Electric Machines IIIA

COURSE EPM 405A

FOR
4th Year Power and Machines
ELECTRICAL DEPARTMENT

Lecture 02

Dr. Amr AbdAllah

Reference Frame Theory

Equations of Transformation:
Change of Variables:

where

It can be shown that the inverse transformation is given by:

or

Dr. Amr AbdAllah

Reference Frame Theory

Stationary Circuit Variables transformed to
the arbitrary Reference Frame
Resistive Elements:
v abcs vas vbs vcs T
i abcs ias ibs ics T
For a three phase resistive circuit we have:
ras 0 0
v abcs rs i abcs (2.1)

Applying the arbitrary transformation

fqd0s K s fabcs

rs 0
0

rbs
0

0
rcs

Then we have:
K s -1v qd0s rs K s -1 i qd0s
Dr. Amr AbdAllah

Reference Frame Theory

Resistive Elements contd:

Multiplying by Ks from left, we get

(2.2)

-1

Which
v qd0smeans
K sthat
rsthe
Kresistance
s i qd0smatrix in the new arbitrary reference
frame is given by:
(2.3)

K s rs K s -1
Dr. Amr AbdAllah

Reference Frame Theory

Resistive Elements contd:
All power system equipment (transformers, capacitors banks, transmission lines, etc.) as well as the stator
windings of machines are designed to have same resistance.
The resistance matrix in the abc frame is thus given as:

Which is the same resistance matrix in the new arbitrary reference frame since

rs
rs 0
0

0
rs
0

0
0
rs

K s rs K s -1 rs
Dr. Amr AbdAllah

Reference Frame Theory

Resistive Elements contd:
Conclusion is that the resistance matrix associated with the arbitrary reference frame is equal to the
resistance matrix associated with the actual variables if all phases are symmetrical (equal resistance).

For the unsymmetrical case it can be shown that the resistance matrix associated with the arbitrary
reference variables will contain sinusoidal functions of except when equals zero (that is is zero or
constant).
This means that the transformation yields constant resistances for the unbalanced case only if the
reference frame is fixed to the actual frame (abc) where the unbalance physically exists.

Dr. Amr AbdAllah

Reference Frame Theory

Stationary Circuit Variables transformed to the

arbitrary Reference Frame

Inductive Elements:

For a three phase inductive circuit we have:

v abcs p abcs (2.4)
v abcs vas vbs vcs T

Where abcs is the vector of flux linkages in the

abcs as bs cs T
actual (abc) frame. p is the differential operator d/dt.
For linear systems the flux linkages is the product of
the inductance and current matrices. For the ac
machines it will be noticed that the inductance matrix is
function of the rotor position.
Dr. Amr AbdAllah

Reference Frame Theory

Stationary Circuit Variables transformed to the arbitrary Reference

Frame

Inductive Elements:
Applying the arbitrary transformation
then we have:

-1
-1
K
v

p
K
s
qd0s
s we get
qd0s
Multiplying
by K from left,
s

(2.5)

fqd0s K s fabcs

p K s -1 qd0s K s -1 p qd0s

v qd0s K s p K s -1 qd0s K s K s -1 p qd0s

Dr. Amr AbdAllah

Reference Frame Theory

Stationary Circuit Variables transformed to the arbitrary

Reference Frame

Inductive Elements:

p K s -1

Therefore:

- sin( )
- sin( 2 3)
- sin( 2 3)

cos( )
0

cos( 2 3)
0
cos( 2 3)
0
(2.6)
(Student Assignment)

K s p K s -1

-1
0

Dr. Amr AbdAllah

Reference Frame Theory

Stationary Circuit Variables transformed to the arbitrary

Reference Frame

Inductive Elements:

Substituting (2.6) in (2.5)

We get:

-1
-1
v qd0s

p
K

K
p qd0s
s
s
qd0s
s
s
(2.7)

v qd0s dqs p qd0s

Where

dqs ds - qs 0 T
Dr. Amr AbdAllah

10

Reference Frame Theory

Stationary Circuit Variables transformed to the arbitrary Reference

Frame

Inductive Elements:
(2.7) is expanded as:

vqs ds pqs
vds qs pds
v0s p0s

The terms containing the speed (angular velocity of the arbitrary reference
frame) are referred to as Speed voltage. It is clear that for =0 (that is the
reference frame attached to the frame of the physical circuit) these terms dont
exist.

