Electromechanical Systems

Asinchronous (induction) machines

Types of machines with alternating current
Types of induction machines with alternating current

Components of asinchronous (induction) machines, (squirel

cage and slip-ring induction machines)
How does it works!
Mathematical model
Equivalent circuit
Vector (phasor diagram)

Literature

1.
2.

3.

R. Wolf: Osnove elektrinih strojeva, kolska knjiga, Zagreb,

1991. (72-95, 107-117, dijelovi 181-220), in Croatian
B. Jurkovi: Elektromotorni pogoni, kolska knjiga, Zagreb,
1985. (Statika stanja elektromotornih pogona s asinkronim
motorima, str.49-62), in Croatian
D. Ban: Mirna, pulzirajua i okretna magnetska polja,
predavanja (pogledati dodatnu literaturu na web stranicama),
in Croatian

Electrical machines- types

Stator with 3 phase

winding
Rotor, squirel cage
or slip-ring type

Stator with winding

Asynchro Synchro
nous
nous
machine machine

Stator with winding

on the pole

Stator with
electromagnet or
permanent magnet
Rotor with winding,
(armature winding)

Rotor with permanent

magnets

DC
Reluctant
current machine
machine
Iron rotor; different
reluctance in
different axces !

ASINCHRONOUS (INDUCTION) MACHINES

Induction machine (IM)
Stator with three symetrical (balanced) distributed phases , a, b. c (
windings)
Stator windings
Rotor winding
air gap

Fig.1.Cross section of IM a), Spatial stator winding distribution, b)

ASINCHRONOUS MACHINES industrial construction

Fig.2. Two types of induction motors industrial products

ASINCHRONOUS induction machines

Squirel cage Induction machine (motor), IM
- squirrel cage construction, the rotor winding consists of a
number of rotor bars, short-cut by rings from both rotor side, see
figures below
ring
bars

bars

ring
ring

ring

a)
b)
Fig. 3. Squirrel cage rotor of induction motor, rings and bars a), squirrel
cage rotor industrial product b).

ASINCHRONOUS induction machines

Slip-ring asynchronous (induction, IM) machine
stator is identical as squirrel cage induction motor
rotor has clasical winding, not a bars

usualy 3 windings (phases) on the rotor

rotor winding ends connected to the stationary rings, see figure below

rings

resistors
Fig. 4. Stator and rotor connections of a slip-ring a), squirrel cage rotor
industrial product b).

Stator
Sliced iron, slices electrically isolated from conductors (windings) placed in
slots. There are 3 isolated balanced phase (windings), spaced with 120
(for 2-pole machine). 3-phase symmetrical stators winding is supplied by 3phase symmetrical voltage supply 120
Rotor
Sliced iron, slices electrically isolated from rotor conductors (windings), placed
in rotor. Rotor winding is usually 3-phase, in star connection. The ends of 3phase winding are short connected altogether from one side in one point.
Three others ends of windings are usually connected , to three slip rings, see
Fig. 4. Those rings are connected then on stator connection box. For squirrel
cage type rotor, conductors are made from cooper (Cu) or aluminium (Al).

Air gap
It must be as small as possible, taking into account bearings specifications,
as well as a mechanical stress. Smaller air gap resulting in small
magnetizing current needed for magnetic field. That field is important for
effective electromechanical conversion.

Physical concept of IM
Three phase (3f) IM motor supplied from stator side by symmetrical 3f
voltage supply, results with SYMMETRICAL ROTATING FIELD. This
field rotate with synchronous speed s (1)
Rotational field is cutting rotor conductors by relative speed s-
(slip, (2), inducing in conductors (windings) voltage E2=sE20 , (3)
In short connected rotor winding (squirrel cage rotor) induced voltage
(3) will generate current, which will together with rotational field produce
tangentional force on the rotor, ie. torque.
Developed torque will accelerate rotor, and after reaching desired
speed, (steady state), rotor speed will be close to the synchronous
speed, (1)
slip (%)
(2)
slip
Synchronous speed
(1)

