Bahir Dar University

Institute Of Technology
Faculty Of Electrical & Computer Engineering

Unit – III
Induction Machines

By
Nebiyu Yisaye
nyissaye@gmail.com
Contents
 Introduction
 Construction
 Rotating magnetic field
 Principles of operation
 Synchronous speed and slip
 Equivalent circuit of induction machine
 Speed torque characteristics of induction motor
 Parameters determination of IM
 Speed control of IM
 Starting of IM

1/15/2025 2
 Introduction
 The induction machine is the most rugged and the most widely used machine
in industry.

 It has a stator and a rotor mounted on bearings and separated from the stator
by an air gap.

 Both stator winding and rotor winding carry alternating current.

 The alternating current (ac) is supplied to the stator winding machine.

 It has the following main advantages and also some disadvantages.

1/15/2025 3
 cont’d…
Advantages
1.It has very simple and extremely rugged, almost unbreakable construction
2.Its cost is low and it is very reliable
3.It has sufficiently high efficiency.
4.It has a reasonably good power factor
5.it requires minimum of maintenance
Disadvantage
1.Its speed cannot be varied without sacrificing some of its efficiency.
2.The speed is not easily controlled
3.Large starting current
4.They run at low and lagging power factor when lightly loaded.
5.Its starting torque is somewhat inferior to that of a d.c shunt motor

1/15/2025 4
 Construction
 An induction motor has two main parts
• Stator
• Rotor
 A stationary stator
- consisting of a steel frame that sup
ports a hollow, cylindrical core.
- core, constructed from stacked lam
ination sheets 0.4 - 0.5 mm thickne
ss.
- having a number of evenly spaced
slots, providing the space for the st
ator winding.

Stator of IM
1/15/2025 5
cont’d…
- A three-phase winding is put in slots punched out on the inner surface of the
stator frame.
- It is wound for a definite number of poles, the number of poles being determi
ned by the requirements of speed.
 A revolving rotor
- composed of punched laminations,
- stacked to create a series of rotor slots punched out on the outer surface, prov
iding space for the rotor winding
- The windings used in the rotor can be depending on the rotor design.

I. Squirrel-cage
II. Wound-rotor

1/15/2025 6
 Cont’d…

 squirrel-cage rotor:
- Almost 90 percent of induction motors are squirrel-cage type,
- because this type ‘rotor' has the simplest and most rugged construction a
nd is almost indestructible.
 wound-rotor:
 It is provided with a complete set of three-phase windings exactly as the st
ator.

1/15/2025 7
1/15/2025 8
 Rotating Magnetic Field
 When a 3-phase winding is energized from a 3-phase supply, a rot
ating magnetic field is produced.

 This field is such that its poles do not remain in a fixed position o
n the stator but go on shifting their positions around the stator.

 For this reason, it is called a rotating field.

 It can be shown that magnitude of this rotating field is constant an

m
d is equal to 1.5 where is m the maximum flux due to any phas
e.
1/15/2025 9
 Cont’d…

The resultant flux rotates around the stator at synchronous speed given by
1
20fe
n
sy
nc  rp
m
Where : p
 nsync is called the synchronous speed in rpm (revolutions per minute)
 fe is the supply frequency and
 P is the no. of poles

1/15/2025 10
 Principle of operation
 When the 3-phase stator winding are fed by a 3-phase supply, the
n a magnetic flux of constant magnitude but rotating at synchron
ous speed , is set up.
 This rotating magnetic field, pass through the air gap and cuts the
rotor windings.
 Due to the relative speed between the rotating flux and the statio
nary rotor conductors
 an emf is induced in the latter according to Faraday’s laws of ele
ctro-magnetic induction

1/15/2025 11
 Cont’d…
 Due to the fact that the rotor windings are short circuited, for bot
h squirrel cage and wound-rotor, an induced current flows in the
rotor windings
 The rotor current produces another magnetic field
 A torque is produced as a result of the interaction of those two m
agnetic fields


ki
n
BB
d R s

Where:
 ind is the induced torque and
 BR and BS are the magnetic flux densities of the rotor and the stator respe
ctively
1/15/2025 12
 Induction motor speed and slip
 As discussed in the previous topic, the stator magnetic field wit
h constant magnitude rotates at synchronous speed which is gi
ven as:
P 50 Hz 60 Hz
1
20fe
c
n
sy
n rp
m 2 3000 3600
p 4 1500 1800
6 1000 1200
 It is dependent on the
8 750 900
no. of poles and frequency
10 600 720
12 500 600

