motor is loaded, rotor pole falls back a little more relative to the
stator pole(fig. 12).
Torque angle(δo ) increases with increase in load.
When motor is loaded, torque angle(δo ) increases → resultant voltage(ER )
increases → current drawn from the supply(I) increases → input taken

S . I N
from the supply increases → output power increases → thus increased

E
NOT
load is met(fig. 11).

KTU
Synchronous motor is able to supply increased mechanical load,
not by reduction in speed, but by shift in relative positions of the
rotor pole & stator pole.
If too great load is applied to synchronous motor, rotor will pull out of
synchronism → thereafter motor will come to standstill.
Maximum value of torque that the motor can develop without loosing
synchronism is called pull-out torque.
Usually Tpull−out = (125% to 350%) of TFL .
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 1.4 Effects of Excitation

Change in field excitation doesn’t affect speed or change in output.

But does affect the power factor & consequently the armature
current for a constant supply voltage & constant input power.
Operation of synchronous motor at a constant supply needs nearly
constant flux.

S . I N
DC source & AC source cooperate in establishing resultant constant

E
NOT
flux.

KTU
When DC excitation is weak → field produced by DC field will be weak
→ stator draws lagging current to magnetise the air gap to the extent
needed to provide the necessary constant resultant flux.
Drawing lagging current from the AC supply results in low lagging
power factor.
For constant applied voltage & constant input power, active component
of current drawn from the supply should remain constant.

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 1.4 Effects of Excitation

With increase in DC excitation, magnetising component of current

drawn from the supply is reduced → supply side power factor improves
→ results in reduction of armature current(ie, stator current I).

. I N
If excitation is further increased such that power factor becomes unity,

E S
stator draws only active component of current.

KTU NOT
For unity power factor, armature current drawn will be minimum.
On further increase in DC excitation, filed produced by it becomes
stronger than it is required & needs demagnetisation → hence stator
draws leading to demagnetise the main field → drawing leading current
makes power factor leading(less than unity) → armature current increases.

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 1.4 Effects of Excitation

E S . I N
KTU NOT

Figure 13 : Effects of varying excitation(Phasor)

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 (a) Normal Excitation or 100% Excitation

E S . I N
KTU NOT
Figure 14 : Normal Excitation(Phasor)

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 (a) Normal Excitation or 100% Excitation

Consider a synchronous motor loaded with constant mechanical load &

operating at a constant supply voltage.
(a) Normal Excitation or 100% Excitation
E=V

.
Armature current(I) lags behind resultant
I N
  voltage(ER ) by an angle

E S
NOT
called as internal angle(θ = tan−1 Xs
Re ).

KTU
Armature current(I) lags behind applied voltage by power factor angle(Φ)
δ = load angle or torque angle
Power drawn per phase from the supply = VIcos Φ which remains
constant for constant applied voltage & constant mechanical load.
As speed remains constant, increase in DC excitation causes increase
in excitation voltage(E) & vice-versa

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 (b) Under Excitation

E S . I N
KTU NOT
Figure 15 : Under Excitation(Phasor)

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 (b) Under Excitation

(b) Under Excitation

E<V
When excitation is reduced, excitation voltage(E) decreases in magnitude
→ resultant voltage(ER ) is shifted in clockwise direction.

S . I N
Since internal angle(θ) is fixed, armature current phasor(I) is also
E
NOT
shifted in clockwise direction.

KTU
=⇒ Power factor angle(Φ) increases → power factor(cos Φ) decreases.
Armature current(I) increases(∵ active current component Icos Φ is
constant).
With reduction in DC excitation, synchronous motor draws more
current from the supply at lower lagging power factor.

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 (c) Over Excitation

E S . I N
KTU NOT
Figure 16 : Over Excitation(Phasor)

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 (c) Over Excitation

(c) Over Excitation

E>V

E S . I N
When excitation is increased above 100%, excitation voltage(E) increases
in magnitude → resultant voltage(ER ) is shifted in anticlockwise direction.

NOT
Since internal angle(θ) is fixed, armature current phasor(I) is also

KTU
shifted in anticlockwise direction.
Armature current(I) becomes leading with respect to supply voltage(V).
Motor operates at leading power factor.

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 (d) Critical Excitation

E S . I N
KTU NOT
Figure 17 : Critical Excitation(Phasor)

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 (d) Critical Excitation

(d) Critical Excitation

N
For a certain value of excitation, power factor angle(Φ) between V

S . I
& I becomes zero =⇒ armature current(I) is in phase with supply

E
NOT
voltage(V) → value of current drawn from the supply will be minimum.

