Assign#: 01

TORQUE-SPEED CHARACTERISTICS OF
INDUCTION MOTOR

SUBMITTED TO: Sir ILLYAS .Sb

SUBMITTED BY: MUHAMMAD ADNAN ALI

08-EE-27

ELECTRICAL DEPARTMENTOF
UNIVERDITY OF ENGINEERING & TECHNOLOGY TAXILA

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 Torque Speed Characteristics of
3-Phase Induction Motor

Importance of T-speed characteristics

Torque speed characteristic of a motor is important from the point of view of its
applications to specific situations.

1-How does the torque of induction motor changes as the load changes?
2-How much torque can an induction supply at starting conditions?
3-how much does the speed of an induction motor drop as its shaft load increases?

To answer these questions we have to understand the relationship between torque, speed
and power from the equivalent circuit of induction motor.

Induction Machine Equivalent Circuit

Induction machines operate on the principle of induced currents. There are still two
magnetic fields, one from each of the rotor and stator, but the rotor field is induced by the
stator field. Effectively, we can think of the induction machine as a rotating transformer.
The stator is like the primary of a transformer and creates the initial field, inducing
voltages and currents in the secondary rotor winding. The fundamental differences from a
stationary transformer are:

• The secondary rotates

• There is an airgap, therefore more mmf is needed for a given flux density
• The secondary voltage and frequency depend on speed

The per-phase equivalent circuit model for an induction machine in steady state operation
supplied by a balances three-phase supply is based on the transformer model shown
below

In the diagram above,

• V1 = Phase RMS Voltage

• I1 = Stator Phase Current

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 • R1 = Stator Winding Resistance
• X1 = Stator Winding Leakage Reactance
• Xm = Magnetizing Reactance
• Rc = Core Loss Resistance
• E1 = Air Gap Voltage
• I2 = Rotor Current Referred to Stator
• ER = Rotor Induced Voltage (Actual)
• IR = Rotor Current Voltage (Actual)
• XR = Rotor Leakage Reactance (Actual)
• RR = Rotor Resistance (Actual)

We know from the operating principles that induced voltage ER and rotor leakage
reactance XR both depend on slip. To simplify the model we can define them both in
terms of their values when the speed is zero, slip s = 1.0

Where
ER0 = induced voltage at standstill

XR0 = rotor leakage reactance at standstill

With the above definitions we can write the equation for actual rotor current as

In the above diagram, the effective turns ratio aeff is constant and equal to the effective
turns ratio at standstill. In a would rotor machine, aeff,XR0 and RR can be measured. In a
cage machine these parameters cannot be directly determined, there is no method to
directly measure voltages or currents on the rotor. To overcome this difficulty, the rotor
(secondary) circuit can be referred to the stator (primary) side.

Full Equivalent Circuit Model

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In the above circuit

• R2 = a2effRR the rotor resistance referred to the stator

• X2 = a2effXR0 the rotor leakage reactance referred to the stator

The symbols used in induction machine models vary depending on the text and the
context in which the circuit is being used. RI, Ro, Rfe, Rm can all be found as
references to the iron loss resistance.

Torque:

As with all rotating mechanical systems in steady state, torque can be found from the
power and mechanical speed

In the case of an induction machine, the electromagnetic torque generated by the machine
can be found using

which gives

Writing the torque in terms of the rotor current:

Finally, to find the available shaft torque after rotational losses, the output power must be
used.

Torque Speed Curve

General Curve:

Using the induction machine power and torque equations it is possible to produce the
torque speed curve shown below.

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The torque speed curve is approximately symmetric about synchronous speed. (The
magnitude of the peak negative torque is larger than the positive torque, the difference
being a function of stator resistance)

Operating Regions:
The torque-speed curve brakes down into three operating regions:

1. Braking, nm < 0, s > 1

Torque is positive whilst speed is negative. Considering the power conversion
equation

it can be seen that if the power converted is negative (from P = τ ω) then the
airgap power is positive. i.e. the power is flowing from the stator to the rotor and
also into the rotor from the mechanical system. This operations is also called
plugging.
This mode of operation can be used to quickly stop a machine. If a motor is
travelling forwards it can be stopped by interchanging the connections to two of
the three phases. Switching two phases has the result of changing the direction of
motion of the stator magnetic field, effectively putting the machine into braking
mode in the opposite direction.

