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Induction Motors
• The single-phase
induction motor is
the most frequently
used motor in the
world
• Most appliances,
such as washing
machines and
refrigerators, use a
single-phase
induction machine
three-phase
induction motor.
(Courtesy
Siemens).
Induction Motors
Figure 3
Induction motor
components.
Induction Motors
• The motor housing consists of three parts:
– The cylindrical middle piece that holds the stator iron
core,
– The two bell-shaped end covers holding the ball bearings.
– This motor housing is made of cast aluminum or cast iron.
Long screws hold the three parts together.
– The legs at the middle section permit the attachment of
the motor to a base.
– A cooling fan is attached to the shaft at the left-hand side.
This fan blows air over the ribbed stator frame.
Induction Motors
Figure 4 Stator
of a large
induction
motor.
(Courtesy
Siemens).
Induction Motors
• The iron core has cylindrical
shape and is laminated with slots
• The iron core on the figure has
paper liner insulation placed in
some of the slots.
• In a three-phase motor, the three
phase windings are placed in the
slots
• A single-phase motor has two
windings: the main and the
starting windings.
• Typically, thin enamel insulated
wires are used
Figure 5 Stator iron core without windings
Induction Motors
• A single-phase motor has
two windings: the main and
the starting windings
• The elements of the
laminated iron core are
punched from a silicon iron
sheet.
• The sheet has 36 slots and 4
holes for the assembly of
the iron core.
Figure 6 Single-phase stator with main windings.
Induction Motors
• The elements of the
laminated iron core
are punched from a
silicon iron sheet.
End ring
field rotates.
• The rotating field induces a C+ B+
n sy − n m ω sy − ω m
s= =
n sy ω sy
f
The synchronous speed is n sy =
p 2
Motor Force Generation
Induction Motors
• The interaction B B B B B
between the magnetic
field B and the
current generates a
force + F
F=BLI
Force
Force generation in a motor Ir
• The three-phase winding
generates a rotating field;
• The rotating field induces a Rotor Bar
current in the rotor bars;
• The current generation requires
a speed difference between the
Ring
rotor and the magnetic field;
• The interaction between the
field and the current produces Figure 16 Rotating
the driving force. magnetic field generated
driving force.
Equivalent circuit
Induction Motors
• An induction motor has two magnetically coupled circuits:
the stator and the rotor. The latter is short-circuited.
• This is similar to a transformer, whose secondary is
rotating and short-circuited.
• The motor has balanced three-phase circuits; consequently,
the single-phase representation is sufficient.
• Both the stator and rotor have windings, which have
resistance and leakage inductance.
• The stator and rotor winding are represented by a
resistance and leakage reactance connected in series
Induction Motors
• A transformer represents the magnetic coupling
between the two circuits.
• The stator produces a rotating magnetic field that
induces voltage in both windings.
– A magnetizing reactance (Xm) and a resistance connected in
parallel represent the magnetic field generation.
– The resistance (Rc) represents the eddy current and hysteresis
losses in the iron core
• The induced voltage is depend on the slip and the turn
ratio
Induction Motors
Ista Irot
Vsup Rc Xm Vsta Vrot = s Vrot_s
Stator Rotor
N sta Φ max ω sy
Vsta =
2
Induction Motors
• The flux rotates with the synchronous speed and the rotor
with the motor speed.
• Consequently, the flux cuts the rotor conductors with the
speed difference between the rotating flux and the rotor.
• The speed difference is calculated using the slip equation:
(ω sy − ω m ) = ω sy s
• The induced voltage is:
N rot Φ max (ω sy − ω m ) N rot Φ max ω sy s
Vrot = =
2 2
Induction Motors
• The division of the rotor and stator induced voltage
results in: N rot
Vrot = Vsta s = Vrot _ s s
N sta
• This speed difference determines the frequency of the rotor
current
ω rot ω sy − ω m ω sy s
f rot = = = = s f sy
2π 2π 2π
• The rotor circuit leakage reactance is:
Ista Irot
Vsup Rc Xm Vsta Vrot_s
Stator Rotor
Figure 18 Modified equivalent circuit of a three-phase
induction motor.