KTU
If the excitation is increased above critical excitation, motor draws
current with leading power factor.

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 1.4 Effects of Excitation - Summary

When the DC excitation of synchronous motor is increased above 100%,

first power factor improves until it becomes unity.
At unity power factor, current drawn from the supply is minimum.
With further increase in DC excitation, power factor becomes leading

. I N
& decreases & current drawn from the supply main increases.

E S
KTU
Types of Excitation

Normal Excitation
NOT
Comparison of E & V

E=V
Nature of power factor

Lagging
Armature current(I)

Increased I
Under Excitation E<V Lagging Increased I
Over Excitation E>V Leading Increased I
Critical Excitation E>V Unity Minimum I
Table 1 : Comparison of Various Excitations

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 1.4 Effects of Excitation

E S . I N
KTU NOT

Figure 18 : V curve & Inverted V curve

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 1.5 V-curve

E S . I N
KTU NOT

Figure 19 : V-curve of synchronous motor

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 1.5 V-curve

V-curve of a synchronous motor is the curve showing the variation of

armature current with field current.
The curve has ’V’ shape.
V-curves of a synchronous motor give relation between armature current
& field current for different power inputs.

E S . I N
With low value of field current, armature current is large & lagging

KTU NOT
As field current is increased, power factor increases & armature current
decreases until it reaches a minimum value.
When armature current is minimum, power factor is unity.
The lines drawn though points of equal power factor at different loads
are known as compounding curves.
The region in which field current is less than it’s normal value is known
as region of under excitation or region of lag.

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 1.5 V-curve

If the field current is further increased, power factor becomes leading

& begins to decrease. So armature current begins to increase.

E S . I N
The region in which field current is more than the normal value is
known as region of over excitation or region of lead.

NOT
From V-curve, it is clear that no-load armature current rises sharply,

KTU
with change in field current, on either side of it’s unity power factor
point.
At stability limit, motor pulls out of synchronism.

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 1.6 Inverted V-curve

E S . I N
KTU NOT

o get moreFigure 20 : Inverted V-curve of synchronous motor

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 1.6 Inverted V-curve

Inverted V-curve of a synchronous motor is the curve showing the

variation of power factor with field current.
The curve has inverted-V shape(ie, ∧).

S . I N
Inverted V-curves of a synchronous motor give relation between power

E
NOT
factor & field current for different power inputs.

KTU
The region in which field current is less than it’s normal value is known
as region of under excitation or region of lag.
The region in which field current is more than the normal value is
known as region of over excitation or region of lead.

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 1.7 Equivalent Circuit

E S . I N
KTU NOT
Figure 21 : Equivalent Circuit of Synchronous Motor

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 1.7 Equivalent Circuit
Synchronous motor is fed from two sources of supply; field structure(rotor)
from DC source & armature winding(stator) from 3-phase AC source.
Under normal operation, no emf is induced in rotor due to stator
field because the rotor revolves at the same speed as the stator
field.
Only DC current flows through rotor winding.

S . I N
In stator, two effects are to be considered.

E
NOT
1 Rotor field cutting the stator conductors at synchronous speed(Ns )
→ voltage is induced in the stator winding due to field rotating at

KTU
synchronous speed → induced emf is known as excitation voltage or
back emf or counter emf → opposes the voltage applied(V) to the
stator.
→ Magnitude of excitation voltage(E) depends upon rotor flux per pole.
2 Effect of stator revolving field on stator winding → The effect is accounted
by including synchronous reactance(Xs ).
→ Effective resistance(Re ) is included to account for copper loss in the
stator winding & stray power loss.
→ Synchronous impedance(Zs ) = Re + jXs
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 1.7 Equivalent Circuit

From equivalent circuit, Excitation voltage per phase(reversed),

−E = V − IZs

Armature current per phase,

E S . I N
V +E ER

NOT
I = =
Zs Zs

KTU
Synchronous impedance,

Zs = Re + jXs
q
|Zs | = Re2 + Xs2

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 1.8 Phasor Diagram

In synchronous motor, ’V’ is the source voltage applied to the stator

winding & E is the counter emf which is internally generated.
Supply voltage ’V’ has to overcome synchronous impedance drop(IZs )
& counter emf(E).
Voltage equation of synchronous motor

E S . I N
V = −E + IZs

KTU
In phasor diagram,
OA = Applied voltage(V)
OB = Load current(I)
NOT
OC = Resistive drop(IRe )
CD = Reactive drop(IXs )
OD = Resultant voltage(ER = IZs )
AD = Excitation voltage(E)
All are phase values
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 1.8 Phasor Diagram

