Lecture 9: Space-Vector Models

ELEC-E8405 Electric Drives (5 ECTS)

Marko Hinkkanen
Autumn 2017

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Learning Outcomes

After this lecture and exercises you will be able to:

I Include the number of pole pairs in the machine models
I Transform phase variables to a space vector (and vice versa)
I Transform space vectors to different coordinates
I Express the space-vector model of the synchronous machine in rotor
coordinates
I Calculate steady-state operating points of the synchronous machine

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Outline

Number of Pole Pairs

Space Vectors

Synchronous Machine Model in Stator Coordinates

Coordinate Transformation

Synchronous Machine Model in Rotor Coordinates

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Number of Pole Pairs p

ϑM = ϑm
ϑM = ϑm /2

2 poles (p = 1) 4 poles (p = 2)

Electrical angular speed ωm = p ωM and electrical angle ϑm = p ϑM

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Synchronous Rotor Speeds

I Stator (supply) frequency f (Hz)

I Electrical angular speed (rad/s)
Speeds for f = 50 Hz
ωm = 2πf
No of pole pairs p Speed n (r/min)
I Rotor angular speed (rad/s) 1 3000
ωm 2 1500
ωM = 3 1000
p
4 750
I Rotor speed (r/min) 5 600
6 500
f 60 s
n=
p min

Note that in converter-fed motor drives, the rated supply frequency of the motor does not need to be 50 Hz.
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1-Phase Machine

ia R L
I Phase voltage

dψa
ua = Ria + ua dψa
ea
dt dt
I Phase flux linkage

ψa = Lia + ψfa
I Mechanical power
where ψfa = ψf cos(ϑm )
I Back-emf pM = ea ia = TM ωm /p

dψfa I Torque
ea = = −ωm ψf sin(ϑm )
dt
TM = −p ia ψf sin(ϑm )

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Synchronous Machine: Phase-Variable Model

Rs Ls ea
a ia
dψa
ua = Rs ia +
dt eb
dψb b ib Rs Ls
ub = Rs ib + n
dt
dψc Rs Ls ec
uc = Rs ic + c ic
dt

ψa = Ls ia + ψf cos(ϑm ) ea = −ωm ψf sin(ϑm )

ψb = Ls ib + ψf cos(ϑm − 2π/3) eb = −ωm ψf sin(ϑm − 2π/3)
ψc = Ls ic + ψf cos(ϑm − 4π/3) ec = −ωm ψf sin(ϑm − 4π/3)

TM = −pψf [ia sin(ϑm ) + ib sin(ϑm − 2π/3) + ic sin(ϑm − 4π/3)]

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Outline

Number of Pole Pairs

Space Vectors

Synchronous Machine Model in Stator Coordinates

Coordinate Transformation

Synchronous Machine Model in Rotor Coordinates

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Why Space Vectors?

1. Complex phasor models

I Simple to use but limited to steady-state conditions
2. Phase-variable models
I Valid both in transient and steady states
I Too complicated
3. Space-vector models
I Phase-variable models can be directly transformed to space-vector models
I Compact representation, insightful physical interpretations
I Commonly applied to analysis, modelling, and control of 3-phase systems

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About Complex Numbers
I Complex number
I Rotating the position vector by 90◦
z = x + jy
jz = j(x + jy) = −y + jx
I Complex conjugate of z
I Dot product
∗
z = x − jy
Re{z 1 z ∗2 } = Re{(x1 + jy1 )(x2 − jy2 )}
I Magnitude of z = x1 x2 + y1 y2
q
z = |z| = x 2 + y 2 I Cross product

I Euler’s formula Im{z 1 z ∗2 } = Im{(x1 + jy1 )(x2 − jy2 }

= y1 x2 − y2 x1
ejϑ = cos ϑ + j sin ϑ

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Magnetic Axes in the Complex Plane

ej2π/3

ej0 ej0

ej4π/3
Phase a All 3 phases

Windings are sinusoidally distributed along the air gap

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Space-Vector Transformation

I Space vector is a complex variable (signal)

2 
i ss = ia + ib ej2π/3 + ic ej4π/3
3

where ia , ib , and ic are arbitrarily varying instantaneous phase variables

I Superscript s marks stator coordinates
I Same transformation applies for voltages and flux linkages
I Space vector does not include the zero-sequence component (not a problem
since the stator winding is delta-connected or the star point is not connected)

Peak-value scaling of space vectors will be used in this course. Furthermore, we will use the subscript s to refer to the stator quantities, e.g., the
stator current vector i s and the stator voltage vector u s , since this is a very common convention in the literature.
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 β
ej2π/3 ej2π/3

ic ej4π/3 3 s ic
i
2 s
i ss i ss

ej0
ia α ia
ib ej2π/3 ib

ej4π/3 ej4π/3
ia = Re i ss


2
i ss = ia + ib ej2π/3 + ic ej4π/3 ib = Re e−j2π/3 i ss


3
ic = Re e−j4π/3 i ss

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Examples: Space Vectors Rotate in Steady State

I Positive sequence I Negative sequence

√ √
ia = 2I+ cos(ωm t + φ+ ) ia = 2I− cos(ωm t + φ− )
√ √
ib = 2I+ cos(ωm t − 2π/3 + φ+ ) ib = 2I− cos(ωm t − 4π/3 + φ− )
√ √
ic = 2I+ cos(ωm t − 4π/3 + φ+ ) ic = 2I− cos(ωm t − 2π/3 + φ− )

I Space vector I Space vector

√ √
i ss = 2I+ ej(ωm t+φ+ ) i ss = 2I− e−j(ωm t+φ− )
I Non-sinusoidal periodic waveform
√ √ √
i ss = 2I1 ej(ωm t+φ1 ) + 2I5 e−j(5ωm t+φ5 ) + 2I7 ej(7ωm t+φ7 ) . . .

