Induction Machines (IMs)
• IMs are essentially constant-speed motors when directly
fed from grid at constant voltage and frequency.
• The operating speed is very close the synchronous
speed.
• In terms of type of supply, electric motors are classified
to:
❑ Grid-fed motors: used in constant speed applications
❑ Inverter-fed motors: used in variable-speed drive (VSD)
applications.
Dr. Ayman Abdel-Khalik 1
Induction Machine Equivalent Circuit
Single-phase Equivalent Circuit with rotor circuit referred to
stator
Models the combined effect
of rotor resistance and shaft
load
Dr. Ayman Abdel-Khalik 2
Induction Machine Equivalent Circuit
Alternative form of equivalent circuit.
Electromechanical power is equal
to the power delivered to this
resistance
Dr. Ayman Abdel-Khalik 3
Power Flow Diagram
𝑅2 𝑅2 1 − 𝑠
𝑃𝑔 = 3𝐼22 𝑃𝑑 = 3𝐼22
𝑠 𝑠
3𝐼22 𝑅2
3𝐼12 𝑅1
Dr. Ayman Abdel-Khalik 4
Power Flow Diagram
2 𝑅2 1 − 𝑠 𝑅2
𝑅. 𝐶. 𝐿 = 3𝐼2 𝑅2 𝑃𝑑 = 3𝐼22 𝑃𝑔 = 3𝐼22
𝑠 𝑠
𝑅. 𝐶. 𝐿 ∶ 𝑃𝑔 ∶ 𝑃𝑑
1 1−𝑠
1 ∶ ∶
𝑠 𝑠 𝑃𝑑 𝑃𝑔 1 − 𝑠 𝑃𝑔
𝑇𝑑 = = =
𝑠 ∶ 1 ∶ 1−𝑠 𝜔𝑟 𝜔𝑠 1 − 𝑠 𝜔𝑠
Dr. Ayman Abdel-Khalik 5
Torque and Power Calculation
Equivalent circuits with the core-loss resistance Rc neglected.
𝑗𝑋𝑚
𝑉𝑡ℎ = 𝑉1
𝑅1 + 𝑗 𝑋1 + 𝑋𝑚
𝑗𝑋𝑚 𝑅1 + 𝑗𝑋1
𝑍𝑡ℎ =
𝑅1 + 𝑗 𝑋1 + 𝑋𝑚
Dr. Ayman Abdel-Khalik 6
Torque Calculation
Induction-motor equivalent circuits simplified by Thevenin’s theorem.
2 𝑅2
𝑃𝑔 1 3𝑉𝑡ℎ
𝑉𝑡ℎ
𝑇𝑑 = = 𝑠
𝐼2 =
𝑅𝑡ℎ +
𝑅2
+ 𝑗 𝑋𝑡ℎ + 𝑋2
𝜔𝑠 𝜔𝑠 𝑅2 2 2
𝑠 𝑅𝑡ℎ + + 𝑋𝑡ℎ + 𝑋2
𝑠
Dr. Ayman Abdel-Khalik 7
Approximate Equivalent Circuit
𝑉𝑡ℎ = 𝑉1
𝑍𝑡ℎ = 𝑅1 + 𝑗𝑋1
2 𝑅2
𝑃𝑔 1 3𝑉1
𝑇𝑑 = = 𝑠
𝜔𝑠 𝜔𝑠 2
𝑅2 2
𝑅1 + + 𝑋1 + 𝑋2
𝑠
Dr. Ayman Abdel-Khalik 8
Approximate Equivalent Circuit
At low slip (s tends to zero), the term R2/s is big enough and the
terms R1 and (X1+X2) can be neglected. Hence
3𝑉12
𝑇𝑑 ≈
𝜔𝑠 𝑅2
𝑠 = 𝐾𝑠 → Torque is linearly proportional to slip
At higher values of slip (s tends to 1), the term R2/s can be
approximated by R2. Hence
1 3𝑉12 𝑅2 1 Torque is inversely
𝑇𝑑 = ∙
𝜔𝑠 𝑅1 + 𝑅2 2 + 𝑋1 + 𝑋2
∙
2 𝑠 → proportional to slip
Dr. Ayman Abdel-Khalik 9
Torque-Speed Curve
Dr. Ayman Abdel-Khalik 10
Stable ad Unstable Operating Regions
Dr. Ayman Abdel-Khalik 11
Full Torque-Slip Curve
Dr. Ayman Abdel-Khalik 12
Maximum Torque
2 𝑅2
𝑑𝑇𝑑 𝑑 1 3𝑉1
= 𝑠
𝑑𝑠 𝑑𝑠 𝜔𝑠 2
𝑅2 2
𝑅1 + + 𝑋1 + 𝑋2
𝑠
Slip for max torque can be obtained by applying maximum power condition in Thevenin
Equivalent circuit where 𝑅𝐿 = 𝑅2 Τ𝑠𝑚𝑇 , 𝐰𝐡𝐢𝐜𝐡 𝐠𝐢𝐯𝐞𝐬:
𝑅2 3𝑉12
𝑠𝑚𝑇 = 𝑇𝑚𝑎𝑥 =
𝑅12 + 𝑋1 + 𝑋2 2 2𝜔𝑠 𝑅1 + 𝑅12 + 𝑋1 + 𝑋2 2
If R1 is neglected
𝑅2 3𝑉12 𝑇𝑑 2𝑠 ∙ 𝑠𝑚𝑇
𝑠𝑚𝑇 ≈ 𝑇𝑚𝑎𝑥 ≈ = 2 2
𝑋1 + 𝑋2 2𝜔𝑠 𝑋1 + 𝑋2 𝑇𝑚𝑎𝑥 𝑠 + 𝑠𝑚𝑇
Dr. Ayman Abdel-Khalik 13
Effect of Rotor Resistance on Torque-slip Curve
• The maximum torque
does not depend on the
rotor resistance.