Table: Synchronous speed for different no. of poles

1/15/2025 13
 Cont’d…
 Therefore, the IM will always run at a speed lower than the sync
hronous speed
 The difference between the motor speed and the synchronous spe
ed is Known as the Slip speed

n
S
li
p 
ns
yncn
m

Where:
 nslip= slip speed
 nsync= speed of the magnetic field (synchronous speed)
 nm = mechanical shaft speed of the motor

1/15/2025 14
 Slip
 The other term used to describe the relative motion is slip, which i
s the relative speed expressed on a per-unit or a percentage basis. T
hat is, slip is defined as:
nslip
S x100%
nsync
Where S is the slip
nsync  nm
S x100%
nsync

 This equation can also be expressed in terms of angular velocity w

(radians per second) as:  
S sync m
x
100
%

sy
nc
1/15/2025 15
 Cont’d…
 Notice that : if the rotor runs at synchronous speed
S0
 If the rotor is stationary
S1
 It is possible to express the mechanical speed of the rotor shaft in t
erms of synchronous speed and slip as:
nm  1 S  nsync
Or
m  1 S sync
 These equations are useful in the derivation of induction motor tor
que and power relationships
16
1/15/2025
Rotor frequency
 When the rotor is stationary, the frequency of the rotor current is
the same as the supply frequency.
 But when the rotor starts revolving, then the frequency depends
upon the relative speed or on slip-speed.
 The frequency of the voltage induced in the rotor is given by
P(nsync  nm)
n s lip 
120 fr fr 
p 120
P  n s lip Psnsync
fr    sfe
120 120
Where: fr = the rotor frequency (Hz)
P = number of stator poles
nslip = slip speed (rpm)
1/15/2025 17
 Cont’d…
 What would be the frequency of the rotor’s induced voltage at a
ny speed nm?

fr Sfe

 When the rotor is blocked (s=1) , the frequency of the induced v

oltage is equal to the supply frequency

 On the other hand, if the rotor runs at synchronous speed (s = 0),

the frequency will be zero

1/15/2025 18
 Torque

 Any mechanical load applied to the motor shaft will introduce

a Torque on the motor shaft.
 This torque is related to the motor output power and the rotor s
peed
 l
oa
d
p
o
u
t
N
.
m a
n
d 
m
2n
m
r
ad
/s 
m 6
0
 Another unit used to measure mechanical power is the horse p
ower, used to refer to the mechanical output power of the mot
or.
h
p7
46
wa
tt
s

1/15/2025 19
Example
A 208-V, 10hp, four pole, 60 Hz, Y-connected induction motor
has a full-load slip of 5 percent
1. What is the synchronous speed of this motor?
2. What is the rotor speed of this motor at rated load?
3. What is the rotor frequency of this motor at rated load?
4. What is the shaft torque of this motor at rated load?

1/15/2025 20
Solution
1
2
01
f
e 2
0
(6
0
)
1. n
s
y
nc  
18
0
0r
pm
P 4

2. n
m(
1)sn
s


(
10
.
05
)18
0
01
71
0r
pm

3. r
fsf
e0
.
0
5
6
03
Hz

P P
load  out  out
4.  m m
2
n
60
10hp746watt/hp
 41.7N.m
(1/60)
17102
1/15/2025 21
 Equivalent Circuit model
 In this section we are going to develop the equivalent circuit of an
induction machine that can be used to study and predict the perfor
mance of the induction machine with reasonable accuracy.

