218

IEEE TRANSACTIONS ON

Method

of

POWER APPARATUS AND

VOL. PAS-87, NO. 1

SYSTEMS

JANUARY

1968

Frames Applied to
Induction Machinery

Multiple Reference

the Analysis

of

Symmetrical

PAUL C. KRAUSE, SENIOR

Abstract-A method of analyzing the constant-speed performance

of a symmetrical induction machine with applied stator phase voltages of any periodic form is presented. Symmetrical components are
not used in this analysis. Instead, it is shown that by employing a
series of reference frames, dc circuit theory may be us-ed to determine the performance of induction machines. Since phasor and complex impedance concepts are not incorporated, the theory of multiple
reference frames permits a convenient and simple method of analyzing steady-state modes of unbalanced or nonsinusoidal operation
which have heretofore been limited to analysis by the method of
symmetrical components. Also, this method establishes a rigorous
approach to the analysis of constant-speed electrical transients of induction machinery.

INTRODUCTION
THE METHOD of symmetrical components has been used
extensively in the analysis of unbalanced operation of induction machines."1 Although-.this method is often employed in
the study of static circuits, the need for a method of analyzing
unbalanced electric machinery was primarily responsible- for the
invention of symmetrical components.21 -[41
There is a method of analysis different from symmetrical components which can be used to determine the performance of induction machinery with any periodic phase voltage applied to
the stator. In particular, a series of reference frames may be employed and the constant-speed performance of a symmetrical induction machine calculated using de circuit theory. The develop-ment of this method of multiple reference frames is the subject of
this paper.
The theory of multiple reference frames is set forth and examples are given to demonstrate its application. This method
can be used to solve, directly and simply, any problem involving
linear symmetrical induction machinery which can be solved by
symmetrical components, without resorting to phasors and complex impedances. Also, this method offers a rigorous means of
analyzing constant-speed electrical transients due to applied
voltages of any periodic form.
MACHINE EQUATIONS IN ARBITRARY REFERENCE FRAME
Although the equations which describe the symmetrical induction machine in an arbitrary reference frame have been reported,
it is desirable to repeat briefly the derivation of these equations
before developing the theory of multiple reference frames. [51 The
symmetrical, 2-pole, 3-phase induction machine. shown in Fig. 1
will be employed for this development. However, this analysis
can be readily modified to include 2-phase machines or machines
Paper 31 TP 67-423, recommended and approved by the Rotating
at the IEEE Summer Power Meeting, Portland, Ore., July 9-14,
1967. Manuscript submitted March 9, 1967; made available for
printing May 1, 1967.
The author is with the Electrical Engineering Department,
University of Kansas, Lawrence, Kan., on a one year's leave of absence from the University of Wisconsin, Madison, Wise.

Machinery Committee of the IEEE Power Group for presentation

MEMBER, IEEE

with any number of pole-pairs.

The stator windings of a symmetrical machine are identical
and distributed so as to produce a sinusoidal MMF in space with
the phases arranged so that only one rotating MMF wave is
established by balanced stator currents. Likewise, the equivalent
rotor windings of a symmetrical machine may be considered
identical windings which establish a sinusoidal MMF wave having the same number of poles as the stator.
Although the symmetrical machine is idealized, it offers a
means of predicting the performance of many types of polyphase
induction machines. Some important factors which effect the performance of the actual machine but which have been neglected
in the symmetrical machine are: 1) nonlinear magnetic circuit,
2) change in resistance due to temperature and frequency
changes, and 3) harmonic content of the MMF wave.
With the appropriate subscript, that is, as, bs, es, ar, br, or cr,
the following voltage equation is applicable to each of the six
windings shown in Fig- 1:
(1)
pX + ri
where X is the total flux linkages, r is the winding resistance, and p
is the operator d/dt.
In most cases the stator and rotor of a 3-phase induction
machine are either connected as 3-wire systems or, in the case of a
squirrel-cage machine, the rotor windings can be considered
equivalent to a 3-wire system. Four-wire connections will not be
considered in this paper. The flux-linkage equations for a 3-wire
machine may be expressed
v =

bs-axis

as'x

br-axis

ROTATION

STATOR

er

ROTOR

cr/

iwbs

Cs

sr

aNr-a

bssr
Fig. 1opjas

pbr

bs

Vb

so
+~~a

Fi.1wopl,3-hs,symtia indctinmcie

KRAUSE:

LSS

Xa

0
0

Xbs

Xcs
xar

219

METHOD OF MULTIPLE REFERENCE FRAMES

0
0

Lss

L,, coso,

LSJ cos(o -

Lss
L,r cos( . + 27)

Lsr cosQ. +

Lar COSOr

Ls cos(.-

Lr cosQOr - 2j)
tsrCs09r

53

Lsr cosQ0r +

27)

27)

L4 Cos6,

L4, cosO,

Lsr cosQ.

+2T) Lsr cOsQOr

Lsr COSO9r

Lsr Cos(or + 2j)

3

4,.

La-4Lm
Lr-m

Lsr COS (Or + 2)

1bs

(3)

iar
ibr

Lr0

(2)

jar.

