Torque speed characteristics of three phase induction motor

𝑷𝒂𝒈 𝟑 𝟐 𝑹𝟐
𝑻𝒅 = = 𝑰𝟐
𝒘𝒔 𝒘𝒔 𝒔

𝟑 𝟐 𝑹𝟐
𝑻𝒅 = 𝑰𝟐 ⟹ (𝟏)
𝒘𝒔 𝒔
From rotor circuit

෩𝟐
𝑬 𝑬𝟐
𝑰෨𝟐 = ⟹ 𝑰𝟐 = (𝟐)
𝑹𝟐
+ 𝒋𝒙𝟐 𝑹𝟐 𝟐
𝒔 + 𝒙 𝟐
𝒔
From equation (1) and equation (2)

𝟑 𝑬𝟐 𝟐 𝑹𝟐
𝑻𝒅 = 𝟐
𝒘𝒔 𝑹𝟐 𝟐
𝒔
+ 𝒙
𝒔

𝑽𝟏 = 𝑬𝟏 = 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕
For small values of slip (𝒔 ⟶ 𝟎)
𝟑 𝑬𝟐 𝟐 𝑹𝟐
𝑻𝒅 = 𝟐
𝒘𝒔 𝑹𝟐 𝒔
𝒔
𝟐
𝟑 𝑬𝟐
𝑻𝒅 = 𝒔 → 𝑻∝𝒔
𝒘𝒔 𝑹𝟐
For large value of slip (𝒔 ⟶ 𝟏) unstable operation

𝑹𝟐
≪ 𝒙𝟐
𝒔
𝟑 𝑬𝟐𝟐 𝑹𝟐 𝟏
𝑻𝒅 = . 𝟐 . ⟹ 𝑻∝
𝒘𝒔 𝒙𝟐 𝒔 𝒔
Some Question

Explain what is wrong in the following statement and why

𝑹𝟐
▪ Since the developed torque is directly proportional to the rotor resistance
𝒔

the torque tends to be infinite near the synchronous speed where the slip tends
to be zero

▪ The starting current increase from 5:8 times from normal current the torque
developed will increase the same
An approximate equivalent circuit

Like in case of transformer the approximate equivalent circuit of

induction motor can be obtained by shifting the shunt branch to
the input terminal as shown in the nest figure

𝑰𝒐 𝑰𝟐 →
Fixed no load current approximation (𝑰𝒐 )when (shifting) 𝑬𝟏 ≅ 𝑽𝟏

𝑰෨𝒐 (𝑹𝟏 + 𝒋𝒙𝟏 ) ≅ 𝟎 and 𝑰𝒐 = 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕

We suppose
𝑰෨𝒐 (𝑹𝟏 + 𝒋𝒙𝟏 ) ≅ 𝟎 and 𝑰𝒐 = 𝒄𝒐𝒏𝒔𝒕𝒂𝒏𝒕

The approximate equivalent circuit is based on the assumption that

the voltage drop on 𝑹𝟏 𝒂𝒏𝒅 𝒋𝒙𝟏 is very small and 𝑽𝟏 is

approximately equal to 𝑬𝟏
The above equivalent approximate circuit of IM is not so
accurate as with the transformer this is due to the following

1. Unlike the transformer the magnetic circuit of IM has an air

gap, therefore the magnetizing or no load current is much
higher than that of the power transformer

1. The relative value of 𝒙𝟏 𝒂𝒏𝒅 𝒙𝟐 in an IM are larger than the

corresponding ones of the transformer
• The above two facts don’t justify the use of an approximate
equivalent circuit except for well-designed and large IM

• The approximated equivalent circuit not only simplifies the

analysis of IM but also aids in driving a lot of useful
expressions such as maximum efficiency maximum power
and maximum torque
Maximum developed power (𝑷𝒅𝒎 )

𝟐 𝑹𝟐
𝑷𝒅 = 𝟑𝑰𝟐 (𝟏 − 𝒔)
𝒔
From maximum power theorem the developed power will be
maximum at slip (𝒔𝒑 ) 𝒙𝒆 = 𝒙𝟏 + 𝒙𝟐 𝑹𝒆 = 𝑹𝟏 + 𝑹𝟐
𝒁𝒊𝒏
Which satisfies the following relation