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Representation in Component and Polar Forms

I Component form

i ss = iα + jiβ β
iα
i ss
I Polar form

i ss = is ejθi jiβ
= is cos(θi ) +j is sin(θi ) θi
| {z } | {z }
iα iβ
α
I Generally, both the magnitude is and the
angle θi may vary arbitrarily in time
√
I Positive sequence in steady state: is = 2I is constant and θi = ωm t + φ

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Physical Interpretation: Sinusoidal Distribution in Space
i ss iα β

jiβ
I 3-phase winding creates the current
and the mmf, which are sinusoidally
distributed along the air gap
I Space vector represents the α
instantaneous magnitude and angle of
the sinusoidal distribution in space
I Magnitude and the angle can vary freely
in time

Rotating current distribution produced

by the 3-phase stator winding
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Outline

Number of Pole Pairs

Space Vectors

Synchronous Machine Model in Stator Coordinates

Coordinate Transformation

Synchronous Machine Model in Rotor Coordinates

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Space-Vector Model of the Synchronous Machine

I Stator voltage
I Torque can be expressed in various forms
dψ ss
u ss = Rs i ss + I Following form is convenient since it holds for
dt other AC machines as well
I Stator flux linkage 3p n o
TM = Im i ss ψ s∗
s
2
ψ ss = Ls i ss + ψf ejϑm

Derive these voltage and flux linkage equations starting from the phase-variable model and the definition of the space vector. Also show that the
space-vector and phase-variable formulations for the torque are equal.
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Space-Vector Equivalent Circuit

I Stator voltage can be rewritten as i ss Rs Ls

di ss
u ss = Rs i ss + Ls + ess
dt dψ ss
u ss ess
dt
I Back-emf ess= jωm ψf ejϑm is proportional
to the speed

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Torque

I Vectors in the polar form

i ss = is ejθi ψ ss = ψs ejθψ
β
I Instantaneous torque i ss

3p ψ ss
n o
TM = Im i ss ψ s∗
s γ
2
3p θi
= is ψs sin(γ)
2 θψ
α
where γ = θi − θψ
I Nonzero γ is needed for torque production

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Power
I Vectors in the component and polar forms

u ss = uα + juβ = us ejθu i ss = iα + jiβ = is ejθi

I Instantaneous power fed to the stator

3
Re u ss i s∗

ps = s
2
3
= (uα iα + uβ iβ )
2
3
= us is cos(ϕ)
2
where ϕ = θu − θi

The power calculated using the space vectors naturally agrees with the power ps = ua ia + ub ib + uc ic calculated from the phase variables.
√ √
Furthermore, in steady state, the rms-valued expression Ps = 3Us Is cos(ϕ) is obtained, since us = 2Us and is = 2Us hold.
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Outline

Number of Pole Pairs

Space Vectors

Synchronous Machine Model in Stator Coordinates

Coordinate Transformation

Synchronous Machine Model in Rotor Coordinates

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Example: Stopping the Rotating Vector

I Positive-sequence space vector in

I In other words, we observe the
stator coordinates vector now in a coordinate system
√ rotating at ωm
i ss = 2I ej(ωm t+φ) I In rotating coordinates, the vector is
denoted without a superscript and
I Rotating vector can be stopped by the components are marked with the
the transformation subscripts d and q
√
i s = i ss e−jωm t = 2I ejφ i s = id + jiq

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Coordinate Transformation

I Previous example assumed the rotor speed ωm to be constant

I General dq transformation and its inverse are

i s = i ss e−jϑm dq transformation
i ss = i s ejϑm αβ transformation

where the rotor angle is Z

ϑm = ωm dt

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 q β q
is β
i ss

ϑm d
α
ϑm

Stator coordinates (αβ) Rotor coordinates (dq)

i s = i ss e−jϑm

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 q β id q
iα is β
i ss

jiβ jiq
d

ϑm d
α
ϑm

Stator coordinates (αβ) Rotor coordinates (dq)

i s = i ss e−jϑm

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Outline

Number of Pole Pairs

Space Vectors

Synchronous Machine Model in Stator Coordinates

Coordinate Transformation

Synchronous Machine Model in Rotor Coordinates

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Synchronous Machine Model in Rotor Coordinates

I Substitute ψ ss = ψ s ejϑm , u ss = u s ejϑm , and i ss = i s ejϑm

d   dψ s
u s ejϑm = Rs i s ejϑm + ψ s ejϑm ⇒ u s = Rs i s + + jωm ψ s
dt dt
ψ s ejϑm = Ls i s ejϑm + ψf ejϑm ⇒ ψ s = Ls i s + ψf

I Torque is proportional to iq

3p n o 3p
TM = Im i s ψ ∗s = ψ iq
2 2 f

while id does not contribute to the torque

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Power Balance

I Stator voltage can be rewritten as

di s
u s = Rs i s + Ls + jωm Ls i s + es
dt
where es = jωm ψf is the back-emf
I Power balance is obtained from the stator voltage equation

3 3 3 Ls d|i s |2 ωm
ps = Re {u s i ∗s } = Rs |i s |2 + + TM
2 |2 {z } |2 2 {z dt } p
| {z }
Losses Rate of Mechanical
change of power
energy in Ls

I Middle term is zero in steady state

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Vector Diagram

I In steady state, d/dt = 0 holds in q

rotor coordinates
us is
I Stator voltage

u s = Rs i s + jωm ψ s
= Rs i s + jωm (Ls i s + ψf ) ψs
Ls i s
I Steady-state operating points can
be illustrated by means of vector ψf d
diagrams
Assumption: Rs ≈ 0

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