Basic Electrical Sciences

Presented By

Dr. Pothuraju Ramakrishna

Slide 1
 CLASSIFICATION OF ELECTRIC MOTOR

ELECTRIC MOTOR

AC MOTOR DC MOTOR

ASYNCHRONOUS MOTOR SYNCHRONOUS MOTOR

RELUCTANCE WOUND FIELD PERMANENT HYSTERESIS STEPPER

MOTOR MOTOR MAGNET MOTOR MOTOR MOTOR

INDUCTION MOTOR BRUSHLESS DC PERMANENT MAGNET

MOTOR SYNCHRONOUS MOTOR
 Electric Drive

 The system which is used for controlling the motion of an electrical machine, such
type of system is called an electrical drive.
 Can control the speed of the motor
3
 Classification of Variable Speed Drives

Variable
Speed Drives

Scalar Control Vector Control

Stator Voltage
V/F Control FOC DTFC
Control

DFOC IFOC DSC DTFC-SVM

4
Classifications of Motors
 Modern Electrical Drive Systems

Overview of AC and DC drives

 Introduction
 Nowadays, Induction Motors (IM) are the workhorse for industrial applications due
to their simplicity, low cost, and rugged structure. However, the control of IM is
complex compared to the DC machine due to the presence of coupling between
torque and flux components, which is the main reason for use of DC motor in
variable speed applications.
 Considering this aspect, the IM speed control techniques are broadly classified into
low performance (i.e. scalar control) and high performance (i.e. vector control)
controlled drives. War of the currents

Nikhola Tesla introduced the

concept of PolyPhase Induction
Machine in 1880 .
Nikola Tesla vs. Thomas Edison
 Modern Electrical Drive Systems
Overview of AC and DC drives
Before semiconductor devices were introduced (<1950)
• AC motors are used for fixed speed applications
• DC motors are used for variable speed applications

After semiconductor devices were introduced (1960s)

• Variable frequency sources available – AC motors are used in variable
speed applications
• Coupling between flux and torque control
• Application limited to medium performance applications – fans,
blowers, compressors – scalar control
• High performance applications dominated by DC motors – tractions,
elevators, servos, etc.
After vector control drives were introduced (1980s)
• AC motors are used in high performance applications – elevators,
tractions, servos
• AC motors are favorable than DC motors – however control is complex
hence expensive.
• Cost of microprocessor/semiconductors decreasing –predicted 30 years
ago AC motors would take over DC motors
 INDUCTION MOTORS & DRIVES
Classifications

Three Phase Induction Motor

-Squirrel Cage Induction Motor
-Slip ring Induction Motor

Single Phase Induction Motor

-Split Phase Induction Motor
-Capacitor start Induction Motor
-Capacitor run Induction Motor
-Shaded Pole Induction Motor
CONSTRUCTION OF THREE PHASE SQUIRREL CAGE INDUCTION MOTOR

Stator
Air gap

Rotor
The construction of an induction motor

Slide 11
The construction of an induction motor involves several key components that work together to
generate mechanical motion from electrical energy. The main parts of the typical construction of
an induction motor:
Stator: The stator is the stationary part of the motor and is usually made of a stack of electrical
steel laminations. These laminations are stacked together to reduce eddy current losses. The
stator contains the stator windings, which are typically arranged in a three-phase configuration to
produce a rotating magnetic field when supplied with alternating current.
Stator Windings: The stator windings are coils of insulated wire wound around the stator core.
In a three-phase induction motor, there are three sets of windings spaced 120 degrees apart.
When energized with three-phase AC power, these windings produce a rotating magnetic field
that interacts with the rotor to produce torque.

