Balanced conditions

20
Under balanced conditions, i
0
is zero, and therefore it produces no flux at all. Under
these conditions, we may write the d-q transformation as

+
+
=

c
b
a
d
q
i
i
i
i
i
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
3
2

+
+
=

c
b
a
d
q
i
i
i
i
i
i
2
1
2
1
2
1
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
3
2
0

+ +
=

0
1 ) 120 sin( ) 120 cos(
1 ) 120 sin( ) 120 cos(
1 sin cos
i
i
i
i
i
i
d
q
c
b
a

+ +
=

d
q
c
b
a
i
i
i
i
i
) 120 sin( ) 120 cos(
) 120 sin( ) 120 cos(
sin cos



Rotor circuit transformation
21
We now need to apply our transformation to the rotor a-b-c windings in order to obtain
the rotor circuit voltage equation in q-d-0 coordinates. However, we must notice one
thing: whereas the stator phase-a winding (and thus its a-axis) is fixed, the rotor
phase-a winding (and thus its a-axis) rotates. If we apply the same transformation to
the rotor, we will not account for its rotation, i.e., we will be treating it as if it were fixed.

+
+
=
2
1
2
1
2
1
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
3
2


s
K
Our d-q transformation is as follows:
But, what, exactly, is ?
) 0 ( ) (
0

+ =
t
d
can be observed in the below figure as the angle between the rotating d-q reference
frame and the a-axis, where the a-axis is fixed on the stator frame and is defined by the
location of the phase-a winding. We expressed this angle analytically using
where is the rotational speed of the d-q coordinate axes (and in our case, is
synchronous speed). This transformation will allow us to operate on the stator circuit
voltage equation and transform it to the q-d-0 coordinates.
Rotor circuit transformation
To understand how to handle this, consider the below figure where we show our
familiar , the angle between the stator a-axis and the q-axis of the synchronously
rotating reference frame.
22
i
a
a
a'
i
d
i
q
d-axis
q-axis

m
We have also shown

m
, which is the angle
between the stator a-axis and
the rotor a-axis, and
, which is the angle between
the rotor a-axis and the q-axis
of the synchronously rotating
reference frame.
The stator a-axis is stationary,
the q-d axis rotates at , and the
rotor a-axis rotates at
m
.
Consider the i
ar
space vector, in blue,
which is coincident with the rotor a-axis.
Observe that we may decompose it
in the q-d reference frame only by
using instead of .
Conclusion: Use the exact same transformation, except substitute for , and.
account for the fact that to the rotor windings, the q-d coordinate system appears to
be moving at -
m
Rotor circuit transformation
We compare our two transformations below.

+
+
=
2
1
2
1
2
1
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
3
2


s
K
) 0 ( ) (
0

+ =
t
d
43 42 1 4 43 4 42 1
) 0 (
0
) 0 ( ) 0 ( ) ( ) (


m
t
m
d
r
+ =

+
+
=
2
1
2
1
2
1
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
3
2


r
K
Stator winding transformation, K
s
Rotor winding transformation, K
r
23

+
+
=

cs
bs
as
s
ds
qs
i
i
i
i
i
i
2
1
2
1
2
1
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
3
2
0

+
+
=

cr
br
ar
r
dr
qr
i
i
i
i
i
i
2
1
2
1
2
1
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
3
2
0


We now augment our notation to distinguish between q-d-0 quantities from the
stator and q-d-0 quantities from the rotor:
Transforming voltage equations
24

cr
br
ar
cs
bs
as
cr
br
ar
cs
bs
as
r
r
r
s
s
s
cr
br
ar
cs
bs
as
i
i
i
i
i
i
r
r
r
r
r
r
v
v
v
v
v
v

&
&
&
&
&
&
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0

rc
rb
ra
sc
sb
sa
r rs
sr s
rc
rb
ra
sc
sb
sa
i
i
i
i
i
i
L L
L L

+
+
+
=
m r m m
m m r m
m m m r
r
L L L L
L L L L
L L L L
L

2
1
2
1
2
1
2
1
2
1
2
1

+
+
+
=
m s m m
m m s m
m m m s
s
L L L L
L L L L
L L L L
L

2
1
2
1
2
1
2
1
2
1
2
1
Recall our voltage equations:
Lets apply our d-q transformation to it.
( ) ( )
( ) ( )
( ) ( )
T
sr
m m m
m m m
m m m
m rs
L L L =

+
+
+
=



cos 120 cos 120 cos
120 cos cos 120 cos
120 cos 120 cos cos
( ) ( )
( ) ( )
( ) ( )

+
+
+
=
m m m
m m m
m m m
m sr
L L



cos 120 cos 120 cos
120 cos cos 120 cos
120 cos 120 cos cos
Transforming voltage equations
25
Lets rewrite it in compact notation

cr
br
ar
cs
bs
as
cr
br
ar
cs
bs
as
r
r
r
s
s
s
cr
br
ar
cs
bs
as
i
i
i
i
i
i
r
r
r
r
r
r
v
v
v
v
v
v

&
&
&
&
&
&
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0

abcr
abcs
abcr
abcs
r
s
abcr
abcs
i
i
r
r
v
v

&
&
0
0
Now multiply through by our transformation matrices. Be careful with dimensionality.
4 4 4 3 4 4 4 2 1
&
&
4 4 4 4 3 4 4 4 4 2 1 4 4 3 4 4 2 1
3
2 1
0
0
0
0
0
0
0
0
Term
abcr
abcs
r
s
Term
abcr
abcs
r
s
r
s
Term
abcr
abcs
r
s
K
K
i
i
r
r
K
K
v
v
K
K