Module 3 : Performance of Three-Phase Induction Motor

Phasor diagram of induction Motor : The phasor diagram of loaded induction motor is
similar to the loaded transformer. The only difference is the secondary of induction motor is
rotating and short circuited while transformer secondary is stationary and connected to load.
The load on induction motor is mechanical while load on transformer is electrical.

Let
ϕ = Magnetic flux links with both primary and secondary
There is self induced e.m.f. Ej in the stator while a mutually induced e.m.f. E2r in the rotor.
Let
R1 = Stator resistance per phase
X1 = Stator reactance per phase
Total Stator Current I1 = I2’ + Im.
The Stator No Load Current is exoressed as I0 = Im + Ic
Since Stator Applied Voltage V1 Must Balance The Stator Back Emf V1’ Or -E1, Stator Impedance Drop
I1(R1 + jX1), Therefore We Can Write

……(1)
Similar Equation Exists For Rotor Circuit And Can Be Written As
E2 = I2 (R2 + jX2) ……..(2)
Using the above mentioned equations the phasor diagram is drawn as shown above.

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Blocked Rotor Test of an Induction Motor

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A reduced voltage is applied to the stator through a three-phase autotransformer so that full-
load rated current flows in the stator. The following three readings are obtained from the
blocked rotor test. They are as follows

Equivalent Circuit of an Induction Motor

The Equivalent Circuit of an Induction motor enables the performance characteristics which
are evaluated for steady-state conditions. The equivalent circuit of an induction motor is
similar to that of the transformer. It involves stator and rotor circuit models as follows.
Stator Circuit Model : The stator circuit model of an induction motor consists of a stator phase
winding resistance R1, stator phase winding leakage reactance X1 as shown in the circuit
diagram below. The no-load current varies from 2 to 5% of the rated current

Rotor Circuit Model : When a three phase supply is applied to the stator windings, a voltage is
induced in the rotor windings of the machine. The greater will be the relative motion of the
rotor and the stator magnetic fields, the greater will be the resulting rotor voltage. The largest
relative motion occurs at the standstill condition. This condition is also known as the locked
rotor or blocked rotor condition. If the induced rotor voltage at this condition is E20 then the
induced voltage at any slip is given by the equation shown below:

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Approximate Equivalent Circuit of an Induction Motor

The equivalent circuit is further simplified by shifting the shunt impedance branches R0 and
X0 to the input terminals as shown in the circuit diagram below:

The approximate circuit is based on the assumption that V1 = E1 = E’2. In the above circuit, the
only component that depends on the slip is the resistance corresponding to the mechanical
load R’L. All the other quantities are constant. The following equations can be written at any
given slip s is as follows:

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Circle Diagram of an Induction Motor
A circle diagram is a graphical method of representing an overall performance of an induction
motor. Various characteristics and performance parameters like starting torque, the efficiency
of the motor, losses in the motor, maximum power output, full-load current, power factor, slip,
maximum torque, etc can be calculated using the circle diagram. The circle diagram is drawn
by conducting no-load and blocked-rotor (full-load) tests on the induction motor as follows.

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The following data are required for constructing the circle diagram:
No Load Test Blocked or Locked Rotor Test
Vo or V1 Io Po Vsc Isc Psc

a) Stator phase voltage V1 = VL/√3

b) No-load current I0
c) No-load power factor cosϕ0 = (Po /(√3xVLxIo)).
The phase angle corresponding to no load pf ϕ0 = cos-1(cosϕ0)
d) Blocked rotor current and power factor cosϕSC = (PSC /(√3xVL, SC xISC))
The phase angle corresponding to pf in blocked rotor test ϕSC = cos-1(cosϕSC)
e) Stator winding resistance per phase R1 = (1.2 to 1.5)RDC

Steps to draw Circle Diagram of an Induction Motor:

1 Take the phasor voltage V1 along the y-axis.

2 Choose a convenient current scale. With O as origin, draw a line OO’ = I0 at an angle
ϕ0 with V1.

3 Draw the line OES perpendicular to V1. Similarly, draw a line O’D perpendicular to V1 or
parallel to OES.

4 From the blocked rotor test, the short circuit current corresponding to normal voltage is
calculated.
𝐕𝐨
𝐈𝐒𝐂𝐍 = 𝐈𝐒𝐂 × ( )
𝐕𝐒𝐂