Slide 12
Rotor: The rotor is the rotating part of the motor and is also made of electrical steel laminations.
The rotor can be constructed in different ways, including squirrel cage rotors and wound rotor
designs.
1. Squirrel Cage Rotor: This is the most common type of rotor in induction motors. It
consists of a cylindrical core made of steel laminations with conductive bars (usually
made of aluminum or copper) placed in slots around the periphery of the core. The ends
of these bars are short-circuited by end rings, forming a cage-like structure. When the
rotating magnetic field from the stator cuts across the conductive bars, currents are
induced in them, creating a magnetic field that interacts with the stator's magnetic field,
generating torque.
2. Wound Rotor: In this design, the rotor windings are not short-circuited like in a squirrel
cage rotor. Instead, they are brought out to slip rings at the ends of the rotor shaft.
External resistors or other devices can be connected to the slip rings to control the rotor
circuit's impedance, allowing for variable speed and starting torque control.

Slide 13
Bearings: Bearings are used to support the rotor shaft and allow it to rotate freely. Common
types of bearings used in induction motors include ball bearings and sleeve bearings.
End Bells: These are typically made of cast aluminum or steel and are attached to the ends of
the motor housing. They provide mechanical support for the motor and also house the bearings.
Housing: The motor housing encloses the stator, rotor, bearings, and other internal components,
providing protection from the environment and helping to dissipate heat generated during
operation. The housing is usually made of cast iron, aluminum, or steel.
Cooling System: Many induction motors incorporate a cooling system to dissipate heat
generated during operation. This can be achieved through various methods, such as natural
convection, forced air cooling (using a fan), or liquid cooling.
Overall, the construction of an induction motor is designed to efficiently convert electrical
energy into mechanical motion while maintaining reliability and durability in various operating
conditions.

Slide 14
 What is Relative motion?
100 km/hr
100 km/hr
Train 1 100 km/hr
Train 1
Stationary

Train 2
Train 2

YES! There is a Relative Motion here NO! Here Relative Motion = “0” here
THREE PHASE SQUIRREL INDUCTION MOTOR
(Principle of Operation)

HOW ELECTRICAL ENERGY TO MECHANICAL ENERGY?

 Step 1:
Create Rotating Magnetic Flux (RMF) in stator

What is RMF & How to Create it?

Rotating
Magnetic
Flux (RMF)
 RMF CREATION
(USING THREE PHASE SUPPLY)
When a three phase supply is given to a three phase windings and each
windings are displaced by 120 degree then the resultant will be a
Rotating magnetic flux (RMF)

Schematic Structure
Step 2 : The RMF created in the stator cuts the stationary conductor in
the rotor and creates induced EMF – (Because of F.L.E.M.I)

Ns = 120 f /P

Rotating Magnetic Flux

(RMF)
Induced EMF in Stationary
Conductors
Rotor conductors ( due to Relative Motion b/n
(Stationary) magnetic flux & conductor)

Faradays Law of
Electromagnetic
Induction (F.L.E.M.I)
Step 3 : The induced EMF in the rotor opposes the very cause i.e. Relative
motion between RMF and Stationary conductor

Ns

Rotating Magnetic Flux

(RMF)
Induced EMF
- due to Relative motion
Rotor conductors Oppose the very cause (i.e Relative
(Stationary) motion b/n Magnetic flux &
conductors) and try to make
Relative motion = ZERO

Lenz Law
Step 4 : As the result rotor conductors will rotate in the same direction
of RMF

Ns

Rotating Magnetic Flux

(RMF)
Induced EMF
- due to Relative motion
N
Rotor conductors Oppose the very cause
(i.e. Relative motion b/n RMF
& stationary conductors) &
try to make R.M = 0

As the result rotor conductors rotates in

the same direction of RMF
Important Note: Rotor speed (N) will never reach the RMF speed (Ns). So only there
will be continuous opposition and continuous rotation

Ns
Condition: N < Ns
SLIP SPEED (SNs) = Ns- N

What happen when Ns = N?

N
or Slip speed = zero?
Rotor conductors
(Rotating) • No Relative Motion
• So No induced EMF
• So No opposition or Lenz law
• So NO ROTATION IN THE ROTOR!
How do the torque created in rotor to rotate in
same direction of RMF?