E S . I N
KTU NOT

Figure 22 : Phasor diagram when Φ is -ve

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 1.8 Phasor Diagram

E S . I N
KTU NOT

Figure 23 : Phasor diagram when Φ = 0

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 1.8 Phasor Diagram

E S . I N
KTU NOT
Figure 24 : Phasor diagram when Φ is +ve

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 1.9 Losses and Efficiency

E S . I N
KTU NOT

Figure 25 : Power flow diagram of synchronous motor

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 1.9 Losses and Efficiency
Synchronous motor: electrical power from source → mechanical power
output.
Electrical power input → (armature copper loss) → mechanical power
→ (friction, windage, hysteresis & eddy current losses) → useful
mechanical power output.

√
E S . I N
Power supplied to stator of synchronous motor,

NOT
Pin = 3VL IL cos Φ

KTU
VL = Stator line voltage, IL = stator line current
Armature copper loss = 3I 2 Re
I = stator phase current.
√
Mechanical power developed = 3VL IL cos Φ - 3I 2 Re
Net mechanical output(Pout ) = Mechanical power developed - (friction,
windage, hysteresis & eddy current losses)
Efficiency(η) = PPout
in
× 100 %
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 Hunting & Damping
When synchronous motor is loaded, the rotor poles falls back by a
certain angle(ie, load angle δ) behind the poles of the forward rotating
magnetic field of stator.
If the load is suddenly thrown off, the rotor poles are pulled into almost
exact position to the poles of the forward field, but due to moment of
inertia, rotor poles travel too far. They are then pulled back again &
son on.

E S . I N
NOT
Thus an oscillation is set up about the equilibrium position corresponding

KTU
to the new load.
This oscillation of the rotor about it’s equilibrium position is called
hunting.
Hunting
increases the probability of loosing synchronism
produces severe mechanical stresses & large variation in current & power
drawn by the motor
increases losses
increases temperature
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 Hunting & Damping
Causes of Hunting :
Sudden change in load or excitation current
Occurrence of fault in the system that is supplied by the alternator
Cyclic variations in load torque.
Hunting can be suppressed by
providing damper winding :

E S . I N
short-circuited copper bars embedded in the faces of the field poles of

NOT
synchronous motor

KTU
When machine runs exactly at synchronous speed, no emf is induced in
the damper winding → no current is flows through damper winding
When speed of the machine slightly deviates from Ns or hunting takes
place → there is relative motion between damper winding(placed in rotor
pole faces) & the rotating air gap flux → emf & currents are set up in
damper winding → opposes → helps to suppress the oscillations
using flywheels
designing synchronous machines with suitable synchronising power
coefficients.
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 M4 - Tutorial 1

Q1. A 3-phase, 440V, 50Hz star connected synchronous motor takes

7.46kW from the 3-phase supply mains. The resistance per phase of the
armature winding is 0.5Ω. The motor operates at a pf of 0.75 lag. Iron &

N
mechanical losses amount to 500W. The excitation loss is 650W. Assume

S . I
the source for excitation to be a separate one. Calculate (i) armature

E
NOT
current (ii) power supplied to motor (iii) efficiency.

Ans:
KTU
(i) Armature current, I = 13.05A
(ii) Total power supplied to motor = 8110W
(iii) Efficiency = 82.67%

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 M4 - Tutorial 1

Q2. A 3.3kV delta connected motor has synchronous reactance per phase

N
of 18Ω. It operates at a leading pf of 0.707 when drawing 800kW from
mains. Calculate it’s excitation emf.

E S . I
Ans:

KTU
(i) Excitation emf, E = 4972.8V NOT

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 2. Three phase Induction Motor

Introduction
Most widely used AC motor
Low cost
Simple and rugged construction
Absence of commutator
Good power factor
High efficiency

E S . I N
NOT
Good speed regulation

KTU
Singly excited machine
Stator winding is connected to AC supply
No electrical connection from rotor to any source of supply
AC supply → stator currents → stator field → rotor emf and current
→ net unidirectional torque
Asynchronous motors
=⇒ speed of motor(N) 6= synchronous speed(Ns )

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 2. Three phase Induction Motor

Machine is reversible → machine can be operated as a motor or a

generator

E S . I N
NOT
Power is transferred from stator to rotor by mutual induction → hence