Lrr

with the third set which is an orthogonal set (d-q axis) rotating
an arbitrary electrical angular velocity w. It is clear that the
as-bs-cs set is fixed in the stator and the ar-br-cr set is fixed in the
rotor and hence rotates at an electrical angular velocity of cr.
The time zero angular relationship between the three sets of axes
can be selected arbitrarily; however, it is convenient to assume
that at time zero the q, ar, and as axes coincide.
The transformation equations, which can be correlated to the
angular relation of the axes shown in Fig. 2, are written as
follows:
at

Lrr
(4)
where L,m is the mutual between stator phases, Lm is the mutual
between rotor phases, and 0, is the angular displacement between
the stator and rotor axis (Fig. 1).
Due to the sinusoidal variation of mutual inductances with respect to the displacement angle Or, time varying coefficients will
appear in the voltage equations. This undesirable feature can be
eliminated by a proper change of variables which, in effect, trans- Stator
forms the voltages and currents of both the stator and rotor to a
common frame of reference. In most cases the analysis of an infa = [f2 cosO + fba cosQ
duction machine is carried out in either a synchronously rotating
reference frame or a stationary reference frame. It is, however,
2
unnecessary to consider each reference frame separately in the f& =
fas sino + fbs sin
development of the equations which describe the behavior of the
symmetrical machine. Instead, it is convenient to develop the
1
equations for an arbitrary reference frame and from these obtain fos = (fas + fb + fs).
the equations for any specific reference frame. [51
The equations of transformation are expressions which formu- Rotor
late a change of variables, and could be written without any
physical interpretation. It is helpful, however, to correlate the
=
[far cos/ + for cos (i
3
change of variables (transformation equations) to trigometric
relationships which exist between sets of axes. To illustrate this
facility a third set of axes will be introduced. Fig. 2 shows the
anguilar relation of the stator and rotor axes of a 3-phase machine
fdr = f, sin/3 + fbr sin (
=

Lar cosor
0

in which
=

-iass

0
0

Lss

T)

2) + f"cos
2

+ f,s sin

)]

)]

(5)

(6)

(7)

+ fcr cos

3
(8)

- -

+fc,sin (,+

(9)

for

(far+ Ar +fcr)

(10)

where

cs-axis

cr-axis

d-oxis

Fig. 2. Axis of 2-pole, 3-phase symmetrical machine.

- or.

(11)

In these equations the variable f can represent either voltage,

current, or flux-linkage. The transformation equations are valid
regardless of the form of the voltages and currents in either the
stator or the rotor. However, the equations are restricted in
that the instantaneous angular displacement 0 of the arbitrary

220

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

reference frame must be a continuous finite function. The variables fos and for are incorporated since, in general, three independent variables are necessary. If, however, only balanced
conditions are to be considered, the three voltages (currents) are
defined by any two. Hence, a third substitute variable is unnecessary. Furthermore, since only 3-wire systems are being
analyzed it can be shown that for the types of unbalance considered the zero quantities are nonexistent.N[][6J
If the transformation equations are used to transform the
voltages and currents of both the stator and the rotor to the
arbitrary reference frame (d-q axis), the following are obtained:
Vqs

PXqs + XdSPO + rsiqs

(12)

Vds

PXds

XqsPO + rsids

Vqr

PX5r + XdrPI + rriqr

(13)
(14)

Vdr

PXdr

(15)

XqrP/3 + rridr

+ L88p

[r8

Vqs

Vds

Vqr

coLss
p

_Vdr]

(@

r)

1969

where
3
Lis = Lss - 2- Lms

(28)

3
Ll = Lrri-. LmS
2

(29>

3LMS

(30)

Ns

(31>

M =

Lms

Lsr.

In (31), NS and Nr are the effective turns of a stator and rotor

phase winding respectively. The primes are used to denote rotor
quantities referred to the stator windings. Equations (20)-(23)
may be expressed, in matrix form, as

Mlp
wLss
r8 + Lssp -coM
(c - r)MI rr' + LTrr'P
Mp
- (co - cor)Lrr'

where

JANUARY

]M
Mp
(CO

ir)LrrI

rr' + LrrPp

_s,]
ids

i>qrI

(32)

-I.,r'

It is clear that the voltage equations of the symmetrical induction machine may be expressed in any reference frame by setting
the speed of the arbitrary reference frame, in (32) equal to the
speed of the desired reference frame. For example, the voltage
equations expressed in the stationary reference frame may be
obtained by setting co to zero in (32). For a reference frame fixed
in the rotor co is set equal to the electrical angular velocity of the
rotor, cor. The voltage equations in the synchronously rotating
reference frame are obtained by setting co equal to the electrical
angular velocity of the fundamental frequency components of
the applied stator voltages we.
An expression for the instantaneous electromagnetic torque
can be obtained by applying the principle of virtual displacement.
This relation, which is positive for motor action, is
w,

XQS =

Xds =

Xqr

Xdr =

L8i8qs + 2 Lsrier
-

(16)

Lsridr

(17)

LrriVr + 2 Lsriqs

(18)

Lrridr + 2-L7i.-

(19)

LSSi&

Generally, the machine parameters are measured with respect

to the stator windings; therefore, it is convenient to refer all
quantities to the stator windings. With the rotor variables referred to the stator windings and with the self-inductances
separated into a leakage inductance component and a magnetizing inductance component, the voltage equations for the 3-phase
machine become
XdsPO

+ r,isq

(20)

XqsPO

rsids

(21)

Vq5

Vds

= PXds

VqrI

PXqrl + Xdr

P3

rr'iqr'

(22)

VdI

PXdr'

pO

rridr

(23)

Pqs +
-

Xqr

M (2) (2 )(isidrl

idsi%qr)

where m is the number of phases and P is the number of poles.