5 From the point O draw the line OL equal to ISCN at at an angle ϕSC with V1.

6 Join O’L and measure its magnitude in amperes. The line O’L represents rotor current
referred to stator I’2

7 Bisect the chord O’L at right angles, its bisector gives the point G.

8 With G as centre, O’G as radius draw a semi-circle O’GH as shown in fig

9 The line O’L is known as ‘output line’ or ‘mechanical power developed line’

10 Now a line LS is drawn perpendicular to x-axis OES. The length of the line LS represents
the power input to the motor

11 The line LS intersects the line O’H at N. The length of the line NS represents fixed losses of
the induction motor

12 The point M on the line LN is located in such way that LM:MN = RCL:SCL

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 LM = Rotor Copper Loss (RCL)

MN = Stator Copper Loss (SCL)

13 Join points O’M. The line O’M represents ‘Torque Line’

14 Assume that the line current I1 is known. With the centre as O, draw an arc with the radius
I1. This arc intersects the circle at the operating point A. Draw the line AE and locates the
point B, C, D. The following results are obtained from the circle diagram shown above.

a) Input power = 3V1 AE

b) Rotational losses = 3V1 DE
c) Stator copper loss = 3V1 CD
d) Rotor copper loss = 3V1 BC
e) Output power = 3V1 AB
f) Rotor Input = 3V1 AC
g) Output torque = 3V1 AC/ωs
h) (Rotor Copper Loss/Rotor Input )= Slip = BC/AC
i) (Rotor Output / Rotor Input) = (1-s) = AB/AC
j) Speed = AB/AC X ns
k) Efficiency = AB/AE
l) Power factor = AE/OA

Starting of an Induction Motor

Need of Starters to start the Induction Motor: A three-phase Induction Motor is Self Starting
Motor. When AC supply is applied to the stator of a three-phase induction motor, a rotating
magnetic field is produced, and the rotor begins rotating and the induction motor starts. At the
time of starting, the motor slip is unity, and the starting current is very large. The starting
current is 5 to 7 times the FL current. Hence starters are used to start the induction motor.
The main two main functions of starters are as follows:
a) To reduce the heavy starting current,
b) To provide overload and under-voltage protection.
Methods of Starting the Induction Motor: The torque of the induction motor is proportional
to the square of the applied voltage. Thus, greater torque is exerted by a motor when it is
started on full voltage than when it is started on the reduced voltage. The following methods
are employed to start the induction motor with reduced applied voltage.
a) Starting the low rating motors (up to 5 kW rating) directly by applying full voltage using
Direct Online Starter (DOL)
b) Starting the motor by applying reduced voltage using the following starters

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 i. Stator Rheostat Starter
ii. Auto-Transformer Starter
iii. Star – Delta Starter
c) Starting wound rotor motors by rotor rheostat method.

1. Direct On Line Starter : It is a common method of starting of Squirrel Cage Induction

Motor. The motor is connected through a starter across the full supply voltage as shown
below.

M = Main contactor
A = Auxiliary Contact or Hold on Contact
L1, L2 and L3 = Supply line conductors
C = Coil,
D = Over load release coil
S1 = Start Push buttons which is initially in open position
S2, S3 = Start Push buttons which are initially in closed position
On pressing the START pushbutton S1, the contactor C is energised from two line conductors
L1 and L2. The three main contacts M and the auxiliary contact A are closed. The terminals a
and b are short-circuited. The motor is then connected to the supply mains. The S1 button
moves back under the spring action as soon as the pressure is released. The coil C remains
energised through ab. Thus, the main contact M remains closed, and the motor continues to get
supplies. The stop button S2 is normally held closed by the spring.
If the S2 push button is pressed to STOP the motor, the supply through the contactor
coil C is disconnected. As the coil C is de-energized, the main contacts M and the auxiliary
contact A are opened. The supply to the motor is disconnected, and the motor is stopped.

