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The magnetic axes of the stator windings are denoted by as, bs and cs axes. The q axis is the
magnetic axes of the kq1 and kq2 windings while the d axis is the magnetic axis of the fd and
kd windings. Because the synchronous machine is generally operated as a generator, it is
convenient to assume that the direction of positive stator current is out of the terminals as
shown in the figure above. With this convention the voltage equation in machine variables may
be expressed in matrix form as,
Derivation
Vabcs rs iabcs p abcs ..............(1) (- ve sign for rs because genertaor action)
Vqdr rr iqdr p qdr ...................( 2)
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET
In the above expression s and r subscripts denote variables associated with the stator and rotor
windings, respectively. Both rs and rr are diagonal matrices. In particular
rs 0 0
rs diag rs rs rs 0 rs 0 ........................................(3)
0 0 rs
rkq1 0 0 0
rr diag rkq1 0 rkq 2 0 0
rkq 2 r fd rkd .............( 4)
0 0 r fd 0
0 0 0 rkd
We can write Stator inductance matrix L s (Self and Mutual between stator phases) as (Refer
Lecture Notes on Symmetrical synchronous machine and MMF waveforms)
1 1
Lls LA LB cos 2 r LA LB cos 2 r LA LB cos 2 r
2 3 2 3
1 2 1
Ls LA LB cos 2 r Lls LA LB cos 2 r LA LB cos 2 r ...(6)
2 3 3 2
1 2
LA LB cos 2 r
1
LA LB cos 2 r Lls LA LB cos 2 r
2 3 2 3
Similarly self and mutual inductance of the damper windings are as given below; the
inductance matrix Lsr and Lr may be expressed as
Llkq1 Lmkq1 Lkq1 kq 2 0 0
L Llkq 2 Lmkq 2 0 0
Lr kq1 kq 2 ..........(7)
0 0 Llfd Lmfd L fdkd
0 0 L fdkd Llfd Lmfd
Lskq1 cos r Lskq 2 cos r Lsfd sin r Lskd sin r
2 2 2 2
Lsr Lskq1 cos r Lskq 2 cos r Lsfd sin r Lskd sin r .......(8)
3 3 3 3
Lskq1 cos r 2
Lskq 2 cos r
2
Lsfd sin r
2
Lskd
sin r
2
3 3 3 3
N kq 2 2
Lskq 2 Lmq ..........................(12)
Ns 3
N fd 2
Lsfd Lmd .............................(13)
Ns 3
N kd 2
Lskd Lmd ............................(14)
Ns 3
2
N kq1 2
Lmkq1 Lmq ........................(15)
Ns 3
2
N kq 2 2
Lmkq 2 Lmq ........................(16)
Ns 3
2
N fd 2
Lmfd Lmd ............................................(17)
Ns 3
2
N kd 2
Lmkd Lmd ............................................(18)
Ns 3
N kq 2 N kq1
Lkq1kq 2 Lmkq1 Lmkq 2 ....................(19)
N N
kq 1 kq1
N kd N fd
L fdkd Lmfd Lmkd ..........................( 20)
N fd
N kd
It is convenient to incorporate the following substitute variables that refer the rotor variables to
the stator windings:
' 2 N j
ij i j .......................( 21)
3 N s
' Ns
v j v j ...........................(22)
Nj
N
j ' s
j ...........................( 23)
Nj
Where j may be kq1, kq2, fd or kd
L' sr i
abcs Ls abcs .............(24)
' 2 L' sr T '
L r i ' qdr
qdr
3
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET
Where Ls is defined in the equation (6) and
Lmq cos r Lmq cos r Lmd sin r Lmd sin r
2 2 2 2
L' sr Lmq cos r Lmq cos r Lmd sin r Lmd sin r .......( 25)
3 3 3 3
Lmq cos r 2
Lmq cos r
2
Lmd sin r
2
Lmd sin r
2
3 3 3 3
3
Where
2
3 N s
r j
'
rj ..........................(28)
2 N j
2
3 N s
L lj
'
Llj ........................( 29)
2 N j
Wf
1
2 2 2
iabcs T Ls Lls I iabcs iabcs T L' sr i ' qdr 1 3 i ' qdr L
T '
r
L' lr I i ' qdr ........(30)
Form the above discussions Ls and Llr are only function of rotor position and Lr is not a
function of rotor position so we can eliminate last term of (30) and since it is a generator i abcs is
negative and for a P pole machine the above equation can be modified for torque expression
as follows
P
Te
1
iabcs
T
r r
Ls Lls I iabcs iabcs T L' sr i ' qdr ...........(31)
2 2
In expanded form the above equation becomes
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET
2 1 2 1 2
i i i
L L as bs cs as bs as cs bs bs r
i i i i 2 i i sin 2
md mq 2 2
3 3 2 2
2
i bs i cs 2iasibs 2iasics cos 2r
P 1 1
2
3
Te Lmq i 'kq1 i 'kq 2 ias ibs ics sin r ibs ics cosr
........(32)
2 2 2
L i' fd i 'kd i 1 i 1 i cos 3 i i sin
md as bs cs r bs cs r
2 2 2