STATOR VOLTAGES OF ANY PERIODIC WAVEFORM
The qs and ds applied voltages in a reference frame fixed in the
stator may be obtained from the stator phase voltages vas, vb5, and
v,, by setting e = 0 in (5) and (6). Since a symmetrical 3-wire induction machine is being considered, vas + Vbs + vc5 = 0. Therefore[51 [61

(34)

vqs =Vas

where

xqs

Lisi6s +

Ml(iq5

+ igr7)

(24)

As

Lisis

M(id + idr')

(25)

Xqr'

Lsr'iqr'

M (iqs + iqr')

(26)

Xdr'

Llr'drT' + M(ids + idrl)

(27)

(33)

Vds8

The

(-VA8 + Vs) v

(35)

superscript s denotes variables in a reference frame fixed in

the stator. If the stator phase voltages are of any periodic form,
each phase voltage may be expressed in a Fourier series. There-

KRAUSE:

METHOD OF MULTIPLE REFERENCE

221

FRAMES

VnS8 and t'd may also be expressed in a Fourier series expanfore,

sion:

Vqs'

(Vk/da coskw,t +
k=1

VkVCy sinkw,t)

E (Vkd,, coskco,t + Vkd, sinkco,t).

(37)

In these equations cO is the electrical angular velocity selected to

correspond to the fundamental frequency component of applied
stator phase voltages. Also, the and subscripts denote, respectively, the coefficients of the cosine and sine terms. Although
it is possible to account for a dc voltage applied to the stator by
including a constant term in the foregoing equations, it is convenient to consider a dc voltage in the stationary reference frame
after the concept of multiple reference frames has been introduced.
A synchronously rotating reference frame is generally defined
as the reference frame which rotates at the electrical angular
velocity of the fundamental component of the applied voltages.
The applied voltages in the synchronously rotating reference
frame may be expressed as functions of
and vd8, that is [5]
y

v188

vd,8 sincowt

(38)

sinco6t + Vd18 cosW6t.

(39)

Vqs

v18 cosco6t

V&e

v1s8

Substituting (36) and (37) in (38) and (39) yields

Vp8

2k

[(V1ka +
1

Vk47y) cos(k

(Vkq-y

+ 1)co6t +

Vkda)

VkdY)cos(k 1)co,t
+ (VkqI + Vkda)sinl(k
1)cowtJ (40)

X sin(k + 1) w,t + (Vkqa

+ Vkda)cos(k + 1)w,t
+ (Vk,2T - Vkd&2)sin(k + 1)c0t] (46)

k=1

00

E [(Vtqa
2 kl=1
-

(36)

co

Vdts 8=

Vkqs

1WX

>iE
2 k=1

[(Vkqa

Vkdy)sin(k

1)oet

(Vk,, - V7Cda)cos(k + 1)coet]. (47)

Voltages vkt/8+6 and +/C& together form a series of balanced sets,
for k > 1, each of which establishes a constant amplitude MMF
wave when applied to the ds' - qs6 windings that rotates at an
electrical angular velocity of (k - 1)w, (counterclockwise) with
respect to the synchronously rotating reference frame or at ko6
with respect to the stator. The positive sign in the superscript
denotes counterclockwise rotation. Similarly, Vk,,,-e and Vk& e together form a series of balanced sets, for k > 0, each of which
establishes a constant amplitude MMF wave that rotates at an
electrical angular velocity of - (k + l)co6 (clockwise) with respect to the synchronously rotating reference frame or at -&co
with respect to the stator. The superscript -e is used to denote
-

clockwise rotation.
Balanced sets will appear in the synchronously rotating reference frame regardless of the form or relationship between unbalanced or nonsinusoidal phase voltages. For example, if v,,,
were a square wave, vs a sinusoidal variation, and va, a stepped
wave, the Fourier series expansion of these voltages would form
a series of balanced sets when transformed to the synchronously
rotating reference frame. If the stator voltages are of fundamental frequency but unbalanced, then k = 1 and the constants
Vlqs and vl1+t and the balanced set formed by vle1-j and vl4
are related respectively to the positive and negative sequence
voltages used in the method of symmetrical components. []

V81e

= -

2 k=1

(V71ac + VkdT)sin(k + 1)co6t

cos(k + 1)COat

(VkqIy

Vkda)

(Vkq/a Vkd7)sin(k - )coet

+ (VkqT + VkCda)cos(k - 1)wt]. (41)
-

The superscript e denotes variables in a synchronously rotating

reference frame.
The previous equations reveal an interesting property of the
applied voltages when expressed in the synchronously rotating
reference frame. In particular, (40) and (41) contain a constant
term and sinusoidally varying terms which form a series of
balanced sets of 2-phase voltages. This feature becomes evident
when (40) and (41) are expressed as

Vkqse

Vs8

Vkqs + +

Vds[8

Vkds + + Vkds -6

(42)
(43)

where
Vk1

6=

co

[(VkC1
2 E
2k = 1

VkdT,)cos(k

- l)wet

+ (V/eC +
1
=

Vkda)Sin(k

1)coet] (44)

