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

06/28/25 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.

06/28/25 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
ØIts speed cannot be varied without sacrificing some of its efficiency.
ØThe speed is not easily controlled
ØLarge starting current
ØThey run at low and lagging power factor when lightly loaded.
ØIts starting torque is somewhat inferior to that of a d.c shunt motor

06/28/25 4
 Construction
 An induction motor has two main parts
• Stator
• Rotor
 A stationary stator
- consisting of a steel frame that
supports a hollow, cylindrical
core.
- core, constructed from stacked
lamination sheets 0.4 - 0.5 mm
thickness.
- having a number of evenly spaced
slots, providing the space for the
stator winding.
Stator of IM
06/28/25 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
determined 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,
providing space for the rotor winding
- The windings used in the rotor can be depending on the rotor design.

I. Squirrel-cage
II. Wound-rotor

06/28/25 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
and is almost indestructible.
 wound-rotor:
 It is provided with a complete set of three-phase windings exactly as the
stator.

06/28/25 7
06/28/25 8
 Rotating Magnetic Field
 When a 3-phase winding is energized from a 3-phase supply, a
rotating magnetic field is produced.
 This field is such that its poles do not remain in a fixed position
on 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
m m
and is equal to 1.5 where is the maximum flux due to any
phase.
06/28/25 9
 Cont’d…

The resultant flux rotates around the stator at synchronous speed given by
120 f e
nsync  rpm
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

06/28/25 10
 Principle of operation
 When the 3-phase stator winding are fed by a 3-phase supply,
then a magnetic flux of constant magnitude but rotating at
synchronous 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
stationary rotor conductors
 an emf is induced in the latter according to Faraday’s laws of
electro-magnetic induction

06/28/25 11
 Cont’d…
 Due to the fact that the rotor windings are short circuited, for both
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
magnetic fields

 ind kBR Bs

Where:
 ind is the induced torque and
 BR and BS are the magnetic flux densities of the rotor and the stator
respectively
06/28/25 12
 Induction motor speed and slip
 As discussed in the previous topic, the stator magnetic field
with constant magnitude rotates at synchronous speed which
is given as:
P 50 Hz 60 Hz
120 f e
nsync  rpm 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

06/28/25 13
 Cont’d…
 Therefore, the IM will always run at a speed lower than the
synchronous speed
 The difference between the motor speed and the synchronous
speed is Known as the Slip speed

nSlip nsync  nm

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

06/28/25 14
 Slip
 The other term used to describe the relative motion is slip, which
is the relative speed expressed on a per-unit or a percentage basis.
That 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:   sync m
S x100%
sync
06/28/25 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
terms 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
torque and power relationships
16
06/28/25
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
120 f r
P (nsync  nm )
nslip  fr 
p 120
P nslip P snsync
fr   sf e
120 120
Where: fr = the rotor frequency (Hz)
P = number of stator poles
nslip = slip speed (rpm)
06/28/25 17
 Cont’d…
 What would be the frequency of the rotor’s induced voltage at
any speed nm?

f r Sf e

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

voltage is equal to the supply frequency

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

the frequency will be zero

06/28/25 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
speed
pout 2 nm
 load  N .m and m  rad / s
m 60
 Another unit used to measure mechanical power is the horse
power, used to refer to the mechanical output power of the
motor.
hp 746 watts

06/28/25 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?

06/28/25 20
Solution
120 f e 120(60)
1. nsync   1800 rpm
P 4

2. nm (1  s )ns
(1  0.05) 1800 1710 rpm

3. f r sf e 0.05 60 3Hz

Pout Pout
4.  load  
m 2 nm
60
10 hp 746 watt / hp
 41.7 N .m
1710 2 (1/ 60)
06/28/25 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
performance of the induction machine with reasonable accuracy.

 Consider three phase induction machine as shown in figure below

(wound rotor type)

06/28/25 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
06/28/25 23
 Equivalent Circuit model (rotor)
 Therefore, the magnitude of the induced voltage at any slip will
be given by the equation

ER sER 0

 Where ER0 is the largest value of the rotor’s induced voltage

obtained at s = 1 (locked rotor)
 The same is true for the frequency, i.e. the frequency at any slip

f R sf e

 The reactance of an induction motor rotor depends on the

inductance of the rotor and the frequency of the voltage and
current in the rotor. 24
06/28/25
 Cont’d…
 It is known that
X  L 2 fL
 So, as the frequency of the induced voltage in the rotor changes,
the reactance of the rotor circuit also changes
X R r Lr 2 f r Lr
2 sf e Lr
sX R 0
Where : XR0 is the rotor reactance at the supply frequency (at
blocked rotor)

06/28/25 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

rotor resistance

06/28/25 26
 Cont’d…
 Now we can calculate the rotor current as
ER
IR 
( RR  jX R )
sER 0

