Lebanese University
Faculty of engineering
Electric Machines II
Chapter 4 : Asynchronous machines
(induction machines)
Definition of an asynchronous machine
• An asynchronous machine is an AC current machine whose the
rotation speed is not in a constant ratio with the frequency of the
input current
Symbol
Phase wound rotor Squirrel cage machine
machine
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 2
Rotor of an MAS
• MAS rotor can be realized with one of these 2 forms
• Sleep rings rotor (Wound phase rotor)
• Squirrel cage rotor
Wound phase rotor Squirrel cage rotor
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 3
Wound phase rotor
• It includes a star coupled three-phase winding. Each phase is
connected to an isolated sleep ring. Brushes are resting on the rings.
• Advantage : It is possible to insert a rheostat for some starting
purposes
Wound phase rotor Wound rotor coupled with a starting rheostat
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 4
Squirrel cage rotor
• It is designed with cupper or aluminum bars short-circuited with 2
ending rings
• Advantage : There is no windings on the rotor
Squirrel cage rotor
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 5
Physical characteristics
• ωs : Stator current pulsation rad/s
• ωr : Rotor current pulsation rad/s
• ωm : Rotor angular speed rad/s
• Ns : Turning field velocity (synchronism speed) rpm
• Ωs : Angular speed of turning field rad/s
• N : Rotor rotation velocity rpm
• fs : Stator current frequency Hz
• fr : Rotor current frequency Hz
• p : number of pole pairs
• Ωs’ : Relative angular speed of turning field with respect to the rotor
rad/s
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 6
Sliding (Glissement)
𝜔𝑠 2𝜋𝑓𝑠 2𝜋𝑁𝑠
• 𝜔𝑠 = 2𝜋𝑓𝑠 ; 𝜔𝑟 = 2𝜋𝑓𝑟 ; Ω𝑠 = = =
𝑝 𝑝 60
2𝜋𝑁
• 𝜔𝑠 − 𝜔𝑟 = 𝑝𝜔𝑚 ; Ω′𝑠 = Ω𝑠 − 𝜔𝑚 ; 𝜔𝑟 = 𝑝Ω′𝑠 ; 𝜔𝑚 =
60
• Sliding : relative gap between the synchronism speed and the real
rotation speed
𝑁𝑠 − 𝑁
𝑔=
𝑁𝑠
Ω𝑠 −𝜔𝑚 𝜔𝑟
• Or 𝑔 = =
Ω𝑠 𝜔𝑠
• Otherwise: 𝑓𝑟 = 𝑔𝑓𝑠
• Blocked rotor: 𝑔 = 1; N = 0;
• No load: 𝑁 ≅ 𝑁𝑠 ; 𝑔 = 0
• Normal load: 𝑔 < 6%
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 7
Theoretical approach
• Ψ𝑠 = 𝐿𝑠 𝑖𝑠 + 𝑀𝑎𝐴 𝑖𝐴 cos 𝜃𝑒 + 𝑖𝐵 cos 𝜃𝑒 + 2𝜋 3 + 𝑖𝐶 cos 𝜃𝑒 − 2𝜋 3
• Ψ𝑅 = 𝐿𝑅 𝑖𝑅 + 𝑀𝑎𝐴 𝑖𝑎 cos 𝜃𝑒 + 𝑖𝑏 cos 𝜃𝑒 − 2𝜋 3 + 𝑖𝑐 cos 𝜃𝑒 + 2𝜋 3
• Voltage complex equations are then:
• 𝑉𝑠 = 𝑅𝑠 𝐼𝑠 + 𝑗𝜔𝑠 𝐼𝑠 𝐿𝑠 − 𝑀 + 𝑗𝜔𝑠 𝑀 𝐼𝑠 + 𝐼𝑅
𝑅𝑅
• 0= 𝐼 + 𝑗𝜔𝑠 𝐼𝑅 𝐿𝑅 − 𝑀 + 𝑗𝜔𝑠 𝑀 𝐼𝑠 + 𝐼𝑅
𝑔 𝑅
Rs Ls – M 𝑅𝑅 LR – M
𝑔
Is IR
Vs M
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 8
Theoretical approach
• 𝑉𝑠 = 𝑅𝑠 𝐼𝑠 + 𝑗𝜔𝑠 𝐼𝑠 𝐿𝑓𝑠 + 𝑗𝜔𝑠 𝐿𝑠𝑠 𝐼𝑚
𝑅𝑅 ′ ′
• 0= 𝐼𝑅 + 𝑗𝜔𝑠 𝐿𝑓𝑅 ′ 𝐼 ′ 𝑅 + 𝑗𝜔𝑠 𝐿𝑠𝑠 𝑀𝐼𝑚
𝑔
• Where:
3
• 𝑀 = 𝑀𝑎𝐴
2
𝑛2 𝐿𝑚𝑅 𝑀𝑎𝐴
• 𝑚= ; = 𝑚2 ; =𝑚
𝑛1 𝐿𝑚𝑠 𝐿𝑚𝑠
𝑅𝑅 𝐿𝑓𝑅
• I’R = mIR; 𝑅𝑅 ′ = ; 𝐿𝑓𝑅 =′
;
𝑚2 𝑚2
𝑅𝑅 ′
Rs Lfs 𝑔 L’fR
Is
I’R
Vs Lss
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 9
Theoretical approach
• Final equations become:
• 𝑉𝑠 = 𝑅𝑠 𝐼𝑠 + 𝑗𝑋𝑠 𝐼𝑠 + 𝑗𝑋𝑚 𝐼𝑚
𝑅𝑅 ′ ′
• 0= 𝐼𝑅 + 𝑗𝑋𝑅 ′ 𝐼 ′ 𝑅 + 𝑗𝑋𝑚 𝐼𝑚
𝑔
𝑅𝑅 ′
Rs Xs 𝑔 X’R
Is
I’R
Vs Xm
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 10
Introducing iron losses
• Iron losses are represented by a resistor RF in parallel with the
magnetization inductance Xm.