KTU
the name Induction Machine

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 2.1 Construction

Laminated stator core carrying polyphase winding

Laminated rotor core carrying either a squirrel cage or polyphase winding
(Non-salient pole construction is used for all polyphase induction motors)
1. Frame

E S . I N
NOT
Outer body

KTU
Supports stator core & winding
Protects inner parts of the machine
Ventilating housing
Frame may be die-cast(greater mechanical strength) or fabricated
Frame is provided with feet by which machine is fixed to the base plate

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 2.1 Construction

E S . I N
KTU NOT
Figure 26 : Induction motor

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 2.1 Construction

E S . I N
KTU NOT
Figure 27 : Induction motor

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 2.1 Construction

E S . I N
KTU NOT
Figure 28 : Induction motor

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 2.1 Construction
2. Stator core
Air-gap is made as small as
practicable(0.3mm to 0.35mm
→ small machine & 1mm
to 1.5mm → high power
Carry alternating flux machine)
Assembled of high grade silicon

E S . I N
NOT
steel punchings of(0.35mm to
0.65mm)

varnishKTU
Punchings are insulated with

Radial ventilating ducts are

provided
Slots(open or semi-closed) are
punched on the inner periphery Figure 29 : Stator core
to accommodate stator winding
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 2.1 Construction

3. Stator or Field Winding

E S . I N
KTU NOT
Figure 31 : 3-phase 4-pole star
Figure 30 : Stator connected stator winding

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 2.1 Construction

Three phase winding either star or delta connected

. I N
Winding is wound for a definite number of poles as per requirement of
speed
E S
KTU NOT
Usually double layer short-pitched winding
Winding is placed in the stator slots

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 2.1 Construction

4. Rotor
Cylindrical laminated iron core
Slots are punched on the outer
periphery of rotor core
Rotor conductors are placed in
rotor slots
E S . I N
NOT
Laminated silicon sheets are

KTU
employed for rotor core
Ventilating ducts are also
provided
No. of rotor slots < no. of
stator slots(rotor slots = non- Figure 32 : Rotor stamping
integral multiple of stator slots)

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 2.1 Construction
- Two types of rotors
a. Squirrel Cage Rotor
Simple & robust construction
Copper bars are placed as
rotor conductors, approximately
parallel to shaft & close to rotor
surface

E S . I N
NOT
Ends of all rotor conductors are

KTU
short-circuited using end rings
Rotor slots are usually semi-
closed or closed type
Since rotor conductors are
permanently short-circuited
using end rings, addition of
external resistance is not Figure 33 : Squirrel cage rotor
possible.
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 2.1 Construction

b. Wound Rotor
Polyphase winding is placed in
rotor slots
Smaller number of rotor slots &

N
fewer turns per phase
Rotor is wound for the same
E S . I
NOT
number of poles as that of stator

KTU
Rotor winding may be star or
delta connected(usually star)
Finish terminal are connected
together → star-point
Start terminal are connected to Figure 34 : Wound rotor
slip rings → brushes

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 2.1 Construction

E S . I N
KTU NOT
Figure 35 : Slip ring induction motor with starting rheostat

During starting → maximum resistance is included in the rotor circuit

Resistance is gradually cut out as the motor picks up speed
During normal ruining condition → entire external resistance is cut out
& the rotor windings are short-circuited
Wound rotor induction motors are called as Slip-Ring Induction Motors
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 2.1 Construction

5. Shaft & Bearings

E
Rotor shaft is supported by bearings
S . I N
NOT
Ball and roller bearings are usually used

KTU

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 2.1 Construction

E S . I N
KTU
Figure 36 : Copper bars
NOT Figure 37 : Winding

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 2.1 Construction

E S . I N
KTU NOT
Figure 38 : Squirrel cage induction motor

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 2.1 Construction

E S . I N
KTU NOT
Figure 39 : Squirrel cage rotor

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 2.1 Construction

E S . I N
KTU NOT
Figure 40 : Wound rotor

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 2.1 Construction

E S . I N
KTU NOT
Figure 41 : Wound rotor

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 2.2 Types

1 Squirrel Cage Induction Motor

2 Wound Rotor or Slip-ring Induction Motor

S . I N
Same principle of operation & stator construction
E
NOT
Differ in rotor construction

KTU
Squirrel cage induction motor → Low cost
Slip-ring Induction Motors are used when speed control or high starting
torque is required

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 2.3 Principle of Operation

Stator winding is connected to a 3-phase AC supply.

Rotating magnetic field is established.
Rotating magnetic field rotates at synchronous speed(Ns ).
Direction of revolution of field depends on the phase sequence of the
supply.