1)w,t] (45)

co

E
k=1

[-(Vkqa

VdT)sin(k

l)coet

+ (Vkq/ + Vkd/)cos(k

MULTIPLE REFERENCE FRAMES

If the speed of the rotor is not constant, the voltage equations
which describe the induction machine are nonlinear, (20)-(23).
For this reason, the constraint of constant speed is a necessary
condition when performing a hand analysis of balanced or unbalanced operation of induction machinery.[2)-d4]
Since the voltage equations are linear for constant-speed
operation, the principle of superposition may be applied. In
this case, the constant terms and each of the balanced sets in
(40) and (41) [or (44)-(47) ] may be separately applied to the induction machine and the resulting currents may be superimposed,
whereupon the performance due to the complete phase voltage
waveforms may be obtained.
It is clear that the voltages viq8 + and vi +e are constants and
are related to the positive sequence voltages. These voltages arise
from the fundamental frequency component of the balanced set
of stator voltages which produce an MMF wave which, when
applied to the stator windings, rotates at synchronous speed in the
counterclockwise direction. Since vlp+1 and vi,&+ are constants,
the steady-state currents due to these dc voltages are also constants. Therefore, the steady-state performance due to the positive sequence voltages may be analyzed by employing de circuit
theory. This simplifying feature is present when the analysis is
performed in the reference frame rotating in synchronism with a
balanced set of applied voltages. In this case, the positive sequence voltages, which form a balanced set in the stationary
reference frame, are constants in the reference frame rotating at
a speed corresponding to the electrical angular velocity of these
voltages (synchronously rotating reference frame). Moreover, the

222

JANUARY 1968

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

If (44) and (45) are substituted in (48) and (49), and if (46)
constant-speed electrical transients due to changes in the positive sequence voltages may be analyzed more conveniently in the and (47) are substituted in (52) and (53), the following expressynchronously rotating reference frame than in the stationary sions are obtained:
reference frame where it is necessary to consider sinusoidal driving forces.
+ke = 1(Vtqa - Vta)
(56)
The synchronously rotating reference frame facilitates calculation of the constant-speed electrical transients and steady-state
2
performance due to the positive sequence voltages since dc cirv+e
(VkaQ + Vkda)
cuit theory may be employed. However, it would seem necessary
k57)
to introduce phasors to solve for the currents due to each of the
balanced sets of voltages which appear in the synchronously rotating reference frame. It is important to note, however, that if a
1 (Vkqa + Vkay)
Vds
(58)
balanced set appears in any reference frame there is another
reference frame wherein this balanced set will appear as constants. Therefore, each of the balanced sets appearing in the
Va,
= 1
Vs
Vkdan).
(59)
synchronously rotating reference frame can be separately trans2 (Vkq67
formed to a reference frame wherein the applied voltages are constant; hence, the constant-speed electrical transients as well
as the steady-state currents may be obtained using dc circuit It is important to note that once vc,,, va,8, (36), and (37) have
theory. The resulting currents can then be transformed from each been established from the phase voltages v,,, vb1, and v,,, then the
of these reference frames back to the synchronously rotating voltages which are to be applied to each of the reference frames
reference frame and combined to give the constant-speed per- may be determined directly from (56)-(59). Although the exformance of the symmetrical induction machine. This applica- pressions for the voltages in the synchronously rotating reference
tion of multiple reference frames permits a rigorous constant- frame, (42)-(47), are convenient in the development of this
speed electrical transient analysis and a means of readily calculat- method of multiple reference frames, it is unnecessary to coning the steady-state performance with stator phase voltages of sider them when applying this method.
The superscripts -ke and +ke used in (56)-(59) identify the
any periodic waveform without resorting to the concept of phasors
speed and direction of rotation of the reference frames with reand complex impedances.
In this development, it is convenient to employ a set of trans- spect to the stator. For example, +le denotes the synchronously
formation equations for the +e quantities, (44) and (45), and rotating reference frame. A reference frame rotating clockwise at
another set for the -e quantities, (46) and (47). The following an electrical angular velocity corresponding to five times syntransformation equations will be used for variables associated chronous speed would be designated -5e.
It may at first appear necessary to substitute each set of transwith each of the balanced sets which rotate at (k- 1)we (+e
formation
equations into the voltage equations of the induction
quantities):
machine to obtain the voltage equations for each of the reference
fqs = fkq+ cos(k - l)cw,t - fk&d+ sin(k (48) frames. However, it is unnecessary to resort to such a laborious
task since the voltage equations for the symmetrical induction
sin(k - 1)cet +
cos(k (49) machine
fd,+ =
in any reference frame may be obtained from (32) by
fer = fkqr cos (k - l)co,t - fkdr+O sin(k - l)uc1 (50) setting the speed of the arbitrary reference frame X equal to the
of the desired reference frame. Thus, the following may be
fdr =k- fkqrl sin((k - 1)u0t + fkdr+e cos(k - 1)cow. (51) speed
used to determine the voltage equation in all frames of reference:
-

fkdt

fk,+0

VQS
Vds

ne

r, +

Mp

LOi

L,,sp

-nLL,,,

=
L

l)u0t
1)4wt

nu0L.,

Mp

(nfu6 -wr)M

rr' + Lrr'p

r, + Ls,p

The transformation equations for the variables associated with

each of the balanced sets which rotate at - (k + 1)cue (-e quan-

tities) are

1)uet + fkd,as sin(k + 1)uet

fd, -1= -fkicqJ sin(k + 1)co6t + fkd,st cos(k + 1)et
for-k = fk,r cos(k + 1)W6t + fadG6 sin(k + 1)cu6t

fgs-k

= fkqs-E cos(k +
-

-mw,M

-(nfe

-(nfle - r)M

(52)

