Unit 4 - Asynchronous Machines

ELECTRICAL MACHINES
UNIT 4 ASYNCHRONOUS
MACHINES
22/10/2015
UNIT 4
3 ASYNCHRONOUS MACHINES
TABLE OF CONTENTS
4.1. Constructive characteristics
4.2. Equivalent circuit and power balance
4.3. Torque-speed and current-speed characteristics
4.4. Operation as a generator and as a brake
4.5. Starting methods and speed regulation
4.6. Single-phase motor. Principle of operation and starting
4.7. Shaded pole motor
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UNIT 4
4.1. CONSTRUCTIVE CHARACTERISTICS

One and three phase
Two types according to how rotor coils are short-circuited:
Squirrel cage
Consisting of equally spaced bars that are shorted
by rings
Bars made of cast aluminium (copper previously )
Wound rotor
Three-phase winding similar to the stator one
It is possible to modify the rotor electrical circuit and to measure
internal magnitudes
Slip rings
Stator
The same in both types
Core made of laminated silicon steel
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Terminal box
Six terminals corresponding to the ends of the three stator phases: U1, V1,
W1, U2, V2 and W2
Delta
Star (Wye)
U1
V1
W1
U1
V1
W1
U1
V1
W1
W2
U2
V2
W2
U2
V2
W2
U2
V2
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4.2. EQUIVALENT CIRCUIT AND POWER BALANCE
60 f1
Speed of the magnetic field caused by the stator: n s =
p
Rotor speed: n < ns
ns - n
Slip is defined as: s =
(expressed in %)
ns
Equivalent circuit
1. Stator
Let us consider a single stator phase
I1
U1
R1
X1
+
E1
U 1 = E 1 + (R1 + jX 1 )I 1
R1 = stator winding resistance

X1 = stator leakage reactance, due to:
Slot leakage flux
Causes an induced emf in the

Zigzag leakage flux
conductors that corresponds
End winding leakage flux to a voltage drop

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The common flux through stator and rotor windings and whose peak value is m,
induces emf forces in both windings whose RMS values are:
E1 = 4,44 f1N1 mK1
E2s = 4,44 f2N2 mK2
K1 and K2 winding factors of stator and rotor
f2 value:
n s - n ws - w
s=
=
ns
ws w - w = w s = 2p f1 s f = sf
s
s
2
1
2p f2
p
w2 = ws - w =
Let us write:
E2s = sE2 E2 = 4,44 f1N2 mK2
standstill)
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(rotor emf when s = 1 rotor is at
UNIT 4

2. Rotor
I2
X2s
R2
R2 = rotor winding resistance

X2s = 2L2 = 2f2L2 = 2sf1L2 = sX2
+
E2s
f2 = sf1
standstill rotor reactance
E 2s
s E 2
E2
=
=
I2 =
2
R 22 + X 2s 2
R 22 + s 2X 22
R 2
2
+
X

2
The rotor circuit operates at different frequency than the stator one. Let us
modify the rotor circuit:
X2
R2/s
R2
X2
I
I
+
E2
f1
E 2+
f1
Rc = R 2
1- s
s
When the rotor is at standstill, current will flow through the secondary if the
R
1- s
rotor resistance is not equal to its natural value but to: 2 = R 2 + R 2
s
s
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3. Statorrotor aggregation
X1
I1 R1
+
U1
E1
rtu =
E1 N1 K1
=
E2 N2 K2
I2
E2
X2
R2
+
f1
rti =
Rc = R2
1 s
s
m1N1 K1
m2 N 2 K2
A single circuit is achieved carrying out the following transformations:

E 2 ' = E 2 rtu
R 2 ' = R 2 rtu rti
I 2 ' = I 2 / rti
X 2 ' = X 2 rtu rti
The relationship between is also considered:

No load m:
m = m1N1K1I0
Load m:
m = m1N1K1I1 m2N2K2I2
mN K
m1N1K1I1 = m1N1K1I0 + m2N2K2I2 I 1 = I 0 + 2 2 w2 I 2 = I 0 + I 2 '
m 1N 1K w1
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I1
R1
X1
I2 '
I 0 = I1 I 2 '
U1
E1 = E2 '
RFe
X2
R2
Rc = R2 '
I Fe I
1 s
s
Rc = load resistance
The mechanical power developed by the motor in its shaft equals the power
absorbed by this extra resistance
I0 is larger than in transformers because the circuit reluctance is larger (air gap)
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Energy balance for the machine in the process of converting
electrical energy into mechanical energy
Power absorbed by the motor from the grid
P1 = m1U1I1cos
Stator copper loss
PCu1 = m1R1I12
Core loss (only in the stator)
PFe = m1E1IFe m1U1IFe
Air gap power (in the rotating field)
Pa = P1 PCu1 PFe
Rotor copper loss
PCu2 = m2R2I22 = m2R2I22
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Internal mechanical power
Pim = Pa PCu2 which is dissipated in Rc
Pmi = m 1 R2 '
1- s 2
I2 '
s
Shaft useful power

Pu = Pim Pm
mechanical losses (friction and ventilation)
Efficiency
h=
Pu
P1
Pu
Pu + PCu1 + PFe + PCu 2 + Pm
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Diagram
stator
air gap
Pmi
Pa
P1
PCu1
Useful relationships
PCu 2
Pmi
Pa = Pmi + PCu 2
rotor
PFe
m 1R2 ' I 2 '2
m 1R2 '
1- s 2
I2 '
s
PCu2
Pu
Pm
s
1- s
R 2 ' 2 PCu 2
1- s 2
2
= m 1R 2 '
I 2 ' + m 1R2 ' I 2 ' = m 1
I2 ' =
s
s
s
if s increases PCu2 increases
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https://www.youtube.com/watch?v=a0hihBGMmxU
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4.3. TORQUE-SPEED AND CURRENT-SPEED CHARACTERISTICS

Torque-speed characteristics
n
w
Synchronism speed W1 = 2p S = 1
p
60
Rotor turning speed
Short circuit reactance Xcc = X1 + X2
Pmi
m 1 R2 '
Electromagnetic torque equation

m 1 R2 '
U 12
Ti =
2
W1 s
R2 '
+
X
R1 +
cc
I 2 '2
W1 s {
Pa
PCu 2 s
W1
I1
W1
Tis curve
For speeds close to synchronism (s 0)
Ti @K
line with slope
K
R2 '
R2 ' 1
s
=
K
s R ' 2
R2 '
2
s
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For low speeds (s >> 0)
R2 '
1
1
Ti =
@K
= K1
s Rcc 2 + X cc 2
s
Ti
0
(n = ns)
(equilateral hyperbola)
Ti
1
(n = 0)
s=1
0
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s=0
ns
UNIT 4

Torque at synchronous speed equals zero
The pull-out torque is around 2 to 3 times the full-load (rated) torque
The starting torque is slightly higher than the rated torque
Stability is guaranteed
from C to E
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Torque varies with the square of the applied voltage:
Ti
U = Un
T i = K U12
U = 0,75Un
U = 0,5Un
s
If the rotor resistance is changed, the torque curve is modified as:

Ti
The starting torque can be

significantly increased
R2i < R2ii < R2iii
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Current-speed characteristics
It is of great practical use mainly for studying motor protection
I (% of In)
600
100
100
n (% of ns)
It is specific of each motor. From this characteristics, the current-time

curve, which depends on the driver, can be obtained
I
In
t
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4.4. OPERATION AS A GENERATOR AND AS A BRAKE

A. OPERATION AS A GENERATOR
If an induction machine is externally moved making it rotate at a speed higher
than the synchronism one then the machine operates as a generator
Limitations:
It needs to absorb reactive power from the grid in order to create the magnetic field.
In isolated operation, it needs a capacitor bank providing the reactive power required
by both the generator and the load. The output voltage is regulated changing the
capacitor bank power. The frequency also depends on the load
Advantages:
Simplicity and cost
Low maintenance
Directly coupling to the grid
The rotation speed is not determined by the mains frequency
It does not suffer stability problems
Applications:
Wind turbines and mini power stations
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A. OPERATION AS A GENERATOR
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B. OPERATION AS A BRAKE
There are different methods of slowing an induction motor
a. Disconnecting the power and waiting until the friction slows the motor to a stop
(Alternatively a friction brake can be used)
b. Leaving it connected and making it (while slows down) produce electric energy
from the its kinetic energy, sending the generated energy back to the grid or to
any element designed for this purpose such as braking grid resistors
c. Making it operate as an electromagnetic brake
c.1. Countercurrent braking
Reversing the direction of the rotating field. Only in wound rotor motors
c.2. DC injection braking
A DC voltage is injected into the stator after the power supply is disconnected. The
stator creates a magnetic field fixed in space that tends to slow the rotor
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4.5. STARTING METHODS AND SPEED REGULATION