E S . I N
Direction of rotation of field can be reversed by interchanging any two

NOT
terminals of the supply.

KTU
120f
Synchronous speed(Ns ) = P
f = supply frequency, P = number of poles on stator.
As the rotating magnetic field sweeps across the rotor conductors, an
emf is induced in these conductors due to electromagnetic induction.
Since the rotor winding is either directly shorted or closed through
external resistance, current is circulated through rotor winding.

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 2.3 Principle of Operation

E S . I N
KTU NOT
Figure 42 : Stator field and rotor

- Production of torque
Let’s assume that field rotates in clockwise direction and rotor is
stationary.
Current carrying conductor placed in magnetic filed experiences force.
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 2.3 Principle of Operation

Rotor conductor experiences a force tending to rotate the conductor

towards right(by applying left hand rule).
After one half-cycle, both stator current and rotor current will have
reversed → hence rotor tends to rotate in the same direction.

. I N
If the developed torque overcomes resisting torque, rotor will accelerate

E S
in the same direction as the rotation of stator field.

KTU NOT
Lenz’s Law → Direction of induced emf would be in such a direction
that it would try to oppose the very cause for which it is due.
Relative speed between the rotating field and stationary rotor conductors
causes the production of induced emf and current in rotor.
Hence the torque produced due to induced rotor currents will cause
the rotor to follow the rotating magnetic field and thus reducing the
relative speed.

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 2.3 Principle of Operation

When the machine is about to start, relative speed between stator field
& stationary rotor is synchronous speed(Ns ) =⇒ frequency of rotor
induced emf(fr ) = supply frequency(f)

. I N
As the motor picks up speed, relative speed decreases.

E S
NOT
The magnitude of rotor induced emf, induced rotor current and the
torque depends on the relative speed.

KTU
Hence when relative speed is zero(ie, rotor runs at synchronous speed),
there would be no induced emf & no induced rotor currents, no rotor
field and hence no torque. Hence an induction motor can not run
at synchronous speed

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 2.3 Principle of Operation

At no-load, induction motor runs at a speed very close to Ns → small

relative speed → small rotor induced emf and current → small torque
just sufficient to overcome the losses and maintain the rotor in motion.

S . N
As load is applied → rotor will slow down as the torque developed at

I
no-load will not be sufficient to keep the rotor rotating at no-load speed

E
NOT
against additional opposing torque of load.

KTU
Relative speed between stator field and rotor is increased → greater
rotor induced emf and current → greater torque.
When the induction motor is loaded, the motor slows down until the
relative motion between rotor & rotating field is just sufficient to result
in the development of torque necessary for that particular load.

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 Slip

Speed(N) of polyphase induction motor is always less than synchronous

speed(Ns ).
Slip is defined as the difference between speed of stator field and actual
speed of rotor usually expressed as percentage of synchronous speed.

E S . I N
NOT
(Ns − N)
% Slip = × 100

KTU
Ns

Normal slip is usually between 2% and 5%.

No-load slip is usually as small as 0.5%.
As load is applied, slip increases from no-load slip value.

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 Frequency of Rotor Current or EMF(fr )
The rate at which rotor conductors are being cut by the rotating flux
depends upon the relative speed between rotating magnetic field &
rotor(ie, slip speed).
Frequency of rotor current(or emf) induced by relative motion between
rotor conductors and the stator revolving magnetic field,

E S . I N
Relative speed in rpm
fr =

NOT
120/P

KTU
Ns − N
=
120/P
120f
But Ns − N = s × Ns = s ×
P
120f P
=⇒ fr = s × × = sf
P 120

=⇒ Slip frequency, fr = sf
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 Rotor EMF(E2 )

At standstill condition, 3-phase induction motor is equivalent to 3-phase

transformer with secondary short-circuited.
∴ rotor induced emf per phase(E2 ), at standstill condition,

N2

E . I N
E2 = E1 ×

S N1

KTU NOT
where E1 = Applied voltage per phase to stator, N2 = Number of turns
per phase on rotor, N1 = Number of turns per phase on stator
When rotor rotates, the relative speed of rotor with respect to stator
field drops in proportion to slip(s).
∴ Rotor induced emf = s × E2
ie, for slip s, induced emf in rotor is ’s’ times the induced emf in
the rotor at standstill condition.