𝑅𝑅 ′ X’R
Rs Xs 𝑔
Is
I’R
Vs RF Xm
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 11
Electromagnetic torque
• Electromagnetic torque can be represented in one of the following 3
forms:
• In terms of α, β et δ : 𝑇𝑒 = 𝑓 𝛼, 𝛽, 𝛿
• In terms of the rotor circuit parameters
• In terms of the parameters of the equivalent circuit
• First form is given by:
9
𝑇𝑒 = − 𝑝𝑀0 𝐼𝑠 𝐼𝑅 sin −𝛼 + 𝛽 + 𝑝𝛿
4
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 12
Electromagnetic torque
(parameters of rotor circuit)
• By taking into account the voltage equation on the rotor:
0 = 𝑅𝑅 + 𝑗𝜔𝑅 𝐿𝑅 𝐼𝑅 + 𝑗𝜔𝑅 𝑀𝐼𝑠
• Relative pulsation of IR of Is is ωR and their phases are β and α – pδ
respectively
• We find:
𝑅𝑅 𝐼𝑅
sin −𝛼 + 𝛽 + 𝑝𝛿 = −
𝜔𝑅 𝑀𝐼𝑠
• Second form is then given by:
3 𝑅𝑅 2 𝑝 1 1−𝑔 𝑃𝑒
𝑇𝑒 = 𝑝 𝐼𝑅 = ∆𝑃𝐽𝑅 = ∆𝑃𝐽𝑅 =
𝜔𝑠 𝑔 𝜔𝑅 𝜔𝑚 𝑔 𝜔𝑚
• So electromagnetic power could be written as follows:
1−𝑔
𝑃𝑒 = ∆𝑃𝐽𝑅
𝑔
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 13
Electromagnetic torque
(parameters of the equivalent circuit)
• Taking into consideration the voltage equation of the rotor:
3 𝑅𝑅 2 3 𝑅′𝑅 2
𝑇𝑒 = 𝑝 𝐼𝑅 = 𝑝 𝐼′𝑅
𝜔𝑠 𝑔 𝜔𝑠 𝑔
• But:
2 2
2 𝐸 𝑉𝑠
𝐼′𝑅 = 2 ≈ 2
𝑅′𝑅 2 𝑅′𝑅 2
+ 𝑋′𝑅 + 𝑋′𝑅
𝑔 𝑔
• Generally 𝐸 ≠ 𝑉𝑠
• Where: 𝑉𝑠 = 𝑅𝑠 + 𝑗𝑋𝑠 𝐼𝑚 + 𝐼′𝑅 + 𝐸 𝑅 ′ 𝑅
Rs Xs 𝑔 X’R
Is
I’R
Vs E Xm
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 14
Electromagnetic torque
(parameters of the equivalent circuit)
• Generally 𝑋𝑚 ≫ 𝑍′𝑅 , we obtain:
𝑅′𝑅
3𝑝 𝑉𝑠 2 𝑔
𝑇𝑒 = × 2
𝜔𝑠 𝑅′𝑅 2
𝑅𝑠 + + 𝑋𝑠 + 𝑋′𝑅
𝑔
Brake
Te-max N<0
TR • If Rs is neglected, we obtain:
Operating point
2 𝑅′𝑅
No load 3𝑝 𝑉𝑠 𝑔
𝑇𝑒 = × 2
Generator 𝜔𝑠 𝑅′𝑅
Starting
N > Ns + 𝑋𝑠 + 𝑋′𝑅 2
𝑔
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 15
Maximum electromagnetic torque
• We derive the torque Te with respect to the sliding g, critical sliding g0
is obtained, it leads to the maximum torque Te-max:
𝑅′𝑅 𝑅′𝑅
𝑔0 = ± ≈±
2 2
𝑋𝑠 + 𝑋′𝑅
𝑅𝑠 + 𝑋𝑠 + 𝑋′𝑅
• Maximum torque is then given by:
3𝑝 𝑉𝑠 2 3𝑝 𝑉𝑠 2
𝑇𝑒−𝑚𝑎𝑥 = × ≈ ×
2𝜔𝑠 2𝜔𝑠 𝑋𝑠 + 𝑋′𝑅
𝑅𝑠 + 𝑅𝑠 2 + 𝑋𝑠 + 𝑋′𝑅 2
• Maximum torque Te-max varies with the square of Vs, and it is
independent from R’R