2. Motoring, 0 < nm < ns, 1 > s > 0

Torque and motion are in the same direction. This is the most common mode of
operation.
3. Generating, nm > ns, s < 0
In this mode, again torque is positive whilst speed is negative. However, unlike
plugging,

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The torque equation:
Using the equation

the torque speed curve can be solved by first solving the circuit model to find the rotor
current.. Consider the diagram below:

The stator part of the equivalent circuit (together with the magnetising branch) can be
replaced by a Thevenin equivalent circuit. In the Thevenin circuit, the stator phase voltage
has been replaced by its Thevenin equivalent,

and the impedances have been replaced by Thevenin equivalent impedances.

Incorporating the Thevenin model into the circuit model results in the Thevenin
equivalent circuit model of an induction machine.

In the above circuit, the calculation of rotor current is greatly simplified

The above expression for rotor current can be squared and substituted into the torque
equation

Using the above equation, the variation of torque with slip can be plotted directly .
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Motoring Torque Characteristic
The motoring region of the induction machine torque-speed curve is the region of greatest
interest. The plots below show a number of different torque speed curves, due to
differences in the motor designs. Common features of interest are noted and discussed
below.

• τrated . The rated torque of the machine. This is the design operating point.
• τstart . The start torque of the machine, when the machine is at standstill.
• τmax or τpo . The maximum torque or pull-out torque.
• τpu . This is the minimum torque that the motor can accelerate up to the desired
operating speed.

In steady state operation, an induction motor will operate at the speed where the
mechanical load torque equals the torque developed by the motor. At low speeds, the
difference between the motor torque and the load torque accelerates the machine. Normal
operation is to the right of the maximum torque. In this region, an increase in the load
torque will cause the motor to slow, increasing the motor torque until an equilibrium is
reached. To the left of the pullout torque, no such equilibrium can be reached.
Mechanically,

where J is the rotational inertia of the mechanical system.

Maximum Torque and Output Power:

Using the Thevenin torque equation:

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it is possible to plot the torque-speed curve of an induction machine. However, it is useful
to know the magnitude of the maximum or "pullout" torque without plotting the full
torque-speed curve. From the equation above, the peak torque could be found be
differentiating with respect to slip to find the slip which gives maximum torque.
However, a mathematically simpler and intuitively clearer answer can be found be
considering the power flow in the Thevenin equivalent circuit

Analysing the full equivalent circuit it was observed that

Therefore, since synchonous speed is constant, maximum torque occurs at the same slip
as maximum airgap power. Considering the Thevenin circuit, and applying maximum
power transfer theory, maximum airgap power and maximum torque will occur when

Re-arranging it is possible to obtain the slip for maxiumum torque, or pullout torque. Note
that this should not be called the "maxiumum slip".

Substituting the pullout slip into the Thevenin torque equation:

From the two equations above it can be seen that

• The slip at which maximum torque occurs is proportional to rotor resistance

• The magnitude of the maxiumum torque is independent of rotor resistance
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 If all other parameters remain constant, increasing the rotor resistance will:

1. Reduce the speed at which maximum toruqe occurs

2. Increase the starting torque (until spo > 1, then it will reduce the start torque)
3. Increase slip for a given torque
4. Reduce the speed for a given torque
5. Increase the rotor losses at a given torque

The last point above can be shown by considering that the torque equation

is actually rotor copper loss divided by slip speed in radians per second. If slip increases,
losses must increase to maintaint the torque.

The diagram below plots torque speed curves for a motor with the following parameters,
R2 is varied.

R1=0.5 Ω, X1=0.75 Ω, X2=0.5 Ω, Xm=100 Ω, f=60Hz, p=6, VLL=230V, Y-connection

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Comments on the Induction Motor Torque- Speed Curve

 The induced torque of the motor is zero at synchronous speed.

 The torque speed curve nearly linear between no load and full
Load.
 There is a maximum possible torque that can not be exceeded,
this torque called the pullout torque or breakdown torque.
 The starting on the motor is slightly larger than its full load
Torque.
 Notice that torque on the motor for a given slip varies as the.
square of the applied voltage
 if the rotor of induction motor is driven faster than synchronous speed, then
the direction of the induced torque in the machine reverses and the machine
becomes a generator.
 If the motor is turning backward relative to the direction of the magnetic
fields, the induced torque in the machine will stop the machine very rapidly
and will try rotate it in the other direction.

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