𝒁𝒐𝒖𝒕 = 𝒁𝒊𝒏 𝒁𝒐𝒖𝒕

𝑹𝟐 𝟐 𝟐
𝟏 − 𝒔𝒑 = 𝑹𝟐 + 𝑹𝟏 + 𝒙𝟐 + 𝒙𝟏
𝒔𝒑

𝑹𝟐 𝟐 𝟐
𝟏 − 𝒔𝒑 = 𝑹𝒆 + 𝒙𝒆 = 𝒁𝒆
𝒔𝒑

𝑹𝟐 𝟏 − 𝒔𝒑 = 𝒔𝒑 𝑹𝒆 𝟐 + 𝒙𝒆 𝟐 ⟹ 𝑹𝟐 − 𝑹𝟐 𝒔𝒑 = 𝒔𝒑 𝑹𝒆 𝟐 + 𝒙𝒆 𝟐

𝑹𝟐
𝒔𝒑 𝑹𝟐 + 𝑹𝟐𝒆 + 𝒙𝟐𝒆 = 𝑹𝟐 𝒔𝒑 =
𝑹𝟐 +𝒁𝒆
• From equation 1 and 2 the maximum developed power (𝑷𝒅𝒎 )
can be expressed .

𝟑 𝑽𝟐𝟏 𝟑 𝑽𝟐𝟏
• 𝑷𝒅𝒎 = 𝑷𝒅𝒎 =
𝟐 𝑹𝒆 +𝒁𝒆 𝟐
𝑹𝒆 + 𝑹𝒆 𝟐 +𝒙𝒆 𝟐

• It can be derived above expression by differential the power

developed with respect to s and hence equal zero

𝑷𝒅 𝑷𝒂𝒈
• 𝑻𝒅 = =
𝒘𝒎 𝒘𝒔
• Note
𝑷𝒂𝒈
• To obtain the maximum torque 𝑻𝒎𝒂𝒙 will substitute in because the value of 𝒘𝒔 is a
𝒘𝒔

fixed value and hence obtained from 𝑷𝒂𝒈 only

Maximum air gap power (developed torque)

𝒙𝒆 = 𝒙𝟏 + 𝒙𝟐 𝑹𝒆 = 𝑹𝟏
𝟐 𝑹𝟐
𝑷𝒂𝒈 = 𝟑𝑰𝟐 (1)
𝒔 𝒁𝒊𝒏
𝒁𝒐𝒖𝒕
The power will be max. at slip (𝒔𝒃 𝒐𝒓 𝒔𝒎𝒂𝒙)

𝒁𝒐𝒖𝒕 = 𝒁𝒊𝒏
 𝑹𝟐
= 𝑹𝟐𝟏 + 𝒙𝟐𝒆
𝒔𝒎𝒂𝒙

𝒔�𝒎𝒂𝒙 slip at maximum power at break down torque

𝑹𝟐
𝒔𝒎𝒂𝒙 = (2)
𝑹𝟐𝟏 +𝒙𝟐𝒆

From equation (1) and (2)

𝟑 𝑽𝟐𝟏
𝑷𝒂𝒈 𝒎𝒂𝒙 =
𝟐
𝑹𝟏 + 𝑹𝟐𝟏 +𝒙𝟐𝒆

𝑷𝒂𝒈 𝒎𝒂𝒙
where the maximum torque equal 𝑻𝒎𝒂𝒙 = 𝑻𝒅𝒎 =
𝒘𝒔
 𝟑 𝑽𝟐𝟏
𝑻𝒎𝒂𝒙 =
𝟐𝒘𝒔
𝑹𝟏 + 𝑹𝟏 𝟐 + 𝒙𝒆 𝟐

𝒔𝒎𝒂𝒙 ⟹ 𝒅𝒆𝒑𝒆𝒏𝒅𝒔 𝒐𝒏 𝑹𝟐
𝑻𝒎𝒂𝒙 ⟹ 𝒏𝒐𝒕 𝒅𝒆𝒑𝒆𝒏𝒅𝒔 𝒐𝒏 𝑹𝟐

At 𝑻𝒔𝒕 = 𝑻𝒎𝒂𝒙 𝒔𝒎𝒂𝒙 = 𝟏

𝑹𝟐 + 𝑹𝒂𝒅𝒅
𝒔𝒎𝒂𝒙 = 𝟏 =
𝑹𝟐𝟏 + 𝒙𝟐𝒆

Not that operation point of speed (operation speed) will be decrease if the
rotor resistance increase at load torque
Kloss’s formula
• Its important to determine the relation of torque as a function of slip from the
name plate
• The given data usually it possible to determine the value of rated torque and slip
for the motor
𝑻𝒅𝒎
• The max. or critical torque can be determined by knowing ratio of
𝑻𝒓𝒂𝒕𝒆𝒅

