Lecture 15

Induction Machines: Principle of

Operation and Equivalent Circuit Model
ECE 492/592
Electric Motor Drives
Introduction to Induction Machines

Induction Machines are also called

Asynchronous machines

Rotating transformer

Main properties

90% of industrial motor drives

Rugged and reliable

Low maintenance (no brushes)

Inexpensive

Relatively high power density
Induction motor construction

Stator construction (same as for the synchronous
machine)

Three windings spatially removed 120 degrees from each other

Excited by a balanced three phase voltage

Rotor construction

Rotor consists of a winding wound in the rotor slots

The current in the rotor is induced from the stator winding
Introduction to Induction Machines

Induction Machine types

Squirrel cage: rotor winding are shorted; rotor windings are typically
copper bars

Wound rotor: a winding on the rotor that can be accessed externally
through the slip rings

We will investigate the squirrel cage induction machine
Squirrel cage (source: daviddarling.info) Wound rotor (source: tpub.com)
Review of Rotating Magnetic Field of the
Stator

The diagram illustrates how
the stator circuit (stator
windings) sits on the stator of a
simple two pole motor.

Each phase winding is capable
of producing flux as defined by
the right hand rule. If we excite
the windings with a 3-phase
voltage source, the resulting
current through the coils will
produce a time varying flux
(vectors) by each phase.
c
u
b
u
a
u
The flux vectors magnitude will be sinusoidal. The
sum of the three flux vectors will result in a Net Flux

N

. As an example lets examine the flux at time t
1

.
max
( ) sin 0
a
t t e u = u Z

max
( ) sin( 120 ) 240
b
t t e u = u Z

max
( ) sin( 240 ) 120
c
t t e u = u Z

( ) ( ) ( ) ( )
N a b c
t t t t u = u + u + u

1 1 1 1 max
3
( ) ( ) ( ) ( ) 30
2
N a b c
t t t t u = u + u + u = u Z


2 max
3
( ) 30
2
N
t u = u Z

2 max
3
( ) 90
2
N
t u = u Z

What results is a rotating magnetic field with

a constant magnitude which produces a
rotating flux
N

.
Review of Rotating Magnetic Field of the
Stator (cont)
Rotor Behavior

When we excite the stator with a balanced current, a
current will be induced in the rotor

As a result of the interaction between the two currents, a
force will be produced in the motor
Faraday's EMF Law = e Blu
Lorent's Force = F Bli

Look back to example from lecture 1
Transformer Model

Since the induction machine at zero speed (locked rotor
condition) is a form of a three-phase transformer with a
shorted secondary we will review the transformer model

We will assume that both the primary (stator) and the
secondary (rotor) are Y-connected

We will then investigate a single phase of the motor and
realize the other two phases will behave identically with
a 120 degrees offset
Ideal Transformer Model
V
+
-
R
I
1
V
+
-
E
2
+
-
R
I
2
+
-
E
1
I
1
N
1
N
2
Ideal
Transformer
1 1
2 2
=
N V
N V
1 2
2 1
=
N I
N I
2
1
2
'
| |
=
|
\ .
N
R R
N
Practical Transformer Model
R
1

: winding resistance
X
1

: winding inductive reactance (leakage)
R
C

: core loss (eddy currents, hysteresis)
X
m

: magnetizing reactance of entire
transformer
I
m

: magnetizing current
Primary circuit model
Secondary circuit model
E
2

: Induced voltage
X
2

: inductive reactance (leakage)
R
2

: winding resistance
Developing the Induction Motor
Model from the Transformer Model

Looking at the rotor circuit, we see that the induced emf

is a function
of the rate of change of flux seen be the rotor winding

If the rotor is moving at some speed in the same direction as the flux
vector, the speed of change in flux will be reduced
( )
2
For stationary rotor 0
where is the synchronous electrical speed
The frequency of the induced voltage is
For moving rotor 0
where is the induced voltage on the
e

e e
e
e

e e
=
= =
=
= =
r
e e
e
r
r e r r
d
E
dt
d
E E
dt
( )
rotor winding
The frequency of the induced voltage is e e
e r
Developing the induction motor
model from the transformer model

We want to find the relation between E
2
and E
r
E
r
=sE
2
sX
2
R
2
I
r
+
-
( )
( )
2
2
,
The parameter is defined as the motor slip

e e e
e e
e
= = = =

= =
e r e r
e r
r
e
d d
E E
dt dt
E
s
E
s
Developing the induction motor
model from the transformer model
( )
2 2 2
2 2
2 2 2 2
= = +
= =
+ +
r r
r
E sE I jsX R
sE E
I
jsX R jX R s
E
r
=sE
2
sX
2
R
2
I
r
+
-
Induction Motor Equivalent Circuit
V
+
-
R
1
X
1
I
1
E
2
+
-
X
2
R
2
/s
I
r
R
c
+
-
E
1
X
m
I
I
m
2
'
1
2 2
2
N
R R
N
| |
=
|
\ .
Reflected rotor circuit parameters
2
'
1
2 2
2
N
X X
N
| |
=
|
\ .
'
2
2
1
r
N
I I
N
| |
=
|
\ .
Assumption: I
m

<<I
1

, then I
1

I
2

and the stator and rotor windings are now in series.
'
1 2 eq
R R R = +
'
1 2 eq
X X X = +
V
+
-
R
1
X
1
I
1
E
1
=E
2
X
2
R
2
I
2
R
c
+
-
X
m
I
m
R
2
(1-s)
s
Rewrite the reflected stator resistance: this is done to ease power flow computation.
' '
'
2 2
2
(1 )
R R
R s
s s
= +
Induction Motor Equivalent Circuit
Component related
to the rotating rotor