• Starting torque increases
as the rotor resistance
increases.
• The slip for maximum
torque increases with the
rotor resistance.
Dr. Ayman Abdel-Khalik 14
Starting Torque and Current
Starting torque is considered as one of the most important factors to be considered during
the choice of induction motors. It reflects the ability of the motor to start and accelerate
against given load.
1
𝐼𝑠𝑡 ∝ 𝑉1 𝐼𝑠𝑡 ∝
𝑉1 𝑋1 + 𝑋2
𝐼𝑠𝑡 = 1 1
𝑅1 + 𝑅2 2 + 𝑋1 + 𝑋2 2
𝐼𝑠𝑡 ∝ 𝐼𝑠𝑡 ∝
𝑅1 𝑅2
𝑇𝑠𝑡 ∝ 𝑅2 𝑇𝑠𝑡 ∝ 𝑉12
3𝑉12 𝑅2
𝑇𝑠𝑡 = 2 2 𝑇𝑠𝑡 2𝑠𝑚𝑇
𝜔𝑠 𝑅1 + 𝑅2 + 𝑋1 + 𝑋2 = 2
𝑇𝑚𝑎𝑥 1 + 𝑠𝑚𝑇
Dr. Ayman Abdel-Khalik 15
Induction Motor Design Classes
• The size and shape of rotor bars and slots determine the
operating characteristics.
• Open slots have the effect of reducing the permeance of the slot
leakage path, hence reduce the leakage reactance but at the
same time magnetizing current is increased.
• Closed slots decrease the magnetizing current but increase the
leakage inductance.
Dr. Ayman Abdel-Khalik 16
Induction Motor Design Classes
• Three-phase induction motors are standardized according to
generally accepted criteria established by the National Electrical
• Manufacturer Association (NEMA standard).
Dr. Ayman Abdel-Khalik 17
Induction Motor Design Classes
Motor Starting Starting Full load
Class torque current slip
A Normal Normal Normal
B Normal Low Normal
C High Low Normal
High (low
D High Low
speed)
Dr. Ayman Abdel-Khalik 18
Induction Motor Design Classes
NEMA design A
• Maximum 5% slip
• High to medium starting current (6-8If.l)
• Normal locked rotor torque (nearly 2Tf.l)
• Normal breakdown torque
• Cannot be used for frequent starting/stopping due to high starting
current.
• For motors higher than 5 hp, it requires a current limiter at starting.
• Suitable for applications like fans and pumps.
Dr. Ayman Abdel-Khalik 19
Induction Motor Design Classes
NEMA design B
• Maximum 5% slip
• Low starting current (5-7If.l)
• High locked rotor torque
• Normal breakdown torque
• Cages are characterized by high reactance low resistance rotor
bars.
• Suitable for applications with normal starting torques - common
in HVAC application with fans, blowers and pumps.
Dr. Ayman Abdel-Khalik 20
Induction Motor Design Classes
NEMA design C
• Maximum 5% slip
• Low starting current (appr. 5 If.l)
• The maximum torque occurs at s = 1.
• High locked rotor torque (appr. 2.5-2.75 Tf.l)
• Normal breakdown torque
• Suitable for crushers, compression pumps, large refrigerators,
conveyer equipment, textile machinery, boring mills and wood
working equipment
Dr. Ayman Abdel-Khalik 21
Induction Motor Design Classes
NEMA design D
• Maximum 5-20% slip
• High resistance, low reactance rotor bars
• Low starting current
• Very high locked rotor torque
• Maximum torque occurs nearer to the locked rotor torque
• Suitable for bulldozers, shearing machines, punching presses,
stamping machines, hoists and metal drawing equipment.
Dr. Ayman Abdel-Khalik 22