Now the maximum torque can expressed as

𝟑 𝑽𝟐𝟏
𝑻𝒅𝒎 = 𝑻𝒎𝒂𝒙 =
𝟐𝒘𝒔
𝑹𝟏 + 𝑹𝟏 𝟐 + 𝒙𝒆 𝟐
For negligible 𝑹𝟏

𝟑 𝑽𝟐𝟏 𝟑 𝑽𝟐𝟏
𝑻𝒅𝒎 = = (1)
𝟐𝒘𝒔 𝒙𝒆 𝟐𝒘𝒔 𝒙𝟏 + 𝒙𝟐

𝑹𝟐
𝒔𝒎𝒂𝒙 =
𝑹𝟐𝟏 +𝒙𝟐𝒆

For negligible 𝑹𝟏

𝑹𝟐
𝒔𝒎𝒂𝒙 = (2)
𝒙𝟏 + 𝒙𝟐

𝑹𝟐
𝒙𝟏 + 𝒙𝟐 =
𝒔𝒎𝒂𝒙
From equation 1 and 2

𝟑 𝑽𝟐𝟏
𝑻𝒅𝒎 = (3)
𝟐𝒘𝒔 𝑹𝟐ൗ
𝒔𝒎𝒂𝒙
Also the developed torque at any slip can be expresses

𝑷𝒂𝒈 𝟑 𝟐 𝑹𝟐
𝑻𝒅 = = 𝑰𝟐
𝒘𝒔 𝒘𝒔 𝒔

𝑹𝟐ൗ
𝟑 𝑽𝟐𝟏 ∗ 𝒔
𝑻𝒅 = 𝟐
𝒘𝒔 𝑹𝟐 𝟐
𝑹𝟏 + + 𝒙𝟏 + 𝒙𝟐
𝒔
For normal operation
𝑹𝟐
≫ 𝑹𝟏
𝒔

𝑹
𝟑 𝑽𝟐𝟏 ∗ 𝟐ൗ𝒔
𝑻𝒅 = 𝑹𝟐 𝟐 𝑹𝟐 𝟐
(4)
𝒘𝒔
𝒔
+ 𝒔
𝒎𝒂𝒙

From equation 3 and 4

𝟐
𝑻𝒅 𝒔 ∗ 𝒔𝒎𝒂𝒙
=
𝑻𝒅𝒎 𝟏 𝟐 𝟏 𝟐
+
𝒔 𝒔𝒎𝒂𝒙
 𝑻𝒅 𝟐
= 𝒔𝒎𝒂𝒙 𝟐 𝟐
𝑻𝒅𝒎 +
𝒔
𝒔 𝒔𝒎𝒂𝒙

Kloss’s formula this formula can be calculate any torque

at any slip

Kloss’s formula is a very useful approximation that can

be used to determine the developed its slip are known
name plate

Given 𝑷𝒓 , 𝑽𝒓 , 𝑰𝒓 , 𝑵𝒓 , 𝑻𝒎𝒂𝒙 = 𝟐 ∗ 𝑻𝒇.𝒍 Draw torque speed

characteristics from this data

𝑷𝒓 𝑷𝒓 𝑵𝒔 − 𝑵𝒎
𝑻𝒅 = = 𝒔=
𝒘𝒓 𝟐𝝅𝑵𝒓 𝑵𝒔
𝟔𝟎
𝑻𝒅 𝟏
=
𝑻𝒎𝒂𝒙 𝟐
From Kloss’s formula

𝑻𝒅 𝟐
= 𝟐
𝑻𝒅𝒎 𝒔𝒎𝒂𝒙 𝟐 𝒔
+
𝒔 𝒔𝒎𝒂𝒙
𝒔𝒎𝒂𝒙 = √√√√√√√√√√

S 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
𝑻𝒅 √ √ √ √ √ √ √ √ √ √ √
Good luck
Torque speed characteristics of three phase induction motor
T

S
𝒔𝟏 𝒔𝟐 𝒔𝟑 𝒔𝟒 𝒔𝟓 𝒔𝟔 𝒔𝟕 𝒔𝟖 𝒔𝟗 𝒔𝟏𝟎
Torque speed characteristics of three phase induction motor
T

𝑻𝒔𝒕
𝒔𝒎
S=1 S=0 𝑵𝒎