( RR  jsX R 0 )
 Dividing both the numerator and denominator by s , then we get
ER 0
IR 
RR
(  jX R 0 )
s
Where ER0 is the induced rotor voltage and XR0 is the rotor reactance at blocked
rotor condition (s = 1)
06/28/25 27
 Cont’d…
 Now we can have the rotor equivalent circuit

Fig. rotor equivalent circuit of induction motor

06/28/25 28
Complete Equivalent Circuit of induction motor
 Now as we managed to solve the induced voltage and different
frequency problems, we can combine the stator and rotor circuits
in one equivalent circuit
Where:
2
X 2 aeff X R0
2
R2 aeff RR
IR
I2 
aeff
E1 aeff ER 0
NS
aeff 
NR
Fig. Per-phase equivalent circuit of an induction machine

06/28/25 29
 Approximate equivalent circuits
 If the voltage drop across R1 and X1 is small and the terminal
voltage 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

06/28/25 30
 Cont’d…
 This approximation of the equivalent circuit will considerably
simplify computation, because the excitation current (Io) and the
load component (I'2) of the machine current can be directly
computed from the terminal voltage V1 by dividing it by the
corresponding impedance.

06/28/25 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
constant at all operating speeds.
 These losses can thus be lumped together and termed the constant rotational
losses of the induction machine.
 If the core loss is lumped with the windage and frication loss Rc can be
removed from the equivalent circuit, as shown in Figure below;

Fig. approximate equivalent circuit of IM

06/28/25 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-
load current.
 the leakage Reactance X is also high
1

 The IEEE recommends that in such situation, the magnetizing

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

06/28/25 33
 Cont’d…
 This equivalent circuit is to be preferred for situation in which
the induced voltage E1 differs appreciably from the terminal
voltage V1.

Fig. IEEE recommended equivalent circuit of IM

06/28/25 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).

06/28/25 35
Cont’d…
Power flow in induction motor

06/28/25 36
Cont’d…
Power and torque in induction motor
If the equivalent circuit is examined closely, it can be used to
derive the power and torque equations governing the operation of
the motor.
The stator copper losses in the three phases are given by

PSCL 3 I12 R1

The core losses are given by

Pcore 3 E12Gc
so the air-gap power can be found as
06/28/25 37
 Cont’d…
PAG Pin  ( PSCL  Pcore )
 The only element in the equivalent circuit where the air-gap
power can be consumed is in the resistor R2/S.
 Therefore, the air-gap power can also be given by
2R2
PAG 3I2
s
 The actual resistive losses in the rotor circuit are given by the
equation

PRCL 3I R2 RR

06/28/25 38
 Cont’d…
 Since power is unchanged when referred across an ideal
transformer, the rotor copper losses can also be expressed as
PRCL 3I 22 R2

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

06/28/25 39
 Cont’d…
Pconv PAG  PRCL
2 R2
3I 2  3I 22 R2
s
2 1 
3I 2 R2   1
s 
2  1 s 
Pconv 3I 2 R2  
 s 
 Notice from previous Equations that the rotor copper losses are
equal to the air-gap power times the slip:
PRCL sPAG

06/28/25 40
 Cont’d…
 Therefore, the lower the slip of the motor, the lower the rotor
losses 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,
since if the rotor is not turning, the output power Pout (=  load m )
must be zero.
 Since Pconv PAG  PRCL,this also gives another relationship between
the air-gap power and the power converted from electrical to
mechanical form:
Pconv PAG  PRCL
PAG  sPAG
Pconv 1  s  PAG
06/28/25 41
 Cont’d…
 Finally, if the friction and windage losses and the stray losses
are known, the output power can be found as
Pout Pconv  PF &W  Pmisc
 The induced torque  ind in a machine was defined as the torque
generated by the internal electric-to-mechanical power
conversion.
 This torque differs from the torque actually available at the
terminals 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
06/28/25 42
Cont’d…
 The induced torque of an induction motor can be expressed
in a different form as well.

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

06/28/25 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
the rotor copper losses are 700 W. The friction and windage
losses are 600 W, the core losses are 1800 W, and the stray
losses are 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.

06/28/25 44
Solution
1. Pin  3VL I L cos 
 3 480 60 0.85 42.4 kW
PAG Pin  PSCL  Pcore
42.4  2  1.8 38.6 kW

2. Pconv PAG  PRCL

700
38.6  37.9 kW
1000
3. Pout Pconv  PF &W
600
37.9  37.3 kW
1000
06/28/25 45
Solution
37.3
Pout  50 hp
0.746