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Undervoltage Protection : When the voltage falls below a certain value during the operation
of the motor, the coil C is de-energized. Hence, the motor is disconnected from the supply
which provides Overload Protection
Theory of Direct On Line Starting of Induction Motor :
Let,
Ist be the starting current drawn from the supply mains per phase.
Ifl is the full load current drawn from the supply mains per phase.
Ʈst is the starting torque.
Sfl is the slip at full load.
T = Torque developed by the motor
ns = Speed of the motor in rps
As we know that the rotor copper loss = s x rotor input

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 Using above current ration, the starting torque to full load torque ratio is expressed as

Direct on line starter method is the cheapest and the simplest method of the starting of the
induction motor.
Advantages of DOL Starter :
1 It provides high starting torque.
2 Simple to use and most economical.
3 Control circuitry is simple to establish and troubleshoot.
4 Easy to find fault and make necessary connections.
5 More compact in size and thus occupies less space.
Disadvantages : It is not feasible for high rating motors, typically above 5 kW.
2. Starting of Slip Ring Induction Motor using Rotor Resistance Starter
Method
In the Slip Ring Induction Motor starter, the full supply voltage is connected across the starter.
The connection diagram of the slip ring starter induction motor is shown below:

Full starting resistance is connected and thus the supply current to the stator is reduced. The
rotor begins to rotate, and the rotor resistances are gradually cut out as the speed of the motor
increases. When the motor is running at its rated full load speed, the starting resistances are
cut out completely, and the slip rings are short-circuited. The addition of high resistance in
rotor circuit enables motor to operate at high power factor and develop high starting torque
with moderate starting current. Hence, wound rotor motors can also be started under load
conditions. Hence, wound rotor are preferred in industries for large power applications.
Advantages : Not only the starting current is limited but starting torque of the motor also gets
improved.
Limitations : It can be used only for slip ring induction motors as in squirrel cage motors; the
rotor is permanently short circuited

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3. Stator Resistance Starter: In order to apply the reduced voltage to the stator of the
induction motor, three resistances are added in series with each phase of the stator
winding. Initially the resistances are kept maximum in the circuit. Due to this, large voltage
gets dropped across the resistances. Hence a reduced voltage gets applied to the stator
which reduces the high starting current.

Advantages :
1 High power factor during starting
2 Smooth acceleration
3 Less expensive than autotransformer starter
Disadvantages :
1 Heat is developed by the starting resistances
2 Expensive starting resistors
3 Low Torque and efficiency

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4. Auto Transformer Starters: It is suitable for both star and delta connected motors. In
this method, the starting current is limited by using a three-phase autotransformer to
reduce the initial stator applied voltage.

The double-throw switch S is kept initially in the START position, the primary of the
autotransformer is connected to the supply line, and the motor is connected to the secondary
of the autotransformer. When the motor picks up the speed of about 80 percent of its rated
value, the switch is moved to the RUN position. Thus, the autotransformer is disconnected
from the circuit, and the motor is directly connected to the line and achieves its full rated
voltage. If the supply voltage fails or falls below a certain value, S is opened and returns to
the OFF position. Thermal overload relays provide overload protection whenever required.
Relation between Starting and Full-load Torque : Let 'K' be the transformation ratio of the
autotransformer. So voltage applied to the stator gets reduced by the fraction 'K'.
So if Isc is starting current with rated voltage, then motor starting current with auto starter,
Motor Input Current Ist = K Isc,
Supply current = Primary current of Autotransformer = K2 Isc
𝟐
𝟐
𝐈𝐅𝐋
𝐓𝐬𝐭 𝛂 𝐈𝐬𝐭 (𝐬 = 𝟏) 𝐚𝐧𝐝 𝐓𝐅𝐋 𝛂
𝐬𝐟
𝟐
𝐓𝐬𝐭 𝐈𝐬𝐭
∴ = ( 𝟐 ) 𝐬𝐟
𝐓𝐅𝐋 𝐈𝐅𝐋
𝟐
𝐓𝐬𝐭 𝐈𝐬𝐜
= 𝐊 𝟐 ( 𝟐 ) 𝐬𝐟
𝐓𝐅𝐋 𝐈𝐅𝐋
𝐈𝟐
𝐓𝐬𝐭 = 𝐊 𝟐 [𝐓𝐅𝐋 (𝐈𝟐𝐬𝐜 ) 𝐬𝐟 ] = 𝐊 𝟐 [𝐒𝐭𝐚𝐫𝐭𝐢𝐧𝐠 𝐭𝐨𝐫𝐪𝐮𝐞 𝐰𝐢𝐭𝐡 𝐝𝐢𝐫𝐞𝐜𝐭 𝐬𝐰𝐢𝐭𝐜𝐡𝐢𝐧𝐠]
𝐅𝐋
Advantages
i. The power loss is much less in this type of starting.
ii. It can be used for both star and delta connected motors.
iii. But it is expensive than stator resistance starter.

