Chapter: Two

Induction Machine
 Introduction
• It is an important class of electric machines which finds wide applicability as a motor in
industry and in its single-phase form in several domestic applications.

• It is a singly fed motor (stator-fed), unlike the synchronous motor which requires ac
supply on the stator side and dc excitation on the rotor.

• The machine is called “Induction” because the rotor voltage is induced in the rotor
windings rather than physically connected by wires.

• It is an asynchronous machine.

• An induction machine can be used as either an induction generator or an induction motor

(But, most of the time as a motor).

✓ Main features: cheap and low maintenance.

✓ Main disadvantages: speed control is not easy.

 Construction
• The three basic parts of induction motor are the stator, rotor and enclosure.
• The stator and the rotor are electrical circuits that perform as electromagnets
• The stator is the stationary electrical part of the motor.
• stator laminations are stacked together forming a hollow cylinder.
• Coils of insulated wire are inserted into slots of the stator core.
• Electromagnetism is the principle behind motor operation. Each grouping of coils,
together with the steel core it surrounds, form an electromagnet.
• The stator windings are connected directly to the power source.
Squirrel cage rotor Slip ring (wound rotor)
• The simplest and most rugged • the rotor is connected in star irrespective of stator

• the conductor is short circuited at end ring and the external resistance in inserted in the rotor

(connected in parallel in both sides) circuit through slip rings

• It has larger rotor overhang leakage which gives a poor

• As the rotor is smooth small air gap b/n stator and
power factor.
rotor this reduce reluctance.
• Have good starting conditions b/c high starting torque and
𝑚𝑚𝑓 𝑁 𝐼𝑒
• Φ= ℛ
== ℛ
ℛ , Ie required is less low starting current but poor running condition

• Have good running condition, but poor starting • The speed is easily controlled by varying external
resistance.
conditions b/c low starting torque and high
starting current
 ………..cont’d
The enclosure consists of a frame (or yoke) and two end brackets (or bearing
housings).
• The stator is mounted inside the frame.
• The rotor fits inside the stator with a slight air gap separating it from the stator.
• There is NO direct physical connection between the rotor and the stator.
• The enclosure also protects the electrical and operating parts of the motor from
harmful effects of the environment in which the motor operates.
• Bearings, mounted on the shaft, support the rotor and allow it to turn.
• A fan, also mounted on the shaft, is used on the motor for cooling.
 Principles of Operation
Torque producing mechanism:
• When a 3 phase stator winding is connected to a 3 phase voltage supply, 3 phase
current will flow in the windings, hence the stator is energized.
• A rotating flux Φ is produced in the air gap. The flux Φ induces a voltage Ea in the
rotor winding (like a transformer).
• The induced voltage produces rotor current, if rotor circuit is closed.
• The rotor rotates in the direction of the rotating flux.
• The rotating magnetic flux developed by the stator windings will rotate at a speed
called a Synchronous Speed, ns.
✓The flux is called as rotating magnetic field.
✓Synchronous speed: speed of rotating flux:
Where; p = the number of poles, and
f = the frequency of supply
• Energize the stator with three-phase voltage.

• Currents in the stator winding produce a rotating magnetic field. This field revolves in the air gap.

• The stator magnetic field links the rotor conductors through the air gap and voltage will be induced in
the rotor conductors.

• Currents in the rotor conductors will produce their own magnetic field which opposes the stator
magnetic field.

• The torque developed due to interaction of the stator and rotor magnetic fields pushes the rotor into
rotation.

• The direction of the rotation of the rotor is the same as the direction of the rotation of the revolving
magnetic field in the air gap.