(53)
(54)

fdre = fkqr- sin(k + 1)u6,t + fkdra cos(k + 1)cu6t. (55)

Equations (50), (51), (54), and (55) are the transformation equations for the rotor quantities. A doubly-fed induction machine
will not be considered in this paper; the rotor windings are shortcircuited and v,, = V1r = Vcr = 0.

nw8M

Mp

Do)Lrr'

(60)

(7ue - ur)LrrT
r,r + Lrr P

In the previous equations, the index n is used to denote +ik. It

is clear that a single value of k gives rise to two reference frames,
+ke and -ke; however, only the reference frames which have
nonzero applied voltages are to be employed.
The constant-speed electrical transients and steady-state
performance of a symmetrical induction machine may be determined from (60). Since the speeds of the reference frames are
selected so that the applied voltages are constant, the steadystate currents will be constant; hence, for a steady-state analysis,
(60) may be readily solved for the currents. In particular,
(Ane\
(ne\
(61)
n<sre = En_) v,,ne +
= _ (Bn)ne
VB

ne=
_

ne

(A ne\

1dne

(62)

223

METHOD OF MULTIPLE REFERENCE FRAMES

KRAUSE:

(Cne\)

ej _

itne =

IEne eqs +

idr ine

_-(Dne\
ne

ne

i.EnE

(63)

En

+ Ene\
,E)

(64)

Expressions for the rotor currents may be obtained by a procedure similar to that used for the stator currents; these relationships are

'er

where
A

rs [rr + n
2

-)fR2Xrr

+ (idr +ke - idr ITe) sinkcet] (77)

2] +

n -

- rr'fR2Xm2

(65)
Bne

n (n

fR3Xrr' (Xm2

coe

cne = -

E [(i4grI+ke + qr /-ke) coskwet

k=1

XssXrr') - nrrT2fRXss (66)

W) fR2Xm [nrr'Xss + (n

) rsXrr']

(67)

coo

id5

E [(idr' +e + idr 'ke) coskwet

k=1

iariS
is

(iqr+ke i-ri
-ke) SinkCOetl (78)

= ir 13
=

(79)

_ 1 -is 23 i,s

(80)

Dne=
n

fRXm [rsrr' +

) fR'(Xm2 - XSSnT)]

(n -

(68)
E

= [rsrr' + n (n - -) fR2(Xm2 - XssXrr')]

iCT'S = --iq2

The superscript s in (79)-(81) denotes the rotor phase currents

expressed in the stationary reference frame. The torque may be
expressed, as in (33),
T

+ nrr fRX,, + n- -) rsfRXrr'J. (69)

The base or rated electrical angular velocity wl has been introduced and inductive reactances are used in the foregoing equations rather than inductances, with fJ = we/cob.
If (48), (49), (52), and (53) are used to transform the multiple
reference frame qs and ds currents to the synchronously rotating
reference frame, the following expressions are obtained:
j,e =

co

E [je cos(k +

k=1

1)coet - id,-"e sin(k + 1)wet

ids

E [ids

k=1

1)coet + if,-ce sin(k + 1)coet

ke cos(k +

+ id,+ke cos(k - I)wet - i S+1C sin(k - 1)coet]. (71)

Transformation equations similar to those given for the voltages, (38) and (39), may be used to transform the currents from
the synchronously rotating reference frame to the stationary
reference frame. Thus, iQ,, and id,s may be written
co

iS = E [(jS +ke + i,'-ke) coskco,t + (ids+ke

k=1

ids8

k=1

[(id,s +ce

ids -e)

coskwet -

kd,-ie) sinkjet]

(72)

(i58 +ke
-

isq-ke) SinkcOet]. (73)

The stator phase currents may be obtained directly from (72)

and (73), that is,

ias

ibs

iS=

1qss

(74)

V3

-2- iq3s-2ts
2
2

i =--1iqss
2

--

(75)

ids.

(76)

(2)(iassidr1

ias-ir ).

(82)

Substituting (72), (73), (77), and (78) in (82) yields

(2MQ)

co)kl iidr +k
(S

iqs-keied -ke)

(i+ds keiqr 1+ke

id,s-keiet-ke)

ke

ics-ke+idr+ke)

dr
[(3s+icrs

+ [(iqs
-

co

= M(

-(id +keMjr

+ iqs e cos(k - I)coet + ids+" sin(k - 1)cwet] (70)

(81)

(i

-ice + ?,

-kei
er +ke) ]

+keiqr -ke

+ ids +kei<,

-kier +ke

cos2kw,t
r-ke)

ijs -kei7r+ke) ]sin2kWet}

(83)