2f
p

s 60
ns 60

f
2
p

s
s
s%
100 %
s
s
s

pnumber of pole pairs (see explanation at the end)

Rotor voltage dependence of slip

When rotor is blocked (s=1, speed=0), rotational field induce in rotor
winding voltage E20 , see Fig.5.
When rotor start to move, relative speed is changing, as well as relative
speed between rotational (stator) field against rotor, and voltage E2 is
changing according (3)
E2 s E20
(3)
When the relative speed is zero, ie. s=0, there is no voltage in rotor
winding, no current, nor force, no torque!! It means that motor cannot
work when s=0. Conclusion is that motor can work only when different
speed between rotor and rotational speed exist!!! This phenomena
define term ASINCHRONOUS MACHINE. E
2

E20
Fig.5. Rotor voltage vs rotor speed

ns

Rotor current frequency vs slip

Rotor voltage and current frequencies are depending of relative speed
between rotor and rotational (stator) field. i.e. slip. Those variables have
frequency determined by relative speed between rotor and rotational
(stator) field.

f2
f1

pns n
f2
s f1
60

ns

n
Reminder !!!!

2f
s
p

s 60
ns 60

f
2
p

s
s% s
100 %
s
s

Rotor speed vs. slip

s
1

ns 1 s
60

ns

The sam units are

60 f1
-1

1 s o/min, rpm,min used for the

p
synchronous speed n

rotor rotates with synchronous speed s = 0

rotor blocked , zero speed s=1
rotor rotates faster than rotational speed s < 0
rotor rotates opposite than rotational field speed s > 1

Number of pole pairs- Explanation

The term 1 pair poles defines the region in the stator of machine where
three windings (phases) are simetrically spaced inside stator slots. It is said
that the angle between axces of the phases are 120geometricly , Fig.1. a)
In the a) this space is 360, in b) it is 180 geometricly.
For one supply stator voltage period, rotating field always passing 1 pair
poles space!!!. That means, for one cycle T, rotating field will pass in case
a) 360, but in case b) only half space, i.e. 180 geometricly
Conclusion 1: rotating field speed in case a) is 2 times larger than in case b)
Conclusion 2. In the machine with p-pole pairs, rotating field will pass in one
T cycle 360/p parts of machine stator space.

a) 1par polova

b) 1par polova

c) 2 para polova

Number of pole pairs- Explanation

Physical process with one pole pairs machine doesnt changed increasing
the number of poles. In that case, all analysis can be performed on one pair
poles machines.
In this case the term electrical angle (el), is defined and it is identical to
the geometric angle (g) for 2-pole machine, p=1.
Generally, for the case of p- pair poles machine, relation between electrical
and geometric angle is

el p g

(4)

INDUCTION MACHINE HOW DOES IT WORK

Initial position of pulsating field is
maximal field (maximal current)
(maximal sinusoid) the circles are
maximal red, vector is maximal
right oriented.

When the field is zero, vector is in

the middle of circle (point!),
"circles are red, current in
conductors is zero.
Next position is maximum fields in
another (left) side, vector is
maximal and on the left, circles
are red (maximal negative current)
Fig.6. Animation of PULSATING field

INDUCTION MACHINE HOW DOES IT WORK

Fig.7. Animation of SYMMETRICAL

ROTATIONAL field (black) and
PULSATING fields of each phase
(red, green, blue)

Thru each of 3 winding

SYMMETRICAL Y spaced in
stators slot (namot A, B i C) flow
one of the 3f currents, (delayed
each other in120).
The picture shows that each of the
fields are PULSATING, only the
amount is changing in one
position.
Resulting field is ROTATIONAL
field, (BLACK), the sum of
pulsating fields of all 3 phases,
with maximal amount 50%,greater
than maximum of one phase
pulsating field.