 Consider three phase induction machine as shown in figure below

(wound rotor type)

1/15/2025 22
 Cont’d…

Figure: Stator equivalent circuit model of an induction machine

Where: V1 = per-phase terminal voltage
R1=per-phase stator winding resistance
X1 = per-phase stator leakage reactance
E1 = per-phase induced voltage in the stator winding
Xm = per-phase stator magnetizing reactance
Rc = per-phase stator core loss resistance
1/15/2025 23
 Equivalent Circuit model (rotor)
 Therefore, the magnitude of the induced voltage at any slip will be
given by the equation

R
E s
E R
0

 Where ER0 is the largest value of the rotor’s induced voltage obtain
ed at s = 1 (locked rotor)
 The same is true for the frequency, i.e. the frequency at any slip

fRsfe
 The reactance of an induction motor rotor depends on the inductan
ce of the rotor and the frequency of the voltage and current in the r
otor.
24
1/15/2025
 Cont’d…
 It is known that

XL2f
L 
 So, as the frequency of the induced voltage in the rotor change
s, the reactance of the rotor circuit also changes
XR rLr 2frLr
2sfeLr
sXR0
Where : XR0 is the rotor reactance at the supply frequency (at bloc
ked rotor)

1/15/2025 25
 Cont’d…
 Then, we can draw the rotor equivalent circuit as follows

Where ER is the induced voltage in the rotor and RR is the roto

r resistance

1/15/2025 26
 Cont’d…
 Now we can calculate the rotor current as
ER
IR 
(RR  jX R )
sER0

(RR  jsX R0 )
 Dividing both the numerator and denominator by s , then we get
ER0
IR 
RR
( jXR0)
s
Where ER0 is the induced rotor voltage and XR0 is the rotor reactance at blocked
rotor condition (s = 1)
1/15/2025 27
 Cont’d…
 Now we can have the rotor equivalent circuit

Fig. rotor equivalent circuit of induction motor

1/15/2025 28
Complete Equivalent Circuit of induction motor
 Now as we managed to solve the induced voltage and different fr
equency problems, we can combine the stator and rotor circuits in
one equivalent circuit
Where:
X 2  a e2 f f X R 0

R 2  a e2 f f R R

IR
I2 
a e ff
E 1  a e ff E R 0

N
a e ff  S

N R
Fig. Per-phase equivalent circuit of an induction machine

1/15/2025 29
 Approximate equivalent circuits
 If the voltage drop across R1 and X1 is small and the terminal volta
ge V1 does not appreciably differ from the induced voltage E1, the
magnetizing branch (i.e. Rc and Xm), can be moved to the machine
terminals as shown in Figure below

1/15/2025 30
 Cont’d…
 This approximation of the equivalent circuit will considerably si
mplify computation, because the excitation current (Io) and the l
oad component (I'2) of the machine current can be directly comp
uted from the terminal voltage V1 by dividing it by the correspon
ding impedance.

1/15/2025 31
 Cont’d…
 If a machine operates from a constant voltage and constant-frequency source,
the sum of core losses and friction and windage losses remains essentially co
nstant at all operating speeds.
 These losses can thus be lumped together and termed the constant rotational l
osses of the induction machine.
 If the core loss is lumped with the windage and frication loss Rc can be remo
ved from the equivalent circuit, as shown in Figure below;

Fig. approximate equivalent circuit of IM

1/15/2025 32
 IEEE Recommended Equivalent Circuit
 In the induction machine, because of its air gap,
 the exciting current Io is high of the order of 30 to 50 percent of the full-l
oad current.
 the leakage Reactance X is also high
1

 The IEEE recommends that in such situation, the magnetizing re

actance Xm not be moved to the machine terminals (as is done in
the above Figures), but be retained at its appropriate place, as sho
wn in Figure below.
 The resistance RC is however, omitted, and the core loss is lumpe
d with the windage and friction losses.

1/15/2025 33
 Cont’d…
 This equivalent circuit is to be preferred for situation in which th
e induced voltage E1 differs appreciably from the terminal voltag
e V1.

Fig. IEEE recommended equivalent circuit of IM

1/15/2025 34
Power and torque in induction motors
Power losses in Induction machines
Copper losses
- Copper loss in the stator (PSCL) = I12R1
- Copper loss in the rotor (PRCL) = I22R2
Core loss (Pcore)
Mechanical power loss due to friction and windage
 The higher the speed of an induction motor, the higher its friction,
windage, and stray losses (due to load variation).