Starting. Process of making a motor rotate
Main characteristics:
Starting torque
Starting current
The value of the starting current is limited by the Reglamento

Electrotcnico de Baja Tensin (R.E.B.T.), which sets limits on the ratio
starting current/full-load current. Starting current must be reduced
starters are used
The starting torque must be high enough to move the load from standstill
(required torque is usually high)
Problem: a reduction in the starting current reduces the starting torque
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Starting methods regulating stator circuit
They are used with squirrel cage motors and consist in reducing the
terminal voltage
Several methods have been historically used, such as series resistors and
autotransformers, which are no longer in use. Currently, both star-delta or
soft starters are employed depending on the load characteristics
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Star-delta starter starts the motor with a star connection (lower voltage)
and after a short time switches to a delta connection.
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UNIT
3 43 ASYNCHRONOUS MACHINES

Star-delta starter
At starting the current is: I sY =
UY
U
= GRID
Z cc
3Z cc
If the motor is directly connected to the grid:

U
U
I sD = D = GRID I s = 3 I sD =
Z cc
Z cc
1
I sY
=
3
Is
The starting torque is 3 times lower
2
UGRID
2
T sY = kUY = k
T sY = 1
3
2
2
3
T sD = kU D = kUGRID T sD
UGRID
Z cc
It is used in those cases where the load torque at starting does not exceed 50%
of the rated torque fan-type loads
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Soft starter starts the motor at reduced voltage by regulating the supply
voltage via a power electronics converter consisting of 2 antiparallel
tyristors per phase
The basic operation consist in producing a voltage ramp that

starts with an approximate value of 20% of the mains voltage
and reaches 100% once the set ramp time has passed
The starting current is also limited to a maximum value, so
that the supply voltage momentarily stops increasing when
this value is exceeded
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Soft starter. It can adjust the motor torque curve to different braking load
torque curves
Pumps (to prevent water hammer)
WRONG
Acceleration torque
is too high
WRONG
WELL
Initial voltage
is too low
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Soft starter
Fans. High moment of inertia the starting current remains for a long time
WRONG
Initial voltage
is too high
WRONG
WELL
Ramp time is
too short
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Soft starter
Mills. The starting torque is very high. The star-delta starter is not appropriate
WRONG
Breakdown impulse
is too high
WRONG
WELL
Breakdown impulse
is too long
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Soft starter
Constant load machines (conveyors, elevators, escalators). Direct starting may
damage people and material due to and sudden starting
Linear load machines. Long starting times high current for a long time
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Soft starter settings:
Start ramp: 0 180 s
Initial voltage: 20 100%
Current limit: 0,5 6 In
Stop ramp
Energy savings (voltage is reduced during no-load periods in order to decrease
iron losses)
Emergency starting
Ambient temperature
Operation detection
Breakdown impulse
Starting frequency limit
Overload protection
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Starting methods regulating rotor circuit
Rotor resistance starter. Series resistances
(or rheostat) connected to the rotor to
increase the starting torque
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Double cage
Upper cage high resistivity material (bronze)
Lower cage electrolytic copper
STATOR
ROTOR
It aims to increase the rotor resistance to raise the torque but only during
starting. Otherwise losses increase
At starting, the frequency of the rotor currents is very high lower cage
reactance is higher than the upper cage one current tends to flow through
the upper cage, which has lower resistance starting torque increases
As motor accelerates the frequency of the rotor currents decreases the cage
reactances are negligible as compared to the resistances current tends to
flow through the lower cage
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Deep bar
Slot shapes
At starting, the current is located in the upper part of the bars as the reactance
is lower the effective cross section is lower resistance increases
As motor accelerates frequency of currents decreases the reactance
decreases the current is distributed throughout the section decreasing
resistance
double squirrel cage motor
squirrel cage deep bar motor
squirrel cage motor
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Speed regulation
It is necessary in many industry applications
Traditionally, DC motors have been used when a variable speed driver was
required
However, since induction motors are most robust and require less
maintenance than DC motors, many methods have been developed for
varying their speed
Possibilities of speed variation:
Acting on p
Acting on f
Acting on s
n = n s (1 - s ) =
60 f
(1 - s )
p
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Speed regulation varying the number of pole pairs
Dahlander connection. The winding of each
phase consists of two equal parts which can be
connected in series or in parallel, making the
number of poles vary with the ratio 2:1
It is only used in squirrel cage