INDUCTION MACHINE HOW DOES IT WORK

Fig.8. Animation of ROTATIONAL field (black) and PULSATING fields of

each of the 3 phase of IM

INDUCTION MACHINE HOW DOES IT WORK

The principle of work is based on the force (i.e. torque) generation
Torque is result of rotational field and rotor current . Rotor voltage is
induced by rotational stator field
Questions: Why rotor cannot reach the speed of rotational field? How
rotor could reach the speed of rotational field? Explain!

Fig. 9. Rotational field speed

(ns), rotor speed (n), and rotor
speed relative to rotational
field speed (ns -n)

Induction machine equivalent circuits

One phase equivalent induction machine circuit
X 1

R1

X 2

I1

I2
E1

E2

E1 U I1 ( R1 jX 1 )

E2 s E20
f2
E20 E1
f1

R2
s

E1,I1 - induced stator voltage and current

U, U1 - stator voltage (supply voltage)
R1 - stator winding (coil) resistance
R2 - rotor winding resistance
X1 - stator leakage reactance
X2 - rotor leakage reactance
E2 - inducied rotor voltage,
E20 - induced rotor voltage, (rotor locked,
stator connected to suply voltage, U)
f1 stator voltage frequency,
f2 rotor voltage frequency,
N1, N2- stator and rotor number of coils

Induction machine equivalent circuits

Fig.10. Equivalent circuit per phase of induction motor

with rotor parameters relative to the stator side
Recalculation of rotors parameters to the stator side with parameter (k)
2

N1 f n1

k
N2 fn2

(5)

Explanation of the main and leakadge path - transformer

Main path

Primary
winding

secondary
winding
Leackage
path

Fig.11.

Magnetic field generated from primary side and coupled with secondary side
and magnetic field generated from secondary side and coupled with primary
side are the main (coupled) magnetic field (12 or 21). Magnetic field which
couple only primary winding is leakage field 1. Magnetic field which
couple only secondary winding is leakage field 2

Induction machine_ vector-dijagram with k=1

U1

j I1 1 L1

I1 R1

E1

I1

I2

I2

R2
s

j I2 1 L 2

Im

m , m ,

E1

Fig.12. Vector diagram of induction machine

Rotor current and leakage reactance

Rotor current is defined by induced voltage E2 and rotor impedance Z2:

E2
I2
Z2

s E20

R sX 2
2
2

E20

R2 / s

X 2

In standstil E2 = E20 , see (3)

This formalism can be applied on leakage reactance, X2,, so,

X 2 s 2 f1 L2 s X 2 0 , X 2 0

X20 is leakage reactance in standstil, n=0.

Leakage reactance is defined for 50Hz (standstill), and influence of
the frequency f2 can be involved multiplying by slip s.
For s=0, rotor current is I2(s)=0 (SYNCRONISM !!!)

(6)

Electromagnetic torque-dependence of a voltage and frequency

How torque is changing by stator voltage and frequency?

Assumption: Magnetic (rotating) field in the air gap induce in stator

winding voltage e1, defined by

d
e1 N1
dt

e1 N1 sin(t )

neglect

E1 U I1 ( R1 jX 1 )

E1 k f1 ;

E1 4.44 f1 N1
For small slip and small current (load) it can be wrote:

U k f1

Electromagnetic torque - derivation

U1 E1 I1 ( R1 j 2 fL 1 )

(7)

E1 k1 f1

(8)

E1
U1

k1 f1 k1 f1

(9)

Electromagnetic torque Mem can be expressed as

2

M em

N1
2
2
M 3 p
m
s pr
s
4 L 2

s s pr
2

M pr

N1
3 p
4 L 2

U1
U1

k 2

k1 f1
f1

(10)
(11)

U1
M
f1

Torque speed characteristics-derivation

Machine torque dependence of voltage supply can be described using
energy balance,

Pm

1 s Pokr

1 s s

Pokr

2
k E20

2
s R
s
2
X 2
s

(12)

Detailed derivation can be found in course textual material on the web

pages
Primary impedance Z1=R1+jX1 is neglected in equivalent circuits.
It shoud be emphasized that motor torque in each working point is
proportional to the square of the motor voltage

M f (U 2 )

(13)

Machine torque characteristics-Kloss equation

Kloss equation describes general torque-speed characteristics of
induction machine.
Functionally, Kloss equation involving two working points: arbitrary
working point and working point with maximal slip.