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 Rotor Current(I2 ) and Power Factor

E S . I N
KTU NOT
Figure 43 : Circuit diagram of induction motor rotor

Let,
R2 = rotor resistance per phase
L2 = rotor inductance per phase
E2 = rotor induced emf per phase at standstill
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 Rotor Current(I2 ) and Power Factor

At standstill,

Induced emf per phase in rotor = E2

Rotor winding resistance per phase = R2

E S . I N
Rotor winding reactance per phase, X2 = 2πfL2
q

NOT
Rotor winding impedance per phase, Z2 = R22 + X22

KTU
E2 E2
Rotor current per phase, I2 = =q
Z2 R22 + X22
R2
Power factor of rotor current, CosΦ2 = q
R22 + X22

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 Rotor Current(I2 ) and Power Factor
At slip s,
Induced emf per phase in rotor = sE2
Rotor winding resistance per phase = R2
Rotor winding reactance per phase = 2πfr L2 = 2πsfL2 = sX2
q

E S . I N
Rotor winding impedance per phase, Z2 = R22 + (sX2 )2

NOT
sE2 sE2
Rotor current per phase, I2 = =q
Z2

KTU
R22 + (sX2 )2
E2
= r 2
R2
s + X22
E2
= r 2
R2 + R2 (1−s)
s + X22

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 Rotor Current(I2 ) and Power Factor

R2 (1−s)
s = fictitious resistance representing electrical load on the
rotor.
Power consumed by fictitious resistance = I22 R2 (1−s)
s and is converted
into mechanical power.

E S . I N
KTU NOT
Figure 44 : Circuit of
induction motor rotor Figure 45 : Circuit of induction motor rotor

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 Rotor Current(I2 ) and Power Factor

R2
Power factor of rotor current, CosΦ2 = q
R22 + (sX2 )2
Rotor Torque
Torque(T) developed by the rotor of induction motor is directly
proportional to

E S . I N
NOT
1 Rotor current(I2 )
2 Stator flux per pole(Φ)

KTU
3 Power factor of the rotor circuit(CosΦ2 )

=⇒ T ∝ Φ I2 CosΦ2
But rotor emf per phase at standstill, E2 ∝ Φ
∴ T ∝ E2 I2 CosΦ2
=⇒ T = K E2 I2 CosΦ2 , where K = any constant
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 Torque under Running Conditions

Torque(T ) = K E2 I2 CosΦ2
   

= K E2  q
sE2

E S . I N
 × q R2 

NOT
2 2 2 2
R2 + (sX2 ) R2 + (sX2 )

KTU
K s R2 E22
=
R22 + (sX2 )2

Running torque ∝ square of supply voltage(∵ E2 ∝ supply voltage).

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 Torque under Running Conditions

R2
Condition for maximum torque, s = X2 =⇒ R2 = sX2
K E22
Tmax = 2 X2

E S . I N
Maximum torque(Tmax ) is also known as breakdown torque or pull-

NOT
out torque

KTU
Tmax is not affected by change in rotor resistance. But the value
of slip at which maximum torque occurs changes with change in
rotor resistance.

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 Starting Torque(Tst )

At starting, s = 1

K R2 E22
Tst =
R22 + X22

E S . I N
NOT
Usually supply voltage(V) is constant. Hence the stator flux(Φ) and

KTU
E2 are also constant.

K1 R2 K1 R2
∴ Tst = 2 2
=
R2 + X2 Z22

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 2.4 Torque-Slip Characteristics

E S . I N
KTU NOT

Figure 46 : Torque-Slip Characteristics

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 2.4 Torque-Slip Characteristics
Torque developed by the induction motor,
K s R2 E22
T =
R22 + (sX2 )2
1 When s = 0, T = 0 =⇒ Torque-slip curve starts from origin.
2

E S I N
When speed is close to Ns , slip(s) will be very low.

.
=⇒ sX2 can be neglected in comparison with R2 .

NOT
=⇒ T ∝ slip, if R2 is constant.

KTU
=⇒ At speeds near Ns , Torque-slip curve is approximately straight
line.
3 With increase in applied load, speed(N) decreases → slip(s) increases
R2
→ torque increases and reaches maximum torque(Tst ) when s= X 2
.
- Slip corresponding to maximum torque → breakdown slip(sb )
4 With further increase in slip due to increase in load beyond maximum
torque, → torque decreases → motor slows down → eventually motor
stops.
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 2.4 Torque-Slip Characteristics

5 Motor operates for the value of slip, 0 < s < sb

6

E S . I N
With higher values of slip(s), R2 << sX2 . Hence R2 may be neglected.
=⇒ T ∝ (sXs )2 ∝ 1s if standstill reactance(X2 ) is constant.