Ns

Rotating Magnetic Flux

(RMF)
Induced EMF

Rotor conductors Current

(Stationary) (Short circuited
Rotor Conductor)

Flux created
in rotor
TORQUE !!
 SUMMARY

Ns

Rotating Magnetic Flux

(RMF)
Induced EMF
- due to Relative motion
N
Rotor conductors Current Lenz law try to
(S.C) make Relative Motion = 0

Flux
As the result rotor rotates in
(Rotor)
the direction of RMF
& SLIP SPEED = Ns- N
TORQUE!
 INDUCTION MOTOR
 Three-phase induction motor are commonly used in
variable-speed drives (VSD).

 Basic part of three-phase induction motor :

Three-phase
windings Rotor windings

Three-
phase • Stator
supply
 • Rotor
Stator Air gap Rotor • Air gap
m T
s
 The speed of rotation of field is called the synchronous speed s , which is
defined by :
Ns is syncronous speed [rpm]
120 f p is numbers of poles
Ns 
p f is the supply frequency [Hz]

 The rotor speed or motor speed is : m   s (1  S )

 S  m NS  Nm
Where S is slip, as defined as : S or S
S NS
 TORQUE- SPEED CHARACTERISTICS OF SQUIRREL CAGE & SLIP RING IM
(OR)
TORQUE- SLIP CHARACTERISTICS OF SQUIRREL CAGE & SLIP RING IM

Torque - Multiplication of Power – Multiplication of

2 magnetic fluxes Voltage and Current

Basic Torque Equation of DC motor Power in DC Circuit

𝐓= 𝐤∗∅∗𝐈 V* I

Basic Torque Equation of AC motor Power in AC Circuit

𝐓 = 𝐤 ∗ ∅ ∗ 𝐈 * cos V* I * cos
 Torque Equation of AC Induction Motor
𝐓 = 𝐤 ∗ ∅ ∗ 𝐈𝟐 * cos
𝐄𝟐 𝐑 𝟐 𝐄𝟐 𝐑𝟐
𝐓=𝐊∗ ∅∗ ∗ 𝐈𝟐 = ; 𝐂𝐨𝐬𝛗 =
𝐙𝟐 𝐙𝟐 𝐙𝟐 𝐙𝟐

𝐊 ∗ ∅ ∗ 𝐄𝟐 ∗ 𝐑 𝟐
𝐓=
𝐙𝟐𝟐

𝐊 ∗ ∅ ∗ 𝐄𝟐 ∗ 𝐑 𝟐 𝒁𝟐 = 𝑹𝟐𝟐 + 𝑿𝟐𝟐
𝐓=
𝐑𝟐𝟐 + 𝐗 𝟐𝟐

𝐊 ∗ ∅ ∗ 𝐒 𝐄𝟐 ∗ 𝐑 𝟐
𝐓= Slip speed (SNs) = Ns- N
𝐑𝟐𝟐 + ( 𝐒 𝐗 𝟐 𝟐
 𝐊 ∗ ∅ ∗ 𝐒𝐄𝟐 ∗ 𝐑 𝟐
𝐓= General Torque Equation
𝐑𝟐𝟐 + ( 𝐒𝐗 𝟐 𝟐
LOW SLIP REGION (𝐒𝐗 𝟐 )𝟐 ≪ 𝐑𝟐𝟐

𝐊 ∗ ∅ ∗ 𝐒 𝐄𝟐 ∗ 𝐑 𝟐 High Slip Low Slip

𝐓 ∝ Pull out
𝐑𝟐𝟐 Torque
TORQUE
HIGH SLIP REGION (𝐒𝐗 𝟐 )𝟐 ≫ 𝐑𝟐𝟐
Starting
𝐊 ∗ ∅ ∗ 𝐒𝐄𝟐 ∗ 𝐑 𝟐 Torque
𝐓 ∝ 𝟐
𝐒𝐗 𝟐
𝐊 ∗ ∅ ∗ 𝐄𝟐 ∗ 𝐑 𝟐 Critical Slip
𝐓 ∝
𝐒 ∗ 𝐗 𝟐𝟐 1 0
SLIP
Ns
0 SPEED
Min speed N= 0 Max speed N= Ns
@ which slip S = 1 @ which slip S = 0
 Slip ring Induction Motor
(or)

Torque –Speed characteristics of Slip ring Induction motor

Increasing 𝐓 ∝𝐑
 What is the Condition
for Maximum Torque?