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5. Star-Delta starter
This starter is very commonly
used starter in induction
motors. It uses Triple Pole
Double Throw (TPDT) switch.
The switch connects the stator
winding in star connected at
start. Hence per phase voltage
gets reduced by the factor
1/√3. Due to this reduced
voltage, the starting current is
limited.
When the switch is
thrown on other side, the
winding gets connected in delta, across the supply. So it gets normal rated voltage. The
windings are connected in delta when motor gathers sufficient speed. The operation of the
switch can be automatic by using relays which ensures that motor will not start with the switch
in Run position.
Advantages : The cheapest of all and maintenance free operation.
Limitations : It is suitable for normal delta connected motors and the factor by which voltage
changes is 1 / √3 which cannot be changed. It is used for machine tools, pumps and motor
generators etc.
Relation between Starting and Full-load Torque:

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Speed Control of Induction Motor
b) Speed Control from stator side of Induction Motor
i. By changing the applied voltage
ii. By changing the applied frequency
c) Speed Control from Rotor side of Induction Motor
i. Rotor rheostat control
i. By changing the applied voltage : From the torque equation of induction motor,

Rotor resistance R2 is constant and if

slip s is small then (sX2)2 is so small
that it can be neglected.
Therefore, T ∝ sE22
where
E2 = EMF Rotor induced at standstill
depends on the supply voltage V.
∴ E2 α V
For low slip region
(SX2 )2 ≪ R 2
hence
sV2 R2
Tα α sV 2 for constant R 2
R22

This method, though the cheapest and the easiest, is rarely used because
 A large change in voltage is required for a relatively small change in speed.
 Due to reduction in voltage, current drawn by the motor increases. Due to increased current,
the motor may get overheated.
 This large change in voltage will result in a large change in the flux density thereby seriously
disturbing the magnetic conditions of the motor.
ii. By Changing the Applied Frequency
Synchronous speed of the rotating magnetic field of an induction motor is given by,

where,
f = frequency of the supply
P = number of stator poles.
Hence, the synchronous speed changes with change in supply frequency. Actual speed of an
induction motor is given as N = Ns (1 - s).

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However, this method is not widely used. It is used where the induction motor is supplied by a
dedicated generator (so that frequency can be easily varied by changing the speed of prime
mover). Also, at lower frequency, the motor current may become too high due to decreased
reactance. And if the frequency is increased beyond the rated value, the maximum torque
developed falls while the speed rises.
Supply frequency control or V/f control: Whenever three phase supply is given to three
phase induction motor rotating magnetic field is produced which rotates at synchronous speed
given by
𝟏𝟐𝟎𝒇
Ns = 𝑷

The induced emf is given by

E = V = 4.44φkTf
𝐕
Φ = 𝟒.𝟒𝟒𝐤𝐓𝐟

Where,
k is the winding constant,
T is the number of turns per phase
f is supply frequency.
If the frequency is changed, synchronous speed changes. But with decrease in frequency, flux
will increase and this change in value of flux causes saturation of rotor and stator cores which
will further cause increase in no load current of the motor .
To maintain flux (φ) constant, the ratio of V/f is kept constant. For controlling the speed
of three phase induction motor by V/f method is easily obtained by using converter and
inverter set.
The normal supply available is constant voltage constant frequency A.C. supply. The
converter converts this supply into a D.C. supply. This D.C. supply is then given to the inverter.
The inverter is a device which converts D.C. supply, to variable voltage variable frequency A.C.
supply which is required to keep V/f ratio constant. By selecting the proper frequency and
maintaining V/f constant, smooth speed control of the induction motor is possible.

Rotor Resistance Control: The torque developed in induction motor is dependent on the
rotor resistance as follows.

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The slip at maximum torque is dependent on the rotor resistance as mentioned below.

So, if the rotor resistance is changed, the maximum torque point shifts to higher slip values,
while retaining a constant torque as shown below. Rotor resistance control could also be used
as a means of generating high starting torque.

Limitation:
a) Unable to use for cage rotor machines.
b) The method is not very efficient since the additional resistance and operation at high slips
involves dissipation.
In real time a DC Chopper with duty ratio control method is employed.

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