• The electrical energy conversion occurs in the air gap. Losses appear in stator and rotor.
 Steady state equivalent circuit of induction motor
The steady-state operation of an induction machine can be analyzed using its per-phase equivalent
circuit. This circuit represents the electrical behavior of the machine and helps in understanding
power flow, losses, and efficiency.
✓ The stator side consists of the stator resistance (R s​) and stator leakage reactance (Xs​).
✓ The rotor side is represented by the rotor resistance (Rr′​) and rotor leakage reactance (Xr′),
referred to the stator side.
✓ The air gap power transfer is represented by the magnetizing reactance (Xm​).
✓ The mechanical power conversion is modeled using the rotor resistance divided by slip (Rr′/s),
where s is the slip.
The per-phase equivalent circuit is commonly used for performance analysis, including efficiency,
torque, and losses.
• The induction motor consists of a two magnetically connected systems: Stator and rotor.

• This is similar to a transformer that also has two magnetically connected systems: primary and
secondary windings. But the secondary is always short circuit.

• The stator is supplied by a balanced three-phase voltage that drives a three-phase current through the
winding. This current induces a voltage in the rotor. (principle of Operation)

• The applied voltage (V1) across phase A is equal to the sum of the

✓ Induced voltage (E1).

✓ Voltage drop across the stator resistance (I1*R1).

✓ Voltage drop across the stator leakage reactance (I1* j X1).

• Rotor Circuit alone: • The rotor circuit can be represented as:
Induced voltages:

• Let ER0 be the induced voltage in the rotor at stand-still

ER0= 4.44NRφm fr

since, fr= fe, at stand-still,

ER0= 4.44NRφmfe

• If ER is the induced voltage in the rotor winding with fr= sfe, (s ≠1)

ER = 4.44NR φmfr

ER = 4.44NR φmSfe ER = sERo

 Power Balance Equation
• The following diagram shows Equivalent circuit of induction motor referred
to the stator side

figure: equivalent circuit of induction motor referred to stator side

 ……….cont’d
• The power crossing the terminals ab in this circuit is the electrical power input
per phase minus the stator loss (stator copper-loss and iron-loss) and hence is
the power that is transferred from the stator to the rotor via the air-gap
magnetic field.
• This is known as the power across the air-gap and its 3-phase value is
symbolized as PG
…..cont’d
…….cont’d
…..cont’d

120 f
Ns = (revo/min)
p
…….cont’d
………cont’d
…………cont’d
Efficiency
PAG: PRcl: Pconv = 1: S: 1-S
Thevenin equivalent circuit
• In order to simplify computations V1, R1, X1 and Xm can be replaced by
Thevenin’s equivalent circuit values Vth, Rth and Xth,

𝐈𝟐 𝑽𝒕𝒉
=
𝑹𝒕𝒉+𝑹𝟐/𝑺 𝟐 +(𝑿𝒕𝒉+𝑿𝟐)𝟐
• The important performance, characteristics in the steady state are the efficiency, power factor,
current, starting torque maximum (or pull-out) torque.

• The mechanical torque developed Tmech per phase is give

𝟐𝝅𝑵 𝟐𝝅Nsyc
mech = (1 − s)syn
where ωmech = , N = Nsyc(1-s) , ωsyc =
𝟔𝟎 𝟔𝟎

• From Thevenin equivalent circuit

𝑑𝑇𝑚𝑒𝑐ℎ
• The maximum torque can be obtained by =0
𝑑𝑆
 Torque-Speed Characteristics
• How does the torque of IM changes as the load changes?
At light loads:
• The rotor slip is very small and so the relative motion between the rotor
and magnetic field is very small and the rotor frequency is also very small.
• Current and ER is very small and in phase so BR is relatively small, as the
rotor magnetic field is very small then the induced torque is small:
At heavy loads:
– As load increases, the slip increases, rotor speed falls down,
– thus, more relative motion appears and produce stronger ER,
– larger rotor current IR and so rotor magnetic field BR will be seen.
– The angle of the rotor current will be also changed.
– The increase in BR tend to increase in the torque
Torque-Speed Characteristics curve
 Torque speed characteristics of induction motor
The operating regions are
i) Low slip region (stable region), The slip (at Nsy≈ 𝑁 )
❖ The slip is directly proportional to the torque i.e slip , torque  , N 
…………cont’d
…………cont’d
(ii) High slip region (unstable region)
The slip is inversely proportional to the torque i.e slip , torque  N 



…………cont’d
…………cont’d
…………cont’d
• Torque is inversely proportional to rotor resistance
in low slip region and directly proportional to high
slip region but in squirrel cage the rotor is short
circuited and impossible to add external resistance
R is fixed.