𝐝𝐓
=𝟎
𝐝𝐒
𝐝 𝐊 ∗ ∅ ∗ 𝐒𝐄𝟐 ∗ 𝐑 𝟐
𝟐 𝟐
=𝟎
𝐝𝐬 𝐑 𝟐 + ( 𝐒𝐗 𝟐

V _ V’
𝟐
U’ U
𝐑 𝟐 + 𝐒𝐗 𝟐 𝟐
∗ (𝐊 ∗ ∅ ∗ 𝐄𝟐 ∗ 𝐑 𝟐 ) − 𝐊 ∗ ∅ ∗ 𝐒𝐄𝟐 ∗ 𝐑 𝟐 ∗ (𝟐𝐒𝐗 𝟐𝟐
𝟐
𝑹𝟐𝟐 + 𝑺𝟐 𝑿𝟐𝟐
=𝟎 𝐕𝟐
 𝟐
𝐑 𝟐 + 𝐒𝐗 𝟐 𝟐
∗ (𝐊 ∗ ∅ ∗ 𝐄𝟐 ∗ 𝐑 𝟐 ) − 𝐊 ∗ ∅ ∗ 𝐒𝐄𝟐 ∗ 𝐑 𝟐 ∗ (𝟐𝐒𝐗 𝟐𝟐
𝟐
𝑹𝟐𝟐 + 𝑺𝟐 𝑿𝟐𝟐
=𝟎
𝐊 ∗ ∅ ∗ 𝐄𝟐 ∗ 𝐑𝟑𝟐 + 𝐊 ∗ ∅ ∗ 𝐄𝟐 ∗ 𝐑 𝟐 ∗ 𝐒𝟐 𝐗 𝟐𝟐 − 𝐊 ∗ ∅ ∗ 𝐒𝐄𝟐 ∗ 𝐑 𝟐 ∗ 𝟐𝐒𝐗 𝟐𝟐 = 𝟎

𝐊 ∗ ∅ ∗ 𝐄𝟐 ∗ 𝐑 𝟐 (𝐑𝟐𝟐 + 𝐒 𝟐 𝐗 𝟐𝟐 − 𝟐𝐒 𝟐 𝐗 𝟐𝟐 ) = 𝟎

𝐑𝟐𝟐 − 𝐒 𝟐 𝐗 𝟐𝟐 = 𝟎

𝟐 𝐑𝟐
𝟐
𝐑 𝟐
𝐒 = 𝟐 𝐒=
𝐗𝟐 𝐗𝟐

𝐑𝟐
CRITICAL SLIP =
𝐗𝟐
 PULL OUT TORQUE EQUATION
𝐊 ∗ ∅ ∗ 𝐒𝐄𝟐 ∗ 𝐑 𝟐
𝐓 =
𝐑𝟐𝟐 + ( 𝐒𝐗 𝟐 𝟐
𝐑2
𝐊 ∗ ∅ ∗ 𝐗 𝐄2 ∗ 𝐑 2
2
𝐓(𝐦𝐚𝐱) = 2
𝐑
𝐑22 + 22 ∗ 𝐗 22
𝐗2

𝐊 ∗ ∅ ∗ 𝐄2 ∗ 𝐑22
𝐓(𝐦𝐚𝐱) =
2𝐑22 ∗ 𝑿2

𝐊 ∗ ∅ ∗ 𝐄𝟐
𝐓 𝐦𝐚𝐱 𝐨𝐫 𝐩𝐮𝐥𝐥𝐨𝐮𝐭 𝐭𝐨𝐫𝐪𝐮𝐞 =
𝟐 𝑿𝟐

(Irrespective of rotor resistance 𝐑 𝟐 )

 IMPORTANT POINTS TO REMEMBER IN TORQUE- SLIP CHARACTERISTICS

• Torque is directly proportional in low slip region of IM

• Torque is inversely proportional in high slip region of IM

• Low slip region is called stable region

• Maximum torque obtained is called pull out torque in IM

• The slip @ which the pullout torque occurs is called critical slip

• Critical slip = R2/X2

• By increasing the resistance in rotor it is possible to increase the starting torque (This is possible
only in slip ring IM!!). Maximum torque is irrespective to Rotor resistance!
Slide 34
Slide 35
Slide 36
 EQUIVALENT CIRCUIT OF THREE PHASE INDUCTION MOTOR
To study & predict the performance of Induction Motor