motors because the number of
rotor poles automatically adapts
to the number of stator poles
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Speed regulation varying the number of pole pairs
Multiple windings
The stator has two or more independent windings. Each one has a different
number of poles so different speeds are achieved depending on which winding
is used
p = 2 (1500 rpm)
e.g. two winding motor
(two speed motor)
p = 3 (1000 rpm)
Motor cost rises
Combining two independent windings with the Dahlander connection, four
speeds can be achieved
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Speed regulation varying supply frequency
A device located between the power supply and the motor should allow
varying the frequency of the supply voltages
The frequency variation must be done maintaining U1/f1 ratio constant to
avoid the machine saturation, as this would vary the magnetization current
E 1 = 4, 44 f1 N 1 f p K w
1
f p = const if E 1 - , f1 -
E1
f1
= conts
At very low frequencies, E1 >> U1 is no

longer satisfied so voltage is not longer
proportionally reduced
U1
f1
= const
E1 U1
Un
Un
2
Voltage boost
fn
2
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fn
UNIT 4

Speed regulation varying supply frequency
Varying the frequency and maintaining the U1/f1 ratio constant, the torque
curve is modified as follows
Ti
f4
f3
f2
f1
Variable frequency drive (VFD)

DC
M
RECTIFIER
INVERTER
Voltage control:
Controlling the DC voltage
Controlling the inverter switching
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Speed regulation varying slip
Supply voltage variation
u1
Ti
Application small motors driving fans
u2
u3
n
Speed regulation margin
Ti
Rotor resistance variation
Drawback the rotor resistance increase

reduces the motor efficiency this
method is only employed to reduce speed
for shorts periods of time
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R3 R2 R1
n
Speed regulation margin
UNIT 4
4.6. SINGLE-PHASE MOTOR. PRINCIPLE OF OPERATION AND STARTING
Squirrel cage motor connected to a single-phase grid rather than

a three-phase
Application: fractional motors (< 1 kW) in domestic installations
(washing machines, fans, etc.)
Operating principle:
Since it only has a single-phase winding, the magnetic field created by the
stator is fixed in space and pulsing in time A single phase induction
motor is not self-starting
Leblancs theorem: A field both sinusoidally oscillating and fixed in space is
the equivalent of two rotating fields that have constant amplitude,
opposite rotation directions and speed equal to the oscillating field
pulsation
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Torque curve for each of the rotating fields resulting from the Leblancs
theorem
If the motor rotates in the direction of the positive field, the slip with
respect to this field is:
ns - n
n
= 1sd = s =
ns
ns
ns + n
n
s
=
=
1
+
= 2- s
And the slip with respect to the reverse field: i
ns
ns
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At n = 0, the torque equals nought but if in any way the motor is helped to
start movement, then a resulting torque appears. If this torque is higher
than the braking load, the motor will start rotation until the speed
stabilizes
The operating speed is lower than that obtained by a three-phase motor
with the same braking load torque these motors operate with a
relatively high slip
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Starting
Three-phase distributed windings supplied with currents out of phase
cause a rotating magnetic field with constant amplitude and speed
A two-phase system (two windings 90 out of phase in space) supplied with
currents 90 out of phase in time also causes a rotating magnetic field
If the currents flowing through both winding have different amplitude or
the winding have different number of turns, a rotating field with variable
amplitude is obtained
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Starting
SPLIT-PHASE INDUCTION MOTOR
An auxiliary winding is placed at 90 electrical to the main winding
The main winding covers 2/3 of the slots so has higher reactance
The auxiliary winding, which is made of smaller wire, has lower reactance and
higher resistance and is disconnected by a centrifugal switch at 3/4 of
synchronous speed
Scheme
Tn curve
Ti
30 is enough to create a rotating field