• In a wound–rotor induction motor, external

resistance is added to the rotor circuit to make the
maximum torque occur at standstill so that high
starting torque can be obtained.

• As the motor speeds up, it is possible to decrease

the external resistance gradually.
 Operating regions of induction machine

Motoring mode
• Under normal operation, rotor revolves in the direction of rotating field
produced by the stator currents.
• The slip varies from 1 at standstill to zero at synchronous speed.
Generating mode
• For this operating modes, slip is negative (S<0).

• An induction motor will operate in this region only when its stator terminals are
connected to constant-frequency voltage source and its rotor is driven above
synchronous speed by prime mover.
Braking mode
• For this mode, slip is greater than 1.

• a slip more than one can be obtained by driving the rotor , with a prime mover, opposite to
the direction of rotating field.
 Speed control of induction motor
• The speed of an induction motor is given as

N = 120f/p (1-S)

• So obviously the speed of an induction motor can be controlled by varying any of three
factors namely supply frequency f, number of pole P or slip S.

• The main methods employed for speed control of induction motors are
✓Pole changing

✓ Supply frequency control Controlling from stator side

✓Stator voltage control

✓Rotor resistance control – Rotor side control applicable for wound rotor motors
 Pole changing method
• We know that Ns = 120f/p By changing the value of p speed can be changed.

• In pole changing induction motors, the stator winding of each phase is divided into two
equal groups of coils.

• These coil groups are connected in series and parallel with the current direction being
reversed only in one group, to create two different numbers of poles (even) in the ratio
2:1 respectively.

• This method provides two synchronous speeds.

• When the connection is changed from series to parallel or vice versa, the current in one
group of coils is also reversed at the same time.
Eight pole (series) Four pole (parallel)
 Supply frequency control
• A variable frequency supply is connected as the key factor in speed control of
induction motors.

• The speed of induction motor is given by N = 120f

p (1-S)

• By controlling the supply frequency we can control the speed of induction with two

cases.

Case1: Below rated speed

The emf per phase of an induction motor is given by

E = 4.44ΦmfTphKw Kw is winding factor

 Cont..
• The induced emf E is nearly equal to the applied voltage V (neglecting drop in stator
impedance).

• When the frequency is reduced, the applied voltage also must be reduced proportionally
𝑽
so as to maintain constant flux. Φ∞
𝒇

• Otherwise the core will get saturated resulting in excessive iron losses and magnetizing
current results reduction of efficiency and power factor.
 Cont..
• The maximum torque also remains constant under this condition.

Neglecting the stator winding resistance, the maximum torque is

𝑽 2
Hence , Tmax ∞
𝒇

• This is taken as constant torque control with constant flux or volt/Hz ratio.
Case 2: Above rated speed

• As the voltage increase above rated value, when the input frequency goes above base
frequency, only constant (rated) voltage with variable frequency (frequency control) is
used for speed control.

• Under this condition, both flux and maximum torque decrease as the frequency is
increased at constant voltage.
• This is taken as constant power control with variable flux.
 Stator voltage control
• The torque developed in an induction motor is proportional to the square of the terminal
voltage.

• This method of speed control of induction motor is done by decreasing the voltage with
constant torque and slip increase. As slip increase the speed decrease. The power
decreases significantly with decrease in speed
 Rotor resistance control
• The speed of a wound-rotor induction machine can be controlled by connecting external
resistance in the rotor circuit through slip-rings.

• The major disadvantage of the rotor resistance control method is that the efficiency is
low at reduced speed because of higher slips.

• A typical application of the rotor, resistance control method is the hoist drive of a shop
crane ,fan and pump drive N1<N<N5 , 0<Rex<Rex4
 NEXT SLIDE

Reference Frame Transformation

&Space Vector
5
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