In summary, the method of multiple reference frames is applied by first establishing the expressions for the 2-phase set of
stator voltages in the form of (36) and (37). This is achieved by
substituting the expressions for the phase voltages in (34) and
(35). The coefficients of the sinusoidal variations in (36) and (37)
are then substituted in (56)-(59) whereupon the reference frames
to be used, as well as the magnitude of the constant voltages
to be applied to these reference frames, can be determined immediately. If it is desirable to obtain the constant-speed electrical
transients, then (60) can be used to solve for the transient and
steady-state currents in the reference frames energized with
applied voltages. If, however, only the steady-state performance
is of interest, then (61)-(69) may be used to determine the
steady-state currents in the reference frames being considered.
The multiple reference frame currents obtained from application
of (60) or (61)-(69) can be substituted directly in (72) and (73)
and (77) and (78) to obtain, respectively, the d and q axis stator
and rotor currents in the stationary reference frame. It is clear
that, expressed in this form, the stator and rotor currents may
be compared with the voltages expressed in (36) and (37). Also,
these currents can be readily converted to 3-phase sets by direct
substitution in (74)-(76) for the stator phase currents and in
(79)-(81) for the rotor phase currents. The instantaneous and
average electromagnetic torque are readily determined by sub-

224

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

stituting the values of the multiple reference frame currents

in (83).
It is clear that although the expressions in the synchronously
rotating reference frame form the basis in this derivation, these
equations need not be used in the actual application of the
method of multiple reference frames. It is also apparent that in
the case of a dc component in the stator applied voltages, the
currents due to this dc component may be conveniently determined by applying the dc voltage to the stationary reference
frame.
SAMPLE APPLICATIONS OF METHOD OF
MULTIPLE REFERENCE FRAMES
Although it is not practicable to consider all possible applications of this method, it is desirable to include several examples to
illustrate the procedure for determining the reference frames to
be used for a given set of source voltages. The stator circuit
shown in Fig. 3 will be used in the following examples. An induction machine having the following per unit parameters, with
-60 Hz as base frequency, is used in the sample calculations.
r = 0.0453 Xm = 2.0420
rr' = 0.0222
Xir' = 0.0322.
Xi, = 0.0775
It is clear from Fig. 3 that the stator phase voltages may be expressed
Vas

eva

Ono

Vbs =

egb

Vng

vcs

ec

vnD.

(84)
(85)
(86)
0 and (34) and

Since the 3-wire machine is symmetrical, v08 =

(35) may be used to express v,,3 and vd,8. In particular, since
vOS

0,

Vn= 3 (ega + e,b + e8,).

(87)

Therefore, substituting (84)-(87) in (34) and (35) yields

=

2 1( 1
3ega

(88)

(-e,b + e,c).

Vds =

(89)

These equations are valid regardless of the form of the source

voltages.

Example A
Many variable speed drive systems employ an inverter to ob-

tain adjustable frequency voltages. If the inverter is supplied

from a constant voltage, the inverter output voltages may form a
3-phase set of squarewave voltages displaced 120 electrical degrees. These squarewave source voltages may be approximated
by the following Fourier series expansions:
eaa

e,b

IT

Coswet

-[Cos coet

- coS3wet + - cos5wet-

cos3

wet

cos5 '.t

(90)

L7)

bs,

Fig. 3. Source voltages and stator circuit.

eBC

4V F

2w\

wet +

-[cos

(91)

COs3IaWet +

2r\

+5 cos5 coet +

I.

(92)

In these expressions, V is the amplitude of the squarewave voltages.

Substituting (90)-(92) in (88) and (89), and including odd
harmonics through the thirteenth, yields
V88

4V(

coswt + !

VP

cos5cw,t

COS7wet

7~~~~1

-1 cOSllwet +

11

ds= -(
7'

sinw,t +

sin5wet +

13

(93)

cosl3Wet

sin7wet

1 sinl lwet - - sinl3coet

13
11

(94)

These voltage equations are in the form of (36) and (37). It is

clear that
Vlda

Vld7

V5qy O

V5da

V5dy

4V

= 0
V7qyO

V7d

V7dy

-4V

Vllq-y = 0

Vllda = 0

Vlld7

4V

V13q-y

V13da

V13dy =

4V

V5qci

V7qa

Viiqo9

Vlqs
=
V13q

-4-7'

Vlqa

ir

5'r

77r

37r

Vlq-y

= 0

=0

From (56)-(59),

Vq.+1

=_4Vir

V+le

Vs5e

= 4

Vd -58

V +7e, =

Ugslie

3)

JANUARY 1968

57r

7ir

+7e

-V v-lie

l+3e
=

e0

iiY Vds

0
.+Ie
=0
=

57r

4V
7,,r
4V

13

225

METHOD OF MULTIPLE REFERENCE FRAMES

KRAUSE:

jqs

vas

2.0
1.0

aOs

1.0

-1.0

-2.0

~~~~
2.0

-2.0

2.0

Vd's

1..~-C0.0 SEC.

or

.0-

-2.0-

-1.0

-2.0

0.4

2.0

0.2

1.0

-0.2
-0.4-

'as

1.0

(a)

-2.0L

;qs 2.01.0

~0.01 SEC.

- 1.0
-2.0

q$r 2-0O
i"s 1.0
or 0\

0.20
t0.4

X.-O0.01 SEC.

-.1

1.0

-2.0

-0.2t
-0.4

Fig. 4. Synchronous speed operation with squarewave

voltages-analog computer study.

0.4

source

0.2
-0.2
-0.4

In this example, only the +le, -5e, +7e, -lle, and +13e
reference frames are employed.
In this type of inverter-machine system the waveform of the
currents is quite distorted at no load synchronous speed operation. [71 The following multiple reference frame, steady-state currents were obtained from (61)-(69) for synchronous speed operation with V = 1.0 p.u. andfR = 1.0:
i

+1
-5
+7
-11
+13

ne

0.0128
0.053 3
-0.021 7
-0.005 2
0.003 3

8ne

0.6004
-0.460 1
-0.236 0
0.096 0
0.068 8

ine

0
-0.053 3
0.021 8
0.005 2
-0.003 3

tnqr0
ndre

0
0.452
0.232
-0.094
-0.067

9
3
5
7

(b)
Fig. 5. Synchronous speed operation with squarewave source
voltages, calculated using the method of multiple reference
frames. (a) Fundamental and odd harmonics through the thirteenth.
(b) Fundamental and odd harmonics through the seventh.

chronous speed operation. The currents and torque obtained by

the method of multiple reference frames are plotted in Fig. 5(a)
and (b). In particular, the fundamental and odd harmonic components through the thirteenth are included in the traces in Fig.
5(a). In Fig. 5(b) the eleventh and thirteenth harmonics have
been omitted.

Example B
In this example, unbalanced operation will be considered. In
particular, the source voltages egb and eQC will remain as expressed
If these currents are appropriately substituted in (72)-(83), in (91) and (92) respectively; however, ega will be set equal to
expressions for stator and rotor phase currents as well as the in- zero. Considering only the fundamental and odd harmonics
stantaneous torque may be obtained. For example, 4q8 or i"', is through the seventh, the expressions for vq,8 and vd,8 become
expressed
1
1
4V coSCOt 2
+ 3cos3coet + - cos5cojt - cos7oet (95)
vqs8s =
=
0.6004
sinwet
coswet
0.0128
+
i,,
7

+ 0.0533 cos5cwt + 0.4601 sin5owet

- 0.0217 cos7cwet - 0.2360 sin7wjot
- 0.0052 cosllwet - 0.0960 sinllwet
+ 0.0033 cosl3co8t + 0.0688 sinl3cojt.
In Figs. 4 and 5, the machine variables which have been calculated are compared with the results obtained from an analog
computer study of this type of system using simulation techniques set forth elsewhere.51 -[71 Traces of vq88 (v.), vdi8, i488 (i4.),
iqvrt (iar8), and torque are shown in Fig. 4 for V = 1.0 and syn-

Vds8

I
I
4V-sinoet
.
+ sin5coet + sin7-ot
e)
5
7
lr'

(96)

If the coefficients of (95) and (96) are appropriately substituted

in (56)-(59), the following multiple reference frame voltages will
be obtained:
+le

V+3e

8V

+le

4V

va +3e

le

4V--e
97.

4V

371r

le

&-Be

1226

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

iqs4.0
l$2.0

2.0

'

1.0

0-1.

- 2.0
-4.0

-2.0

2.0

Vds I .0
-

JANUARY 1968

bs

1.0

-2.0.

4.0

-'4

F- 0.01 SEC.

2n.0

- 2.0
-4.0

4.0

2.0
-2.0

-2.0

-4.0
4.0

-4.0

H0.01 SEC.

-4

qr 4

'bs p.0

i., s 2.0

-2.0

-4.0L

-2.0 L
-4.0

4.0
'Cs2.

4.0

br2.0

-2.0
-4.06

-2.0

-4.

-2.
-4.~

-2.0-

-4.j

Fig. 7. Synchronous speed operation with e,5 = 0-calculated

using the method of multiple reference frames.

4.0,

Vqs8 (v.), Vd,', ifq3 (iQ), 4bs is,i rTs (iar's), ibr'8, and torque are
plotted. The traces shown in Fig. 7 are plots of these machine
variables obtained from the multiple reference frame currents
given in the foregoing.
puter study.

VP

+7e =

vqR

+5e

4V

+5e

157

8V
2lr

8V

=0

Vds

~vq -76...

Vds

V+7e= 0
-

V-7e
vq

4V

21

=
-7

VCIS-7 =

0.

In this example, le, 4 3e, i 5e, and 4 7e referen'

energized. The following steady-state multiple ref nce
erencefra
men
currents were calculated for synchronous speed ope,ration:

framesmae

+1
-1
+3
-3
+5
-5
+7
-7

,l
0.0086

-1.5777
0.0968
0.0782
-0.0202
0.0355
-0.0145
0.0066

ids
0.4003
3.0749
0.4088
-0.4172
-0.1528
-0.3069
-0.1572

-0.0787

irne
0
1.5693
-0.0974
-0.0781
0.0203
-0.0355
0.0145
-0.0066

-030188

0.4105

0.3050

0.1548
0.0775.

Machine variables obtained from an analog connputer study

for this mode of operation are shown in Fig. 6. 1In particular,

CONCLUSION
A method of analyzing the performance of symmetrical induction machinery with applied voltages of any periodic form has
been developed. Although it is not practicable to consider all
possible applications or extensions of this method, several
examples which serve to illustrate the principle of analysis are
given. This method of multiple reference frames offers the advantages of calculating the performance of unbalanced induction
machines by employing dc circuit theory.
Sirne phasors and complex impedances are not incorporated,
multiple reference frames permit a convenient and direct method
of analyzing steady-state modes of unbalanced or abnormal
operation which have heretofore been limited to analysis by

symmetrical components. Moreover, the theory of multiple

reference frames may be rigorously applied in the analysis of the
constant-speed electrical transients of induction machinery.
ACKNOWLEDGMENT
The computer study, performed at the University of Wisconsin, Hybrid Computer Laboratory, used equipment provided in
part by a National Science Foundation grant. The method of
multiple reference frames was developed and documented in an
unpublished report in 1963 while the author was employed at the
University of Wisconsin, Milwaukee. The author wishes to express his appreciation for the research support made available
at that time by the University.

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

VOL.

PAS-87,

