Torque Equation of Induction Motor
The torque equation of an induction motor is a key relation that
shows how the motor develops torque based on various
electrical and mechanical parameters. Here’s a concise
explanation:
Torque Equation of an Induction Motor:
The torque T developed in an induction motor is given by:
Where:
• T = Electromagnetic torque (Nm)
• \omega_s = Synchronous angular speed (rad/s) =
\frac{2\pi N_s}{60}
• r_1 = Stator resistance
• x_1 = Stator reactance
• r_2{\prime} = Rotor resistance referred to stator
• x_2{\prime} = Rotor reactance referred to stator
• s = Slip of the motor
• V_1 = Supply voltage
• N_s = Synchronous speed (RPM)
Simplified Expression for Maximum Torque:
Important Notes:
• Torque is inversely proportional to slip at low slip values
(near synchronous speed).
• As slip increases, the torque increases, reaches a
maximum (pull-out torque), and then decreases.
• For starting torque, put s = 1.
Here’s the derivation of the torque equation for an induction
motor, step by step:
Step 1: Equivalent Circuit
For analysis, we use the per-phase equivalent circuit of an
induction motor referred to the stator side:
Where:
• r_1, x_1: Stator resistance and reactance
• r_2{\prime}, x_2{\prime}: Rotor resistance and reactance
referred to stator
• s: Slip
• V_1: Per-phase stator voltage
• I_2{\prime}: Rotor current referred to stator
Step 2: Rotor Current Expression
Using Thevenin’s theorem or circuit analysis
Step 3: Power Transferred to Rotor (Air-gap Power)
The air-gap power is the power transferred from stator to rotor:
Step 4: Mechanical Power Developed
Out of air-gap power, only part goes into mechanical power
(rest lost as rotor copper loss):
Step 5: Substitute I_2{\prime}
Final Torque Equation:
• Torque is low at very small slip (near synchronous speed).
• Torque increases with slip, reaches a maximum (pull-out
torque), and then decreases.
• At slip = 1 (starting), torque is significant but not
maximum.
Torque-Slip & Torque-Speed Characteristics of Induction Motor
Here’s a clear and concise explanation of Torque-Slip and
Torque-Speed Characteristics of an Induction Motor:
1. Torque-Slip Characteristics:
• Slip (S) is the difference between the synchronous speed
(Ns) and the rotor speed (N) of the motor, expressed as a
percentage:
• Torque (T) produced by the induction motor is a function
of slip. The relationship is nonlinear.
Regions of Torque-Slip Curve:
1. Low Slip Region (0 < S < 5%):
◦ Rotor speed is close to synchronous speed.
◦ Torque is approximately proportional to slip (T ∝ S).
◦ Motor runs efficiently here (normal operating
region).
2.
3. Medium Slip Region:
◦ As slip increases, torque also increases but non-
linearly.
4.
5. High Slip Region (S > 5%):
◦ Rotor speed is much less than synchronous speed.
◦ Torque starts to decrease with increase in slip (T ∝ 1/
S).
6.
7. Maximum Torque (Breakdown Torque):
◦ There’s a point where torque is maximum before
dropping off.
◦ Occurs typically around S = 0.2–0.3
2. Torque-Speed Characteristics:
This is essentially the same curve but plotted with speed on the
x-axis instead of slip.
• At synchronous speed (N = Ns, S = 0):
◦ No torque is produced since there is no relative
motion between stator field and rotor.
•
• As speed decreases (slip increases):
◦ Torque increases.
•
• At maximum torque (breakdown torque):
◦ Motor can no longer handle higher load and may stall
if exceeded.
•
• At zero speed (S = 1):
◦ Torque is finite (high starting torque in some motor
types like squirrel cage).
•
Key Points:
• Starting Torque: Torque at S = 1 (when motor is just
starting).
• Breakdown Torque: Maximum torque the motor can
produce.
• Pull-out Torque: Another name for breakdown torque.
• Stable Operation: Occurs in the region before maximum
torque (lower slip side )
Here are the plots:
• Left: Torque vs Slip — shows how torque initially
increases with slip, peaks, then falls.
• Right: Torque vs Speed — shows torque rising as speed
drops, reaching a maximum (breakdown torque), then
dropping sharply as speed nears zero.
Power Equation of a DC Motor
The power equation of a DC motor relates the electrical input
power, mechanical output power, and losses in the motor.
Here’s the detailed breakdown:
1. Electrical Input Power (Pin):
This is the power supplied to the armature of the motor:
Where:
• V = Supply voltage
• I = Armature current
2. Mechanical Power Developed (Pmech):
This is the power converted from electrical to mechanical form
by the armature:
Where:
• E_b = Back EMF
• I = Armature current
3. Power Losses in the Motor:
These include:
• Copper loss (in armature): I^2 R_a
• Iron and friction losses (core loss + mechanical loss)
4. Output Power (Pout):
This is the mechanical power available at the shaft after
accounting for mechanical losses:
Where:
• T = Torque
• \omega = Angular speed (in rad/s)
Voltage Equation of a DC Motor
The voltage equation of a DC motor is derived from
Kirchhoff’s Voltage Law applied to the armature circuit. It
represents the relationship between the applied voltage and
the internal components of the motor.
Voltage Equation:
Where:
• V = Applied voltage (in volts)
• E_b = Back EMF (electromotive force) generated by
the motor (in volts)
• I_a = Armature current (in amperes)
• R_a = Armature resistance (in ohms)
• V_{\text{brush}} = Voltage drop across brushes (often
small and can sometimes be neglected)
In simpler form (if brush drop is negligible):
Explanation:
• E_b: When the armature rotates, it cuts magnetic flux
and induces a voltage opposing the supply voltage,
called back EMF.
• I_a R_a: This is the voltage drop due to the resistance
of the armature winding.
• The applied voltage V must overcome both the back
EMF and the internal resistance to drive the motor.