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Primitive machine:
qaxis
vt
+
vq
+
d-axis
+ vd + vs + vf
+
vo
o-axis
Voltage equations:
vd = Ra id + p d r q
vq = Ra iq + p q + r d
vo = Ra io + p o
v f = R f i f + p f
v s = Rs is + p s = 0
vt = Rt it + p t = 0
Alternative expression:
Te =
P
2
(
d iq q id )
Electromechanical torque equation:
Te + Tm = Jp m + D m + De m
P 2
Te the electromagnetic torque is positive for motor action and negative for
generator action.
Tm the mechanical torque is positive for generator action and negative for
motor action.
Mechanical damping torque, assumed proportional to the angular velocity
m, is given by D m .
Electrical damping torque due to currents in the damper winding is assumed
proportional to the difference between rotor speed and synchronous speed and
is given by De m .
P 2
Transformation gives
i odq = P i abc
1 1 1
io 2 2 2 i
id =
2
cos e ( )
cos e 120 o (
cos e + 120 o )
a
ib
- sin ( e 120 o ) ( )
3
iq
- sin e - sin e + 120 o ic
where e = t since the rotor is rotating at synchronous speed.
This results in
1
io = ( ia + ib + ic ) = 0
3
id =
(o
) (
2 cos t cos( t + ) + cos t 120 cos t + 120 +
o
)
( ) ( )
I
3 o o
cos t + 120 cos t + + 120
id =
( o
)
1 cos( 2 t + ) + cos + cos 2 t + 240 + cos +
3 ( o
cos 2 t + + 240 + cos )
= 3 I cos
A similar procedure can be used to obtain iq.
The relation between rms phase currents and the dq components can be found from the
inverse transformation (given id, iq, io = 0, with = t):
ia =
2
3
[
id cos t iq sin t ]
=
2
3
[ (
id cos t + iq cos t + 90 o )]
Recall the phasor transformation:
2 I cos( t + ) I
In phasor form with the dq axes as reference, the rms phase current Ia may then be
written as
i iq
Ia = d + j = I d + jI q
3 3
where
i
Id = d
3
iq
Iq =
3
va =
2
3
[
vd cos t vq sin t ]
=
2
3
[ (
vd cos t + vq cos t + 90 o )]
In phasor form,
v vq
Va = d + j = Vd + jVq
3 3
where
v
Vd = d
3
vq
Vq =
3
Substituting the expressions for vd and vq,
Va =
1
[( ) (
Ra id X q iq + j Ra iq + X d id + M df i f )]
3
Or,
M df
( )
Va = Ra I d X q I q + j Ra I q + X d I d + if
3
Define the excitation emf or excitation voltage Ef:
1
Ef = M df i f
3
For the three phases,
E a = Eb = E c = E f
For phase a,
E a = jE f
Hence,
[( ) (
Va = Ra I d X q I q + j Ra I q + X d I d + E f )]
= Vd + jVq
where
Vd = Ra I d X q I q
Vq = Ra I q + X d I d + E f
Since the field current if is always a positive quantity, and Iq is related to iq by a constant
(1/3),
If Iq > 0, Te > 0 motor action
If Iq < 0, Te < 0 generator action
If Id = 0, Vq = Ef.
If Id < 0 (demagnetizing), Ef must be increased by increasing the field current
if. Ef > Va (overexcitation)
If Id > 0 (magnetizing), Ef must be decreased by decreasing the field current if.
Ef < Va (underexcitation).
Iq
Over-excited Under-excited
Motor Motor
d-axis
Id Id
Over-excited Under-excited
Generator Generator
Iq
With directions of Id and Iq known for different operating conditions, phasor diagrams
appropriate to these conditions can be constructed in accordance with
I a = I d + jI q
Va = Vd + jVq
Va = Ra I a X q I q + jX d I d + jE f
= jE f X q I q + jX d I d + Ra I a
Observations:
1. The excitation voltage jEf lies along the quadrature axis.
In a practical case of synchronous machine operation, the quantities which are generally
known are Va, Ia, and the lagging or leading power-factor, from which is readily
deduced. A problem arises when attempting to draw the phasor diagram as there is no
immediate indication of the location of the dq-axes. A method of locating the dq-axes is
now described.
Generator action:
E g = Va + Ra I a + jX d I d X q I q
= Va + Ra I a + jX d I d + j 2 X q I q
Motor action:
Va = Ra I a + jX d I d X q I q + E m
The d-axis and q-axis permeances for cylindrical rotor machines are approximately equal.
Neglecting these differences,
Xd = Xq = Xs
+ +
+ +
Ia Ia
Va Em Eg Va
_ _
_ _
Motor Generator