1/15/2025 35
Cont’d…
Power flow in induction motor

1/15/2025 36
Cont’d…
Power and torque in induction motor
If the equivalent circuit is examined closely, it can be used to deri
ve the power and torque equations governing the operation of the
motor.
The stator copper losses in the three phases are given by

P
S
CL3 2
IR
11

The core losses are given by

P
c
or
e 
3E2
1Gc

so the air-gap power can be found as

1/15/2025 37
 Cont’d…
P
A
GP
i
n
(
P
SC
LPc
o
r)
e

 The only element in the equivalent circuit where the air-gap powe
r can be consumed is in the resistor R2/S.
 Therefore, the air-gap power can also be given by
R
P
AG 32
I
2
2
s
 The actual resistive losses in the rotor circuit are given by the equ
ation

P
R
CL32
IR
RR

1/15/2025 38
 Cont’d…
 Since power is unchanged when referred across an ideal transfor
mer, the rotor copper losses can also be expressed as
P
R
CL32
IR
22

 After stator copper losses, core losses, and rotor copper losses ar
e subtracted from the input power to the motor, the remaining po
wer is converted from electrical to mechanical form.
 This power converted , which is sometimes called developed me
chanical power, is given by

1/15/2025 39
 Cont’d…
Pco n v  PA G  PR C L
R2
 3I 2
2  3 I 22 R 2
s
1 
 3I2 R2   1
2

s 
1 s 
Pco n v  3I2 R2 
2

 s 
 Notice from previous Equations that the rotor copper losses are e
qual to the air-gap power times the slip:
P
R
CLs
PAG

1/15/2025 40
 Cont’d…
 Therefore, the lower the slip of the motor, the lower the rotor los
ses in the machine.
 Note also that if the rotor is not turning, the slip S = 1 and the air
-gap power is entirely consumed in the rotor. This is logical, sinc
e if the rotor is not turning, the output power Pout (= loa)d
must
m
be zero.
 Since P con
v PPAG  R,this
CL also gives another relationship between th
e air-gap power and the power converted from electrical to mech
anical form:
Pconv  PAG PRCL
 PAG sPAG
Pconv 1s PAG
1/15/2025 41
 Cont’d…
 Finally, if the friction and windage losses and the stray losses ar
e known, the output power can be found as
Pout PconvPF&W Pmi
sc

 The induced torque  ind in a machine was defined as the torque g

enerated by the internal electric-to-mechanical power conversion
.
 This torque differs from the torque actually available at the termi
nals of the motor by an amount equal to the friction and windage
torques in the machine.
 The induced torque is given by the equation
pconv
ind  This torque is also called the developed torque of the machine
m
1/15/2025 42
Cont’d…
 The induced torque of an induction motor can be expressed i
n a different form as well.

ind 
1sPAG
pconv

m 1ssync
pAG
ind 
sync

1/15/2025 43
 Example
 A 480-V, 60 Hz, 50-hp, three phase induction motor is drawing
60A at 0.85 PF lagging. The stator copper losses are 2 kW, and t
he rotor copper losses are 700 W. The friction and windage loss
es are 600 W, the core losses are 1800 W, and the stray losses ar
e negligible. Find the following quantities:
1. The air-gap power PAG.
2. The power converted Pconv.
3. The output power Pout.
4. The efficiency of the motor.

