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ABSTRACT convert the model into a dq frame [6], but the most natural
representation is in the polyphase circuit variables.
Simulations of AC electric machines are usually performed
in a coordinate system, or reference frame, with two axes
We consider two systems, one composed of an induction motor
(often denoted by d and q, or represented as a complex
fed from a stiff ac voltage source and the second of an inverter
space vector). A third axis, the zero-sequence axis, is a
(fed from a stiff dc voltage source) plus an induction motor
homopolar axis that is necessary for handling certain
driving a synchronous generator, which supplies an impedance
unbalanced conditions. Historically, the transformation
load. In the first case, a series of several different reference
was essential to getting reasonable results, since
frames are studied in detail, while in the second case, we
computations were expensive and the transformation
consider the motor-generator set starting and operating under
results in great simplification of the electrical and
closed-loop speed control. Appropriate reference frames are
mechanical differential equations. Today, however,
used for each apparatus in the second case, with
computation has become so incredibly cheap that the
transformations applied as needed.
computing power of imbedded controllers in many
appliances exceeds that of the early mainframe computers.
Consequently, this paper revisits the issue of 2. DEVICE MODELS
transformation of coordinate frames for performing 2.1 Induction motor model
simulations.
The Np-pole three-phase symmetrical induction motor is easily
Keywords: Motors, drives, simulations, reference frames. represented in a general dq reference frame as depicted in
Figure 1. Notice that the frame may rotate at an arbitrary speed
1. INTRODUCTION ω [rad/sec] with respect to the stator phase a axis, or as a
special case ω may be equal to zero (stationary reference
Analyses of electric machines have been made in rotating frame). A common choice of a rotating frame is the
reference frames since the early days with outstanding example synchronously rotating frame ω = ωs = 4πf/Np. However, in
in the work of Park [1] on synchronous machines, which states general, the frame need not rotate at a constant speed, and is
in the first paragraph that: "This paper presents a generalization arbitrary. The angle of the transformation is θ [rad] which is
and extension of the work of Blondel, Dreyfus, and Doherty the time integral of ω [rad/sec], or
and Nickel." Apparently, the early work of Blondel [2], which
established the two-reaction theory of the salient-pole machine, dθ
ω= (1)
provided the initial motivation for consideration of the dt
transformation to a rotating reference frame. Park transformed
to a frame fixed in the rotor, which is reasonable for a Figure 1 shows the general reference frame and the conventions
synchronous machine, since the field winding (or the magnets used for the transformation, while equation (2) gives the
in the case of a permanent-magnet machine) are fixed in that corresponding mathematics.
frame, and since some degree of saliency often exists.
é ù
Induction (or asynchronous) machines usually have a é v as ù êê cos(θ) sin(θ) 1ú é v ù
ú qs
symmetrical rotor structure, consisting of cages or polyphase ê v ú = êcos(θ − 2π ) sin(θ − 2π ) 1ú êê v ds úú
windings. Thus, the choice of reference frame is not so ê bs ú ê 3 3 úê ú
êë v cs úû ê 2π 2π ë v0 û
obvious. Stanley [3], for example used a stationary reference
cos(θ + ) sin(θ + ) 1ú (2)
frame, while many authors (see Krause [4], for example) have êë 3 3 úû
used frames that rotate either at synchronous speed or that are
fixed in the rotor. Recently Pekarek [5] studied the use of a é 2 2 2 π 2 2π ù
ê cos(θ) 3 cos(θ − 3 ) cos(θ + )ú
hybrid approach that uses stationary frame for the stator é v qs ù ê 3 3 3 é v as ù
electrical quantities and a rotating frame for the rotor electrical ê v ú = ê 2 sin(θ) 2 sin(θ − 2π ) 2 2π ú ê ú
ê ds ú ê 3 sin(θ + ) ú ê v bs ú
quantities. 3 3 3 3 ú
êë v 0 úû ê 1 1 1 ú êë v cs úû
Electronic power converters may be modeled either by detailed êë 3 3 3 úû
representation of the switching of the power electronic devices
(switching model) or by a state-space averaged modeled
Note that the frame speed ω may be constant (e.g., 0 or ωs) or
(average model). In the case of the latter, it is possible to
variable. If the frame speed is zero, the angle θ may also be
taken to be 0 for simplicity. The same transformation is used Figure 2. The induction motor model in a purely arbitrary
for all circuit quantities: voltage, current, and flux linkage. reference frame. The reference frame speed is ω and the rotor
speed is ωr.