Ista Irot_t
Vsup Rc Xm Vsta
Stator Rotor
Air gap
Figure 19 Simplified equivalent circuit of a three-phase
induction motor.
Induction Motors
• The last modification of the equivalent circuit is the
separation of the rotor resistance into two parts:
Rrot _ t
= Rrot _ t +
[1− s ]
R rot _ t
s s
• The obtained resistance represents the outgoing
mechanical power
[1 − s ] R
rot _ t
s
Induction Motors
Xsta Rsta Xrot_t Rrot_t
Ista Irot_t
Vsup Rc Xm Vsta Rrot_t(1-s)/s
Stator Rotor
Air gap
(
Psup = Re(S sup ) = Re 3 Vsup I *
sta )
• The power transferred through the air gap by the
magnetic coupling is the input power (Psup) minus the
stator copper loss and the magnetizing (stator iron)
loss.
• The electrically developed power (Pdv) is the difference
between the air gap power (Pag) and rotor copper loss.
Induction Motors
• The electrically developed power can be computed
from the power dissipated in the second term of rotor
resistance:
2 ⎛ 1− s ⎞
Pdv = 3 I rot_t ⎜ Rrot _ t ⎟
⎝ s ⎠
• The subtraction of the mechanical ventilation and
friction losses (Pmloss) from the developed power gives
the mechanical output power
Pout
η=
Psup
• Motor torque:
Pout
M=
ωm
Induction Motors
Air gap
Developed power
Air gap
Input power Pdv = 3 Irot2 Rrot (1-s)/s
power Pag
Psup
Output power
Pout
Ventilation and
Stator Iron loss Rotor Copper loss friction losses
Stator Copper loss 3 Vsta2 / Rc 3 Irot2 Rrot
3 Ista2 Rsta
( 1 − s)
Zrot_t ( s ) := j ⋅ Xrot_t + Rrot_t + Rrot_t ⋅
s
j ⋅ Xm ⋅ Rc
Zm := Zsta Zrot_t(s)
j ⋅ Xm + Rc
Ista Irot_t
Zsta := j ⋅ Xsta + Rsta Zm
Vsup Im
Zm ⋅ Zrot_t ( s )
Zmot ( s ) := Zsta +
Zm + Zrot_t ( s ) Figure 7.22 Simplified motor
equivalent circuit.
Induction Motors
2) Motor Current
Zsta Zrot_t(s)
Vmot
Vsup := Vsup = 254.034 V
3 Ista Irot_t
Vsup Im Zm
Vsup
Ista ( s ) :=
Zmot ( s )
⎯
Ssup ( s ) := 3 ⋅ Vsup ⋅ Ista ( s ) Psup ( s ) := Re Ssup ( s ) ( )
Psup ( s )
Pf sup ( s ) :=
Ssup ( s )
(
Qsup ( s ) := Im Ssup ( s ) )
4) Motor Output Power and efficiency
( 1 − s)
(
Pdev ( s ) := 3 ⋅ Irot_t ( s ) ) 2
⋅ Rrot_t ⋅
s
Pmech ( s )
Pmech ( s ) := Pdev ( s ) − Pmech_loss η ( s ) :=
Psup ( s )
Induction Motors
s := 0.1 ⋅ % , 0.2% .. 100 ⋅ %
40
Pmax
Pmech( s ) 30
hp
20
Pmotor
hp
10
Operating Point
0
0 20 40 60 80 100
smax s
%
nm ( s ) := nsy ⋅ ( 1 − s ) ωm ( s ) := 2 ⋅ π⋅ nm ( s )
6. Motor Torque
Pmech ( s )
T m ( s ) :=
ωm ( s )
Induction Motors
s := 0.5% , 0.6% .. 80%
200
150
Tm( s )
100
N⋅ m
50
0
0 20 40 60 80
s
%
200
175
Tmax
Tm( s ) 150
N⋅ m 125
100
Trated
75
N⋅ m
50
Operating Point
25
0
200 400 600 800 1000 1200 1400 1600 1800
n m( s )
nmax
rpm
( 1 − s)
(
3 ⋅ Irot_t ( s ) ) 2
⋅ Rrot_t ⋅
s
MTmm_start ( s ) :=
2 ⋅ π⋅ nsy ⋅ ( 1 − s )
Rrot_t
(
3 ⋅ Irot_t ( s ) ) 2
⋅
s
T m_start ( s ) :=
M m 2 ⋅ π⋅ nsy
Induction Motors
• Kloss formula
2 M MAX
M=
s MAX s
+
s s MAX
Induction Motors
Circular diagram
Induction Motors
• The resistances and reactance in the equivalent
circuit for an induction motor can be
determined by a series of measurements. The
measurements are:
– No-load test. This test determines the magnetizing
reactance and core loss resistance.