If RR varies, g0 changes but Te-max remains the same
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 16
Starting torque
• Starting torque Ted is obtained by taking g = 1, the rotation velocity is
N=0
3𝑝 𝑅′𝑅 𝑉𝑠 2
𝑇𝑒𝑑 = ×
𝜔𝑠 𝑅𝑠 + 𝑅′𝑅 2 + 𝑋𝑠 + 𝑋′𝑅 2
• If Rs is neglected, we obtain:
3𝑝 𝑅′𝑅 𝑉𝑠 2
𝑇𝑒𝑑 = ×
𝜔𝑠 𝑅′𝑅 2 + 𝑋𝑠 + 𝑋′𝑅 2
If we change RR by connecting a resistor in series with the rotor
winding, we could change the value of the starting torque Ted. If RR is
adjusted properly, we may obtain:
Ted = Te-max
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 17
Starting resistor
• Critical sliding g0 is given by:
𝑅′𝑅 + 𝑅′𝑑
𝑔0 = ±
𝑅𝑠 2 + 𝑋𝑠 + 𝑋′𝑅 2
• Rd is simply chosen so that g0 is equal to1, we obtain:
2
3𝑝 𝑉 𝑠
𝑅′𝑑 = 𝑅𝑠 2 + 𝑋𝑠 + 𝑋′𝑅 2 − 𝑅′ 𝑅 = × − 𝑅𝑠 + 𝑅′𝑅
2𝜔𝑠 𝑇𝑒−𝑚𝑎𝑥
• If Rs is neglected, we obtain:
2
3𝑝 𝑉𝑠
𝑅′𝑑 = 𝑋𝑠 + 𝑋′𝑅 − 𝑅′ 𝑅 = × − 𝑅′𝑅
2𝜔𝑠 𝑇𝑒−𝑚𝑎𝑥
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 18
Starting resistor
• Rd must be short-circuited after the starting, if it is maintained in the
circuit, additional losses will be added, and the steady state sliding
will be higher
• This resistor should be short-circuited progressively during the
starting
Te-max Rd-opt
Sans Rd
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 19
Nominal electromagnetic torque
• At the operating point, g = gn ≈ 0.06, in this case:
𝑅′𝑅 𝑅′𝑅
≫ 𝑅𝑠 & ≫ 𝑋𝑠 + 𝑋′𝑅
𝑔 𝑔
• We obtain then:
3𝑝 𝑉𝑠 2 3𝑝 𝑉𝑠 2
𝑇𝑒𝑛 = × = × ×𝑔
𝜔𝑠 𝑅′ 𝑅 𝜔𝑠 𝑅′𝑅
𝑔
• The expression of nominal torque can be assumed to a straight line
that passes through the origin
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 20
Choice of starting rheostat
• In this part, linear form of torque is used:
3𝑝 𝑉𝑠 2
𝑇𝑒 = ×𝑔
𝜔𝑠 𝑅′𝑅 + 𝑅′𝑑
• Series resistors are removed gradually so that a minimum
electromagnetic torque is maintained in order to insure an
acceptable starting torque
• We obtain: 𝑇𝑒−𝑚𝑎𝑥
3𝑝 𝑉𝑠 2
𝑇𝑒−max 1 =
𝜔𝑠 𝑅′𝑅 + 𝑅′𝑑 𝑇𝑒−𝑚𝑖𝑛
3𝑝 𝑉𝑠 2
𝑇𝑒−max 5 = 𝑔5
𝜔𝑠 𝑅′𝑅 𝑇𝑒𝑛
𝑔5 𝑔4 𝑔3 𝑔2 𝑔1
𝑇𝑒−max 1 = 𝑇𝑒−max 5 = 𝑇𝑒−𝑚𝑎𝑥
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 21
Choice of starting rheostat
• Let a be the ration between the min torque and max one:
𝑇𝑒−𝑚𝑖𝑛 𝑔2 𝑔3 𝑔4 𝑔5 𝑔6
𝛼= = = = = =
𝑇𝑒−𝑚𝑎𝑥 𝑔1 𝑔2 𝑔3 𝑔4 𝑔5
• if k the plots number of the starting rheostat:
𝑘
𝑔𝑘+1
𝛼 = = 𝑔𝑘+1
𝑔1
ln 𝑔𝑘+1
𝑘=
ln 𝛼
• The starting resistor is Rd:
𝑅𝑑 = 𝑅𝑅 1 𝑔𝑘 − 1
• Where: Te(gk) = Te-max when the starting resistor is totally short-
circuited
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 22
Choice of starting rheostat
𝑇𝑒−𝑚𝑎𝑥
𝑇𝑒−𝑚𝑖𝑛
𝑇𝑒𝑛
𝑔5 𝑔4 𝑔3 𝑔2 𝑔1
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 23
Energy balance
• Absorbed power: 𝑃1 = 3𝑈𝐼 cos 𝜑
• Stator copper losses: ∆𝑃𝐽𝑠 = 3𝑅𝑠 𝐼𝑠 2
• Iron losses: ∆𝑃𝐹
• Power transmitted to the rotor: 𝑃𝛿 = 𝑃1 − ∆𝑃𝐽𝑠 − ∆𝑃𝐹
2
• Rotor copper losses: ∆𝑃𝐽𝑅 = 3𝑅𝑅 𝐼𝑅 2 = 3𝑅′𝑅 𝐼′𝑅
• Electromagnetic power: 𝑃𝑒 = 𝑃𝛿 − ∆𝑃𝐽𝑅
• Mechanical losses: ∆𝑃𝑚
• Output power: 𝑃𝑢 = 𝑃𝑒 − ∆𝑃𝑚
𝑃𝑢 𝑃1 − Δ𝑃
• Efficiency: 𝜂 = =
𝑃1 𝑃1
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 24
Energy balance
∆𝑃𝐽𝑠
∆𝑃𝐹
∆𝑃𝐽𝑅
𝑃1 = 3𝑈𝐼 cos 𝜑
∆𝑃𝑚
𝑃𝛿
𝑃𝑒
𝑃𝑢
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 25
Iron losses and mechanical losses
• No load operating: 𝑁 ≈ 𝑁𝑠 ; 𝐼𝑅 ≈ 0
• Losses are assumed as stator copper losses (∆𝑃𝐽𝑠 ), iron losses (∆𝑃𝐹 )
and mechanical losses (∆𝑃𝑚 )
• For: 𝑁 = 𝑁𝑠 = 𝑐𝑡𝑒, ∆𝑃𝑚 = 𝑐𝑡𝑒.
• ∆𝑃𝐹 ≡ 𝑉𝑠 2
• If Vs varies between 0.8Vn and Vn.
𝑃1 − ∆𝑃𝐽𝑠 [U.A]
∆𝑃𝐹
∆𝑃𝑚
𝑉𝑠 2 [pu]
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 26
L equivalent circuit
• L equivalent circuit is a simplified representation of the asynchronous
machine as for the transformer.
• 𝑅𝑒 = 𝑅𝑠 + 𝑅′𝑅 ; 𝑋𝑒 = 𝑋𝑠 + 𝑋′𝑅
• No load test (g = 0); I’R = 0
3𝑉𝑠 2 3𝑉𝑠 2
𝑅𝐹 = ; 𝑋𝑚 =
𝑃10 𝑄10
• Blocked rotor test under reduced voltage (g = 1, I’R ≈ Is):
𝑃1𝑐 𝑄1𝑐
𝑅𝑒 = 2 ; 𝑋𝑒 =
3𝐼𝑠𝑐 3𝐼𝑠𝑐 2
Re Xe
Vs Xm 1−𝑔
RF 𝑅′𝑅
𝑔
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 27
Schéma équivalent en L
• Sometimes, we use this equivalent circuit
Rs R’R Xe
1−𝑔
Vs Xm RF 𝑅′𝑅
𝑔
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 28
Startup of asynchronous machines
Sectionneur Disconnector
Disjoncteur Circuit breaker
Interrupteur Switch
Fusible Fuse
Contacteur Contactor
H. Hamad – Electric machines II – Chapter 4 – 2017/2018 29