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3/4ns
UNIT 4
Starting
CAPACITOR-START INDUCTION MOTOR
A starting capacitor inserted in series with the start winding, creating an LC circuit
which is capable of a much greater phase shift, almost 90, and so, a much
greater starting torque
Scheme
capacitor
The capacitor must have a high capacity, so it is electrolytic, which has a polarity.
As a result, it can only stay connected to the AC grid during a short period of time
Once the capacitor is disconnected, the motor operates as a single phase motor
using only the main winding
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Starting
PERMANENT-SPLIT CAPACITOR MOTOR (PSC)
It is also known as capacitor start and run motor
The capacitor is smaller (non electrolytic) and remains in the circuit during the
run cycle. The operation is similar to that of a three phase motor
Advantages: needs no centrifugal switch, it is more efficient and its power factor
is better
Drawback: smaller starting torque
A variation is to start the motor with a relatively large capacitor for high starting
torque, but leave a smaller value capacitor in place after starting to improve
running characteristics
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4.7. SHADED POLE MOTOR

The simplest and smallest single-phase motor
Salient pole stator with concentrated winding and squirrel cage rotor
The auxiliary winding, called shading coil, is composed of a copper ring or
bar surrounding a portion of each pole
A second field is created that is out of phase in space and in time a
(elliptic) rotating field is produced
1 through shading coil induces an emf that produces an inductive current Icc
that causes a flux cc
E cc (t ) = -
df a
dt
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UNIT 4
4.7. SHADED POLE MOTOR

The direction of rotation is from the unshaded side to the shaded (ring)
side of the pole
It has smaller starting torque, higher slip and is less efficient than other
single-phase motors
1
kW
Power size<
20
It is not reversible unless four coils are used
Two coils
Four coils
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ELECTRICAL MACHINES

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4.1. CONSTRUCTIVE CHARACTERISTICS

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4.1. CONSTRUCTIVE CHARACTERISTICS

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4.1. CONSTRUCTIVE CHARACTERISTICS

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4.1. CONSTRUCTIVE CHARACTERISTICS

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4.1. CONSTRUCTIVE CHARACTERISTICS

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4.1. CONSTRUCTIVE CHARACTERISTICS

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4.1. CONSTRUCTIVE CHARACTERISTICS

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4.2. EQUIVALENT CIRCUIT AND POWER BALANCE

R1 = stator winding resistance

Causes an induced emf in the

End winding leakage flux to a voltage drop

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4.2. EQUIVALENT CIRCUIT AND POWER BALANCE

(rotor emf when s = 1 rotor is at

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4.2. EQUIVALENT CIRCUIT AND POWER BALANCE

R2 = rotor winding resistance

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4.2. EQUIVALENT CIRCUIT AND POWER BALANCE

A single circuit is achieved carrying out the following transformations:

X 2 ' = X 2 rtu rti

The relationship between is also considered:

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4.2. EQUIVALENT CIRCUIT AND POWER BALANCE

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4.2. EQUIVALENT CIRCUIT AND POWER BALANCE

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4.2. EQUIVALENT CIRCUIT AND POWER BALANCE

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4.2. EQUIVALENT CIRCUIT AND POWER BALANCE

Shaft useful power

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4.2. EQUIVALENT CIRCUIT AND POWER BALANCE

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4.2. EQUIVALENT CIRCUIT AND POWER BALANCE

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4.3. TORQUE-SPEED AND CURRENT-SPEED CHARACTERISTICS

Electromagnetic torque equation

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4.3. TORQUE-SPEED AND CURRENT-SPEED CHARACTERISTICS

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4.3. TORQUE-SPEED AND CURRENT-SPEED CHARACTERISTICS

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4.3. TORQUE-SPEED AND CURRENT-SPEED CHARACTERISTICS

If the rotor resistance is changed, the torque curve is modified as:

The starting torque can be

R2i < R2ii < R2iii

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4.3. TORQUE-SPEED AND CURRENT-SPEED CHARACTERISTICS

It is specific of each motor. From this characteristics, the current-time

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4.4. OPERATION AS A GENERATOR AND AS A BRAKE

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4.4. OPERATION AS A GENERATOR AND AS A BRAKE

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