1/15/2025 44
Solution
1. P
i
n 3
VI
LLc
os

34
8
06
0
0.
85
42
.
4 k
W
P
A
G
P
n P
i S
CLP
c
or
e


42
.4
21
.
8 
38
.6k
W

2. P
c
onvP
AGP
RC
L

700
3
8.6 3
7.9k
W
1
000
3. P
o
utP
co
nvP
FW
&

600
3
7.9 3
7.3k
W
1
000
1/15/2025 45
Solution
37
.3
P
o
ut 5
0hp
0
.7
46

Pout
4.   100%
Pin
37.3
 100 88%
42.4

1/15/2025 46
Example
 A 460-V, 25-hp, 60 Hz, four-pole, Y-connected induction mot
or has the following impedances in ohms per phase referred to
the stator circuit:
R1 = 0.641 R2 = 0.332
X1 = 1.106  X2 = 0.464  XM = 26.3 
 The total rotational losses are 1100 W and are assumed to be c
onstant. The core loss is lumped in with the rotational losses. F
or a rotor slip of 2.2 percent at the rated voltage and rated freq
uency, find the motor’s
1. Speed 4. Pconv and Pout
2. Stator current 5. ind and load
3. Power factor 6. Efficiency
1/15/2025 47
Solution
1
2
01
f 
e 2
06
0
1. n
s
y
nc  1
8
00
rp
m
P 4
n
m(
1
s)
n
sy
n
c
(
1
0.
0
2
2
)1
8
0
01
76
0
r
p
m
R 0
.33
2
2  2 
2
2. Z j
X j0
.4 6
4
s 0
.02
2

15.0
9 j
0.46
415.11.7
6
1 1
Z  
 2    
f
1
/jXM 1/Z j0.
03 80.
066
2 1.
76
1
 1
2.
94
31
1
.
0.
077
3
31
.
1

1/15/2025 48
Solution
Z
t
ot
Zst
at
Zf


0.64
1j1
.10 2
61 .9
43
1 
.1

11.7
2j7.74
91 .0
733
.6
46
0
0
V
 3 
I  18
.
88
3
3.
6A


 
1
Z
t
ot 1
4.
07 3
3.
6
3. PF
cos
33
.
6 
0.
83
3 l
ag
g
ing
4. P
i
n 
3 V
LI
c
Los  3
4
6
018
.
8
80.
83
3
1
25
3
0
W
P
S
C
L
32
I
R
1
1
3(
1
8
.2
8
8
)
0
.
6
4
16
8
5
W

P
A
G
P
i
nP
S
C
L1
2
5
3
0
6
8
51
1
8
4
5W
1/15/2025 49
Solution

P
c
o
n
v(
1
s
)
P
A
G

(
10
.
0
2
2)
(
1
1
8
4
5
)1
1
5
8
5W

o
ut
PP c
on
vP
F
&W
11
58
5
11
0
010
48
5W
10485
=  14
.
1hp
746
 P
 
1
184
5


A
G
5. i
nd 62
.
8 N
.
m
s
yc 2
n 18
0
0
60
  P
o
ut 1
048
5


l
oad 5
6.
9N.
m
m2 
176
0
6
0

6.  P
o

P
u
t
100
%
1
1
0
2
4
8
 
5
3
5
0
10
083
.
7%
in
1/15/2025 50
 Performance characteristics

 The equivalent circuits derived in the preceding section can be used t

o predict the performance characteristics of the induction machine.
 The important performance characteristics in the steady state are:
 Efficiency
 Power factor
 current
 Starting torque
 Maximum (or pull-out) torque and
 etc.

1/15/2025 51
 Torque-speed characteristics
 A plot of induction motor torque as a function of speed (and slip) is sh
own in figure below

Fig. A typical induction motor torque-speed characteristic curve.

1/15/2025 52
 Note
1. The induced torque is zero at synchronous speed.
2. The curve is nearly linear between no-load and full load. In this range, the roto
r resistance is much greater than the reactance, so the rotor current, torque incr
ease linearly with the slip.
3. There is a maximum possible torque that can’t be exceeded. This torque is call
ed pullout torque and is 2 to 3 times the rated full-load torque.
4. The starting torque of the motor is slightly higher than its full-load torque, so t
he motor will start carrying any load it can supply at full load.
5. The torque of the motor for a given slip varies as the square of the applied volt
age.
6. If the rotor is driven faster than synchronous speed it will run as a generator, c
onverting mechanical power to electric power.

1/15/2025 53
Example
A two-pole, 50-Hz induction motor supplies 15kW to a load at a speed
of 2950 rpm.
1. What is the motor’s slip?
2. What is the induced torque in the motor in N.m under these conditions?
3. What will be the operating speed of the motor if its torque is doubled?
4. How much power will be supplied by the motor when the torque is doubl
ed?