PER PHASE EQUIVALENT CIRCUIT OF STATOR PER PHASE EQUIVALENT CIRCUIT OF ROTOR

= 𝟐𝝅𝒇𝟏 𝑳𝟏

“Operates @ stator/ supply frequency 𝐟𝟏 ”

ITS SIMILAR TO TRANSFORMER
That’s why IM called as ROTATING TRANSFORMER!
 Equivalent Circuit of Induction Motor

Is Xs Rs Xr’

Im Ir’

Rr’/s
Vs
Xm Rm

Stator Air gap motor

Where :

Ps cu  3 I s Rs
Rs is resistance per-phase of stator winding 2
Stator copper loss :
Rr is resistance per-phase of rotor winding

Pr cu  3 ( I r ) 2 Rr
Xs is leakage reactance per-phase of the winding stator ' '
Rotor copper loss :
Xr is leakage reactance per-phase of the winding rotor
2 2
Xm is magnetizing reactance V V
Core losses : Pc  3 m  3 s
Rm is Core losses as a reactance Rm Rm
• All Equivalent circuit parameters (E, I, R, X) can be found from No load test and Blocked rotor test
(Document given in the description!)
Advantages:
[Link]: Induction motors are relatively simple in construction, consisting of a
stationary stator and a rotating rotor. This simplicity leads to ease of maintenance and
lower costs.
[Link]: They are robust and can operate in harsh environments, including high
temperatures, dusty conditions, and moisture-laden atmospheres.
[Link]: With fewer moving parts compared to other types of motors, induction
motors tend to have longer operational lifetimes and require less maintenance.
[Link] Efficiency: Induction motors can achieve high efficiency, especially when
operating at or near their rated load.
[Link]-starting: Induction motors are inherently self-starting, requiring no external means
to rotate the rotor.

Slide 39
Disadvantages:
[Link] Control: Unlike DC motors, induction motors have limited speed control capabilities.
While variable frequency drives (VFDs) can be used to vary the speed, they add complexity
and cost to the system.
[Link] Factor: Induction motors can have a poor power factor at light loads, leading to
inefficiencies in power distribution systems. Power factor correction may be necessary to
improve efficiency.
[Link] Current: During startup, induction motors can draw high starting currents, which
may require additional measures such as soft starters or reduced voltage starting to limit stress
on the electrical system.
[Link] Power Density: In comparison to some other types of motors, such as synchronous
motors, induction motors may have lower power density, meaning they require more physical
space for the same power output.

Slide 40
Applications:
[Link] Machinery: Induction motors are extensively used in various industrial
applications such as pumps, compressors, conveyors, fans, and machine tools due to their
robustness and reliability.
[Link] Systems: Heating, Ventilation, and Air Conditioning (HVAC) systems often employ
induction motors in air handlers, blowers, and fans due to their ability to handle varying loads
efficiently.
[Link] Appliances: Many household appliances, including washing machines,
refrigerators, and air conditioners, utilize induction motors for their reliability and relatively
low cost.
[Link]: Induction motors find applications in transportation systems, including
electric trains, trams, and electric vehicles, where their reliability and efficiency are valued.
[Link] Energy: Induction generators are used in wind turbines and hydroelectric
systems to convert mechanical energy into electrical energy due to their simplicity and
reliability.
Slide 41
 References
 Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
 Bose, B. K., Modern Power Electronics and AC drives, Prentice-
Hall, New Jersey, 2002.
 Trzynadlowski, A. M., Control of Induction Motors, Academic
Press, San Diego, 2001.
 Rashid, M.H, Power Electronics: Circuit, Devices and Applictions,
3rd ed., Pearson, New-Jersey, 2004.
 Nik Idris, N. R., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
 Ahmad Azli, N., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.

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