– Blocked-rotor test. This test gives the combined
value of the stator and rotor resistance and
reactance.
– Stator resistance measurement.
Induction Motors
No-load test
• The motor shaft is free
• The rated voltage supplies the motor.
• In the case of a three-phase motor:
– the line-to-line voltages,
– line currents
– three-phase power using two wattmeters are
measured
Induction Motors
No-load test
Xsta Rsta Xrot_t Rrot_t
Fig 29 Equivalent
Ino_load Irot_t= small
motor circuit in no- Vno_load
Rc Xm Vsta Rrot_t(1-s)/s
Pno_load
Pno_load_A :=
SPno_load_A=:=95V
Wno_load_ln⋅ Ino_load
3 no_load_A
2 2
Qno_load_A := Sno_load_A − Pno_load_A
2
Vno_load_ln
Xm :=
Qno_load_A
Induction Motors
Blocked-rotor test
• The rotor is blocked to prevent rotation
• The supply voltage is reduced until the motor current is
around the rated value.
• The motor is supplied by reduced voltage and reduced
frequency. The supply frequency is typically 15 Hz.
• In the case of a three-phase motor:
– the line-to-line voltages,
– line currents
– three-phase power using two wattmeters are measured
Induction Motors
Blocked-Rotor test
Xsta Rsta Xrot_t Rrot_t
Rrot_t := Re − Rsta
Induction Motors
Blocked-Rotor test
Vblocked_ln
The magnitude of the Zblocked :=
motor impedance Iblocked
2 2
The leakage reactance Xe_15Hz := Zblocked − Re
at 15 Hz
Blocked Rotor test, 15Hz Vbr := 21V Pbr := 2100W Ibr := 71A fbr := 15Hz
p := 4
f := 60Hz
Calculate :
a) The equivalent circuit parameters
b) Motor rated current and synchronous speed
Draw the equivalent circuit
Induction Motors
No load test , Determine the core losses Rc and magnetizing
reactance Xm
PnL VnL
Single phase values: PnL_1F := VnL_ln :=
3 3
(VnL_ln)2
Rc := Rc = 27.04Ω
PnL_1F
InL
YnL := YnL = 0.183S
VnL_ln
1
Xm := i⋅ Xm = 5.573iΩ
2
2
YnL − ⎛ 1⎞
⎜R
⎝ c⎠
Induction Motors
Block Rotor test,
Neglect the magnetizing branch. Consider only the Xsta+Xrot and
Rsta+ Rrot
Pbr Vbr
Single phase values: Pbr_1F := Vbr_ln :=
3 3
Resistance value is:
Pbr_1F
Rbr := Rbr = 0.139Ω
2
Ibr
Induction Motors
Vbr_ln
Zbr := Zbr = 0.171Ω
Ibr
2 2
Xbr_15Hz := i⋅ Zbr − Rbr Xbr_15Hz = 0.099iΩ
Xbr
Xsta := Xrot := Xsta Xsta = 0.199iΩ
2
Y connected motor
Vdc
Rsta := Rrot := Rbr − Rsta
2Idc
Ista Irot
Vsup_ln Rrot (1-s) / s
Ic Im
Air gap
Induction Motors
C) Motor rated current and synchronous speed
Pmot_rated
Srated :=
pfmot Srated = 27.964kV⋅ A
Srated 1
Imot_rated := Imot_rated = 77.62A rpm :=
3⋅ Vmot_ll min
f
n synch :=
p n synch = 30Hz n synch = 1800rpm
2