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

06/28/25 46
Example
 A 460-V, 25-hp, 60 Hz, four-pole, Y-connected induction
motor 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
constant. The core loss is lumped in with the rotational losses.
For a rotor slip of 2.2 percent at the rated voltage and rated
frequency, find the motor’s 4. P and P
conv out
1. Speed
2. Stator current 5. ind and load
3. Power factor 6. Efficiency
06/28/25 47
Solution
120 f e 120 60
1. nsync   1800 rpm
P 4
nm (1  s )nsync (1  0.022) 1800 1760 rpm
R2 0.332
2. Z 2   jX 2   j 0.464
s 0.022
15.09  j 0.464 15.11.76 
1 1
Zf  
1/ jX M  1/ Z 2  j 0.038  0.0662  1.76
1
 12.9431.1 
0.0773  31.1

06/28/25 48
Solution
Z tot Z stat  Z f
0.641  j1.106  12.9431.1 
11.72  j 7.79 14.0733.6 
4600
V 3
I1   18.88  33.6 A
Z tot 14.0733.6
3. PF cos 33.6 0.833 lagging
4. Pin  3VL I L cos   3 460 18.88 0.833 12530 W
PSCL 3I12 R1 3(18.88) 2 0.641 685 W
PAG Pin  PSCL 12530  685 11845 W
06/28/25 49
Solution
Pconv (1  s ) PAG (1  0.022)(11845) 11585 W

Pout Pconv  PF &W 11585  1100 10485 W

10485
= 14.1 hp
746
PAG 11845
5.  ind   62.8 N.m
sync 2 1800
60
Pout 10485
 load   56.9 N.m
m 2 1760
60
Pout 10485
6.   100%  100 83.7%
Pin 12530
06/28/25 50
 Performance characteristics

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

to 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.

06/28/25 51
 Torque-speed characteristics
 A plot of induction motor torque as a function of speed (and slip) is
shown in figure below

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

06/28/25 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
rotor resistance is much greater than the reactance, so the rotor current, torque
increase linearly with the slip.
3. There is a maximum possible torque that can’t be exceeded. This torque is
called 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
the 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
voltage.
6. If the rotor is driven faster than synchronous speed it will run as a generator,
converting mechanical power to electric power.

06/28/25 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
doubled?

06/28/25 54
Solution
120 f e 120 50
1. nsync   3000 rpm
P 2
nsync  nm 3000  2950
s  0.0167 or 1.67%
nsync 3000

2.  no Pf W given
 assume Pconv Pload and  ind  load
Pconv 15 103
 ind   48.6 N.m
m 2
2950 
60

06/28/25 55
Solution
3. In the low-slip region, the torque-speed curve is linear
and the induced torque is direct proportional to slip. So,
if the torque is doubled the new slip will be 3.33% and
the motor speed will be
nm (1  s )nsync (1  0.0333) 3000 2900 rpm

4. Pconv  ind m
2
(2 48.6) (2900  ) 29.5 kW
60

06/28/25 56
 Input power factor
 The supply power factor is given by
PF Cos1
where is1the phase angle of the stator current I1.
 The typical power factor variation with speed is shown in
Figure below

Fig. Power factor as a function of speed

06/28/25 57
 Efficiency
 In order to determine the efficiency of the induction machine as a
power 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
neglected except those in the resistance of the rotor circuit,
PAG Pin
P2 sPAG
Pout Pmech PAG 1  s 
06/28/25 58
 Determination of motor parameters
 Due to the similarity between the induction motor equivalent circuit
and 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
current
 Locked-rotor test: determine the rotor and stator impedances

06/28/25 59
 Speed Control of Induction Motors
 The synchronous speed Ns of an ac motor is related to supply
frequency f and poles P by the equation.
120 f
Ns 
P
 As regards induction motor, the rotor speed is given by

N r (1  s ) N s
Where S is the slip
 It is found from the above two equations that the basic methods of
speed control of an induction motor are:
- by changing the number of poles and
- by varying the line (input) frequency.

06/28/25 60
 Starting of IM
There are primarily two methods of starting of squirrel-cage induction
motors:
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
current,
but it produces an objectionable reduction in the starting torque, on
account of the fact that torque is proportional to square of voltage.
Despite this, reduced-voltage starting is the most popular method of
starting three-phase squirrel-cage induction motors and consists of
 stator resistor (or reactor) starting,
 auto-transformer starting and
 star-delta starting.

06/28/25 61
 Stator resistor (or reactor) starting

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

motor terminals and the supply mains, as illustrated in Figure

62
 At the time of starting, some voltage drop occurs across the
starting resistor or reactor and, therefore, only a fraction x of the
supply voltage appears across the stator terminals.
 This reduces the per-phase starting current Ist drawn by the
motor 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

stator terminals at the time of starting, by means of an
autotransformer as shown in Fig below

64
Star-Delta Method
A Star-Delta method starting may also be employed to provide
reduced voltage of start. In this method, the normal connection of
the stator 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 approaches 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
motors 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
induction motor
 decreases its starting current
 increases its starting torque (for a suitable external resistance) and

06/28/25
improves its starting power factor. 67
Thank you for
your kind
Attention
68