NOT
2
=⇒ Torque-slip curve is rectangular hyperbola

KTU
for the region s > sb

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 Torque-Speed Characteristics

E S . I N
KTU NOT

Figure 47 : Torque-Speed Characteristics

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 Torque-Speed Curve & Operating Region

E S . I N
KTU NOT
Figure 48 : Torque-Speed Curve

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 Torque-Speed Curve & Operating Region

For any load torque, there are two operating points ’B’ and ’D’.
At point ’B’ → operation is unstable(∵ any tendency of speed rise
increases developed torque beyond load torque causing further rise in
speed).

E S . I N
At point ’D’ → operation is stable. Because,

NOT
Tendency to rise in speed will be opposed by decrease in developed

KTU
torque.
Tendency to fall in speed causes increase in developed torque to bring
the motor to operating point ’D’.
Region AC → unstable region of operation
Region CF → stable region of operation

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 Torque-Speed Curve & Operating Region

At full load, motor runs at a speed N rpm

If the load is increased → motor speed drops till the torque developed
by the motor equals load torque.

E S . I N
NOT
As long as load torque = developed torque, motor will run at constant
speed.

KTU
If load torque > breakdown torque, motor immediately stops.
Tmax ranges from 200 to 300% of Tfull−load .

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 Torque and Power

Let,
Tsh = shaft torque, Tg = gross torque, N = rotational speed
Power output
2πN
Pout = Tsh × watts

N
60
Mechanical power developed
E S . I
KTU NOT
Pmech = Tg ×
2πN
60
Pout
watts

=⇒ Tsh = 9.55 × Nm
N
Pmech
Tg = 9.55 × Nm
N
(Tg - Tsh ) → torque lost due to friction & windage losses in motor.

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 2.5 Equivalent Circuit of Induction Motor

At standstill, induction motor can be considered as a transformer with

it’s 2o winding short-circuited.
In transformer, load on 2o is electrical.

S . I N
In induction motor, load on the rotor is mechanical which can be

E
NOT
represented by the equivalent electrical load RL0

KTU
   
0 R2 1 − s 0 1−s
RL = 2 = R2
K s s

where R2 = rotor resistance per phase, K = turns ratio

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 2.5 Equivalent Circuit of Induction Motor

E S . I N
KTU NOT
Figure 49 : Equivalent circuit of induction motor

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 2.5 Equivalent Circuit of Induction Motor

V = Applied voltage per phase

R1 = Stator resistance per phase
X1 = Stator leakage reactance per phase
R2 = Rotor resistance per phase
X2 = Rotor standstill leakage reactance per phase
Ro = No-load resistance per phase

E S . I N
NOT
Xo = No-load reactance per phase

KTU
E1 = emf induced per phase in stator
E2 = emf induced per phase in the rotor
The circuit can be simplified by transferring no-load current components
to the supply terminals.
At no-load, stator impedance drop(Io Z1 ), being very small can be
neglected.

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 2.5 Equivalent Circuit of Induction Motor

E S . I N
KTU NOT
Figure 50 : Equivalent circuit of induction motor

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 2.5 Equivalent Circuit of Induction Motor

Energy component of no-load current(Io )

E S . I N Ie =
V
Ro

KTU NOT
magnetising component of no-load current(Io )

Im =
V
Xo

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 2.6 Phasor Diagram

E S . I N
KTU NOT
Figure 51 : Phasor diagram of induction motor

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 2.6 Phasor Diagram

E S . I N
KTU NOT

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 2.6 Phasor Diagram

At any load, when motor is operated with slip s, induced emf in rotor
winding,

−
→ −
→ → −
E20 = s E2 = I2 (R2 + jsX2 )

S . I
q
N
=⇒ sE2 = I2 R22 + (sX2 )2
E
KTU NOT E2
=⇒ I2 = r 
2
R2
s + X22

Total power supplied to rotor = 3 I22 Rs2

Power lost in rotor = 3 I22 R2
1−s
Mechanical power developed = 3 I22 R2 = 3 I22 RL


s

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 2.6 Phasor Diagram

(E2 − sE2 ) = E2 (1-s) is known as speed emf

E2
E1 = K
The air gap flux Φ leads induced emfs E1 & E2 by 90o
→
− →
− →
−
Stator current I1 = I10 + Io

E S . I N
NOT
→
−0 →
−
I1 = K I2

KTU
I1 R1 = resistance drop per phase in stator
I1 X1 = reactance drop per phase in stator
→
− −
→ → − →
−
V = −E1 + I1 R1 + I1 X1
−
→ → − →
−
→ −
E2 = I2 R2 + I2 R2 1−ss + I2 X2

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 M4 - Tutorial 2

Q1. Find the running speed of a 4-pole induction motor working on 50Hz

N
supply having 3% slip.