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Solution
1 20fe 1
2 0
05
1. ns
ync  300
0rp
m
P 2
n c nm 3
00 9
02 50
s s
yn
 0
.0
167o
r1.6
7%
nsy
nc 3
000

2. noPf W given
assum conv P
eP load andind load
P 15103
ind  conv  48.6N.m
m 29502
60

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Solution
3. In the low-slip region, the torque-speed curve is linear a
nd the induced torque is direct proportional to slip. So, i
f the torque is doubled the new slip will be 3.33% and t
he motor speed will be

n
(
1
s
)
n
ms
y
n
c
(
10
.
0
3
3
3
)
3
0
0
02
9
0
0
rp
m

4. P
c
ov
n 
in
dm


(24
8.
6 
)(2
90
0

2
) 2
9.
5 k
W
6
0

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 Input power factor
 The supply power factor is given by
PFC o 
s 1
where is 1the phase angle of the stator current I1.
 The typical power factor variation with speed is shown in Figur
e below

Fig. Power factor as a function of speed

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 Efficiency
 In order to determine the efficiency of the induction machine as a pow
er converter, the various losses in the machine are first identified.
 These losses are as illustrated in the power flow diagram.
 The efficiency of the induction motor is
P
  out
Pin
 The efficiency is highly dependent on slip. If all losses are negle
cted except those in the resistance of the rotor circuit,
PAG P in

2 sP
P AG

out P
P m AG1
ech P s
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 Determination of motor parameters
 Due to the similarity between the induction motor equivalent circuit a
nd the transformer equivalent circuit, same tests are used to determine
the values of the motor parameters.
 DC test: determine the stator resistance R1
 No-load test: determine the rotational losses and magnetization cu
rrent
 Locked-rotor test: determine the rotor and stator impedances

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 Speed Control of Induction Motors
 The synchronous speed Ns of an ac motor is related to supply frequenc
y f and poles P by the equation.
120f
Ns 
P
 As regards induction motor, the rotor speed is given by

r
N(
1)
sNs

Where S is the slip

 It is found from the above two equations that the basic methods of spee
d control of an induction motor are:
a) by changing the number of poles and
b) by varying the line (input) frequency.

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 Starting of IM
There are primarily two methods of starting of squirrel-cage induction m
otors:
a) full-voltage starting and
b) reduced-voltage starting
The full-voltage starting consists of DOL (direct-on-line) starting only.
The reduced-voltage starting has the advantage of reducing the starting cu
rrent,
but it produces an objectionable reduction in the starting torque, on accou
nt of the fact that torque is proportional to square of voltage.
Despite this, reduced-voltage starting is the most popular method of starti
ng three-phase squirrel-cage induction motors and consists of
 stator resistor (or reactor) starting,
 auto-transformer starting and
 star-delta starting.

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 Stator resistor (or reactor) starting

 In this method, a resistor or a reactor is inserted in between mo

tor terminals and the supply mains, as illustrated in Figure

62
 At the time of starting, some voltage drop occurs across the start
ing resistor or reactor and, therefore, only a fraction x of the sup
ply voltage appears across the stator terminals.
 This reduces the per-phase starting current Ist drawn by the mot
or from the supply mains. As the motor speeds up, the reactor is
cut out in steps and finally short circuited when the motor speed
is near to its operating speed.
 Since per phase voltage is reduced to xV1, see Figure 3, the per-
phase starting current Ist is given by

63
 Autotransformer starting

 A fraction of xV1 of the supply voltage V1 is applied to the st

ator terminals at the time of starting, by means of an autotrans
former as shown in Fig below

64
Star-Delta Method
A Star-Delta method starting may also be employed to provide redu
ced voltage of start. In this method, the normal connection of the sta
tor windings is delta while running

65
 If these windings are connected in star at start, the phase voltage
is reduced, resulting in less current of starting. As the motor app
roaches its full-speed, the windings will be connected in delta

66
 Cont’d…
Starting of wound rotor motors

The methods used for starting squirrel-cage motors can also be employed
for starting wound-rotor motors.

The simplest and cheapest method of starting wound-rotor induction mot

ors is by means of added rotor resistance, with full-line voltage across the
stator terminals.

the addition of external resistance in the rotor circuit of a wound-rotor ind

uction motor

 decreases its starting current

 increases its starting torque (for a suitable external resistance) and

 improves its starting power factor.

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Thank you for y
our kind Atten
tion
68