REFERENCES
[1] C. L. Fortescue, "Method of symmetrical co-ordinates applied
to the solution of polyphase networks," Trans. AIEE, vol. 37, pt. 2,
pp. 1027-1115, 1918.
[2] A. C. Fitzgerald and C. Kingsley, Electrical Machinery, 2nd ed.
New York: McGraw-Hill, 1961.
13] D. C. White and H. H. Woodson, Electromechanical Energy
Conversion. New York: Wiley, 1959.
[41 W. V. Lyon, Transient Analysis of Alternating Current Machinery. Cambridge, Mass.: Technology Press of M.I.T., and New

Stability

Analysis
of

THOMAS A. LIPO,

NO.

JANUARY

227

1968

York: Wiley, 1954.

E6] P. C. Krause and C. H. Thomas, "Simulation of symmetrical
induction machinery," IEEE Trans. Power Apparatus and Systems,
vol. PAS-84, pp. 1038-1053, November 1965.
(61 P. C. Krause, "Simulation techniques for unbalanced electrical
machinery," Ph.D. dissertation, University of Kansas, Lawrence,
Kan., 1961.
(71 -, discussion of H. E. Jordan, "Analysis of induction machines in dynamic systems," IEEE Trans. Power Apparatus and
Systems, vol. PAS-84, pp. 1085-1088, November 1965.

for Variable Frequency Operation

Synchronous Machines
MEMBER, IEEE, AND

Abstract-A stability study of a synchronous machine is performed by applying the Nyquist stability- criterion to the equations
which describe the behavior of the machine during small displacements about a steady-state operating point. This investigation
reveals that, in some cases, machine instability can occur at low
operating speeds. Regions of machine stability are established
from the results of a digital computer study and the maximum
resonance peak Mm is used as a criterion for determining relative
stability when the response of the electromechanical system is
damped. The effect on machine stability for changes in different
system parameters is given. Also, the maximum resonance peak is
used to establish an equivalent second-order electromechanical
system. The response of this system is found to compare favorably
to that of an idealized synchronous machine at any operating speed.

PAUL C. KRAUSE, SENIOR MEMBER,

IEEE

chronous machine. In addition, since the synchronous machine

can be conveniently operated at near unity power factor, the
commutation problem and the resulting decrease in efficiency is
alleviated. Therefore, in future applications where adverse
operating) environments are not encountered, an increased
importance may be given to the synchronous machine.
To investigate the feasibility of the synchronous machine
as a variable speed device, it is important to establish a set of
equations which permit an analysis of machine stability at any
speed. Although studies of free oscillation or instability of the
synchronous machine have been conducted, the approximations
made in these investigations are not applicable at low frequencies.31' 141 The performance of the synchronous machine at
low operating speeds is the subject of this paper.
Equations describing the behavior of the synchronous machine
for small excursions about a steady-state operating point are
developed using the method of small displacements. A stability
analysis is then performed by employing the Nyquist stability
criterion. The influence on the stability of the machine due to
changes in machine parameters is summarized. Also, the effect

INTRODUCTION
T HE ADVENT of the solid-state controlled rectifier has
made speed control of ac machines practical. By controlling
the frequency of the applied voltages, wide-range variable speed
drives have been successfully implemented using induction machines and reluctance-synchronous machines. However, it has of varying the field excitation and the amplitude of the applied
been shown that during low-frequency operation of both these voltages is discussed in some detail. This study reveals that a
devices the electromechanical- system is lightly damped and, in synchronous machine is lightly damped and may even be unthe case of the reluctance-synchronous machine, the system may stable at low speeds. However, a well-designed synchronous
machine will generally be stable over all regions of operation.
even become unstable. I, [2]
For the regions of stable operation, the maximum resonance
In some applications where speed must be precisely controlled
Mm is used as a measure of relative stability. Also, it is
peak
or where the electromechanical system must respond rapidly to
shown
that the maximum resonance peak can be used to establish
changes in load torque, it may be desirable to employ a synthe constants of an equivalent second-order system which approximates the characteristic of an idealized synchronous machine at
Paper 31 TP 67-468, recommended and approved by the Rotating any frequency for which the machine is stable.
Machinery Committee of the IEEE Power Group for presentation
at the IEEE Summer Power Meeting, Portland, Ore., July 9-14,
1967. Manuscript submitted March 13, 1967; made available for
printing May 16, 1967. The work reported here was supported by
APPLICATION OF SMALL DISPLACEMENT THEORY TO
the Research Committee of the University of Wisconsin, Madison.
SYNCHRONOUS MACHINES
The computer study was performed at the University of Wisconsin,
Hybrid Computer Laboratory, using equipment provided in part
that
describe the dynamic behavior of a
The
equations
by a National Science Foundation grant.
machine
are
well established. These equations are
synchronous
T. A. Lipo is with the Department of Electrical Engineering,
University of Wisconsin, Madison, Wisc.
derived using the following assumptions:
P. C. Krause is with the Department of Electrical Engineering,
1) Each stator winding is distributed so as to produce a
University of Kansas, Lawrence, Kan., on a one year's leave of absinusoidal MMI wave Along the air gap.
sence from the University of Wisconsin, Madison, WisC.