In the example below, developed torque at maximal and nominal

(rated) torque are used for calculation

Mn
2

sn
sm ax
M m ax

sm ax sn

(14)

R2
sm ax
X 2

Which simplification is used in Kloss-equation?

(15)

Torque vs speed characterestics of IM

(It doesnt worth for motors less than 1kW)!!
M
Mmax

Mk
Mn

0
1

n
s

nmax

nn ns

smax

sn 0

Fig.13. Motor torque vs speed induction motor (IM) characteristics

important 3 points:
s= 1,
n=0
s= sn,
n= nn
s= smax, n= nmax

- standstil torque, Mk
- rated (nominal) torque, Mn
- maximal torque, Mmax (Mpr)

Electromagnetic torque-dependence of a voltage and frequency

Derivation for torque (1) (4) has been done with assumption that
recalculation factor , see (5), is k=1
2

N1 f n1

1
N2 fn2
From (10)(13) it can be seen quadratic relation between torque and
magnetic field (voltage).
Expression (14), represent simplified Kloss-equation and can be used
for slip-ring motors and squirrel-cage motors without skin effect in rotor
slots. If the skin effect is present, Kloss equation (14) can be used only
in the region of the small slip.

Fig.14. Simulation results given from mathematical model

350

600

250

Stator current[A]

Electromagnetic torque [Nm]

300
500

400

300

200

200

150

100

100

50

200

400

600

800

1000

1200

1400

1600

200

400

speed [rpm]

800

1000

1200

1400

1000

1200

1400

1600

100

x 10
14

Ulazna (elektrina) snaga

Izlazna (mehanika) snaga

90

12
80
70

10

Efficiency [%]

Electrical and mechanical power[kW]

600

speed [rpm]

60
50

40
30

20
2
10
0 0

200

400

600

800

speed[rpm]

1000

1200

1400

1600

0
0

200

400

600

800

speed[rpm]

1600

Induction machine energy balance

Fig.15. Energy balance in

induction motor

P1 is electrical power (power supply)

P2 is power on the motor shaft (mechanical Power)!!!

Nominal data- Total, Active and Reactive power of IM

Example of motor Data:
3f induction motor, P= 1000 kW
Voltage 6000 V, frequency 50 Hz
nominal speed1485 ,(rpm), cos=0,88, =0.8
nominal current 115 A
For magnetic field getting, IM taking reactive power
Total power of IM is

Q1 m1U1 I1 sin 1

S1 m1U1 I1

Active power (on the motor shaft!) P=P2 .

m1 is the number of phases

P1 m1U1 I1 cos 1

Induction motors - Slip and Losses

The amount of slip is directly indicator of the amount of losses in
induction motors (see energy balance).

nsinthe
n way that slip must be very low.
It is needed to set working
point
s [%]
100%
ns

Nominal slip is usually between 0.1 i 5 %. Low power machine (up to

cca 1kW), has larger slip.

Take into account the

problem of
overheating .High
losses means high
heating, conductors
isolation getting
badly, it is possible
dielectric breakdown!

Working range of induction squirel cage motor

Magnetic field rotation
Rotor rotation

Pluging

Motoring

Generator braking

Fig.16. 4-quadrant operation

s=0
s = 0.01
s = 0.04
s=1
s>1
s<0

n = ns
n = 0.99 ns
n = 0.96 ns
n=0

unloaded machine
working region of large machines (over 100kW)
working region of medium and small machines
blocked rotor
revers current braking, pluging
generatory braking

END