The variable labeled with the zero subscript is the zero-
sequence variable, which is clearly not needed (except to 2.2 Synchronous machine model
prevent the inverse transformation from being undefined)
unless there is an unbalanced condition that results in ground For the sake of comparison, we consider the synchronous
current (i.e., unless i a + i b + i c ≠ 0 ). We consider motors in a machine with a conventional model representing a single cage
damper (amortisseur) winding on each axis, and a single field
three-conductor connection in this paper, so the zero-sequence winding on the d axis. The rotor parameters are referred to the
variables are identically zero. stator. Later, a synchronous generator will be another
component of the system under study to provide a shaft load on
b axis the motor.
d axis
ωλsq a
isd Rs Lls Llr (ω−ωr)λrq Rr ird
b
Vd IM
vsd λsd Lm λrd c
Execution time
2.00
1.50
1.00
Figure 5. Block diagram of proportional speed control loop. 0.50
PWM = inverter, MG = induction motor-synchronous generator
0.00
set, K = controller gain. 1a 1b 1c 1d 2a 2b 2c 2d 3a 3b 3c 3d Avg
Run
Simulation of the converter is most naturally accomplished in
the abc coordinate frame. Stationary Rotor Synchronous
0.50
rev/min, 300 kW (mechanical) single-cage induction motor. 0.40
The shaft load was a flywheel with inertia of 90 kg m2 and 0.30
friction coefficient of 0.088 N m sec. Rs = 3.527 mΩ, Rr = 0.20
4.232 mΩ, Lss = Lls+Lm = 3.994 mH, Lrr = Lss, Lm = 3.929 0.10
mH. 0.00
1a 1b 1c 1d 2a 2b 2c 2d 3a 3b 3c 3d Avg
A number of simulation runs were performed using the Run
simulation language ACSL to represent the induction motor
starting across a stiff voltage source with no load on the shaft. Stationary Rotor Synchronous
After the motor was started, a step change in shaft load torque,
from 0 to 2000 N m, was applied. The whole simulation time Figure 6. Execution times for induction motor simulation in
was 20 seconds. The execution times were tabulated for each three different reference frames for two different
of three test cases, each consisting of four runs of the communication intervals.
simulation in reference frames that were stationary, rotating
with the rotor, and synchronously rotating. The execution
times are plotted in Figure 6.
The speed control uses a proportional controller with a gain of Figure 11. Electrical torque of induction motor [N-m]. Notice
20. This figure was derived by trial and error by running the startup transients and transient due to the generator being
several simulations. suddenly loaded at t = 10 sec.
Synchronous Generator
PWM
Inverter
Figure 12. Electrical torque [N m] of the generator. Generator
is loaded suddenly at t = 20 sec.
Voltage Induction These plots were obtained using the stationary reference frame
Source Motor for the induction motor, but the same results were obtained for
Resistance the other two frames. Simulations of runs where all three
Load
frames were used successively have variations that lie within
the width of the line used in the plot.
Figure 8. Schematic diagram of system studied.
4. CONCLUSIONS
Reference frames for induction machines can be chosen
arbitrarily. The effects of the choice on the speed of the
simulation are not very large if it is desired to plot electrical
quantities such as current and voltage at the machine terminals.
In our system simulations, we used a stationary reference frame
for the cases plotted, but the same results were obtained for the
other reference frames.
REFERENCES
1. R. H. Park, "Two-Reaction Theory of Synchronous
Machines," AIEE Transactions, Vol. 48, pp. 716-730, July
1929.
2. A. Blondel, Synchronous Motors and Converters,
McGraw-Hill, 1913.
3. H.C. Stanley, "An Analysis of the Induction Machine,"
AIEE Transactions, Vol. 57, pp 751-759, 1938.
4. P.C. Krause, Analysis of Electric Machinery, McGraw-
Hill, 1986.
5. S.D. Pekarek, O. Wasynczuk, H.J. Hegner, "An efficient
and accurate model for simulation/analysis of
machine/converter systems," IEEE Transactions on
Energy Conversion, Vol. 13, pp. 42-48, March 1998.
6. D.W. Novotny and T.A. Lipo, Vector Control and
Dynamics of AC Drives, Oxford University Press, New
York, 1998.