E S . I
Ans:
N = 1455rpm
KTU NOT

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 M4 - Tutorial 2

Q2. A 6-pole induction motor is supplied by a 10-pole alternator which is

driven at 600rpm. If the motor is running at 970rpm, determine the
percentage slip.

E S . I N
Ans:
% slip = 3%
KTU NOT

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 M4 - Tutorial 2

Q3. A 3-phase induction motor has 2 poles and is connected to 400V,

50Hz supply. Calculate the actual rotor speed & rotor frequency when the
slip is 4%.

E S . I N
Ans:
N = 2880rpm
fr = 2Hz KTU NOT

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 M4 - Tutorial 2

Q4. A 1.1kV, 50Hz delta connected induction motor has a star connected
slip-ring rotor with a phase transformation ratio of (1/3.8). The rotor
resistance and standstill leakage reactance are 0.012Ω & 0.25Ω per phase
respectively. Neglecting stator impedance & magnetising current,
determine (i) Rotor current and rotor power factor at start with slip-rings

S . I N
shorted. (ii) Rotor current & rotor power factor at 4% slip with slip rings

E
NOT
shorted. (iii) External rotor resistance per phase required to obtain a
starting current of 100A in the stator supply lines.

Ans:
KTU
(i) I2 = 1156.6A, CosΦ2 = 0.048 lag
(ii) I2 = 742.3A, CosΦ2 = 0.768 lag
(iii) External resistance required per phase = 1.2836Ω

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 M4 - Tutorial 2

Q5. A 440V, 50Hz, 6 pole, three phase induction motor draws an input
power of 76kW from the mains. The rotor emf makes 120 complete cycles
per minute. It’s stator losses are 1kW & rotor current per phase is 62A.

N
Calculate (i) Rotor copper losses per phase (ii) Rotor resistance per phase
(iii) Torque developed.

E S . I
Ans:
(i) I2 = 62A KTU NOT
(ii) R2 = 0.26Ω
(iii) T = 716.2Nm

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 M4 - Tutorial 2

Q6. A 3-phase 6-pole, 50Hz induction motor develops 3.7kW at 950rpm.

N
What is the stator input if the stator loss is 300W?.

E S . I
Ans:

KTU
Stator input = 4.195kW NOT

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 M4 - Tutorial 2

Q7. A 400V, 3-phase delta connected induction motor gave the following
test data

No load test : 400V 3A 645W

Blocked rotor test : 200V 12A 1660W

E S . I N
The friction & windage losses amount to 183W. Obtain the equivalent

NOT
circuit diagram of the induction motor. Take stator winding resistance per

KTU
phase = 5Ω.

Ans:
Ie = 0.6A
Im = 2.94A Z01 = 28.87Ω per phase
Ro = 1155Ω R01 = 11.53Ω per phase
Xo = 236Ω X01 = 26.5Ω per phase

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 M4 - Tutorial 2

Q8. A 110V, 3-phase star connected induction motor takes 25A at a line
voltage of 30V with rotor locked. With this line voltage, power input to
the motor is 440W & core loss is 40W. The DC resistance between a pair
of stator terminals is 0.1Ω. If the ratio of AC to DC resistance is 1.6, find

resistance per phase.

E S . I N
the equivalent leakage reactance per phase of the motor, stator & rotor

Ans:
R1 = 0.08Ω KTU NOT
R01 = 0.213Ω
R20 = 0.133Ω
X0 1 = 0.66Ω

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 References

1 J. B. Gupta, ”Theory and Performance of Electrical Machines”

2 P. S. Bimbra, ”Electrical Machinery”
3 Nagrath J. and D. P. Kothari, ”Theory of AC Machines”
4

E S . I N
Say M. G., ”The Performance and Design of A. C. Machines”

NOT
5 Fitzgerald A. E., C. Kingsley and S. Umans, ”Electric Machinery”

KTU
6 Langsdorf M. N., ”Theory of Alternating Current Machinery”
7 Deshpande M. V., ”Electrical Machines”
8 Charles I. Hubert, ”Electric Machines”
9 Theodore Wilde, ”Electrical Machines, Drives and Power System”

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Mr. Dinto Mathew (Dept. of EEE, MACE) Synchronous and Induction Machines May 13, 2017 116 / 117
 Thank You
E S . I N
KTU NOT

*for private circulation only

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