Dr. Amr AbdAllah

11

Reference Frame Theory

Stationary Circuit Variables transformed to

the arbitrary Reference Frame

Inductive Elements:
For linear Magnetic circuits the flux linkage may be
expressed as:

abcs Ls i abcs

Where Ls is the inductance matrix of the phases in the

actual frame (abc) where the circuit physically exist.
The flux linkage in the arbitrary reference frame can thus
be written as: -1

qd0s K s L s K s i qd0s

Dr. Amr AbdAllah

12

Reference Frame Theory

Stationary Circuit Variables transformed to

the arbitrary Reference Frame

Inductive Elements:
For a balanced inductive circuit without inductive
magnetic coupling the inductive matrix associated with
the actual reference frame of the physical circuit is a
diagonal matrix with equal diagonal elements (and
zero off diagonal elements) and accordingly the
inductive matrix associated with the arbitrary
reference frame is given as:

K s L s K s -1 L s

Dr. Amr AbdAllah

13

Reference Frame Theory

Stationary Circuit Variables transformed to the

arbitrary Reference Frame

Example: Figures a & b demonstrate the

transmission line and stator windings of electric
machines. Both circuits encounter resistive
inductive circuit with mutual coupling
between phases. It will be noticed that the
stator windings of a symmetrical induction
machine or a synchronous machine will have mutual
inductance given by M=-0.5Lms and self
Inductance of the winding given by
Ls=Lls+Lms
Dr. Amr AbdAllah

14

Reference Frame Theory

Stationary Circuit Variables transformed to

the arbitrary Reference Frame

Example Contd: The RL balanced circuit is defined by:

rs
rs 0
0

0
rs
0

0
0
rs

Ls
L s M
M

M
Ls
M

M
M

Ls

Each phase voltage can be expressed as the

Sum of the voltages across each element:

Dr. Amr AbdAllah

15

Reference Frame Theory

Stationary Circuit Variables transformed to

the arbitrary Reference Frame

Example Contd:
Similarly in the arbitrary reference frame we have:

Since rs is a diagonal matrix with balance

Resistance in each phase then we get:

Dr. Amr AbdAllah

16

Reference Frame Theory

Stationary Circuit Variables transformed to

the arbitrary Reference Frame

Example Contd:
The new inductance matrix in the arbitrary reference
frame can be calculated as:
(Student
Assignment)

Therefore the voltage equations in the

arbitrary reference frame may be expressed
as:
Dr. Amr AbdAllah

17

Reference Frame Theory

Stationary Circuit Variables transformed to

the arbitrary Reference Frame

Example Contd:
The flux linkages are given as function of the new current
variables in the arbitrary reference frame by:

The figures below show the equivalent circuits which

describes the voltage equations of the q, d and 0 axes

Dr. Amr AbdAllah

18

Reference Frame Theory

Stationary Circuit Variables transformed to

the arbitrary Reference Frame

Capacitive Elements:

For a three phase Capacitive circuit we have:

i abcs ias ibs ics T
i abcs pq abcs (2.8)
Which yield to:

i qd0s K s p K s -1 q qd0s

q abcs qas qbs qcs T

K s p K s -1 q qd0s K s K s -1 p q qd0s
Dr. Amr AbdAllah

19

Reference Frame Theory

Stationary Circuit Variables transformed to

the arbitrary Reference Frame

Capacitive Elements:
Applying 2.6:

K s p K s -1

-1

We get:

i qd0s q dqs pq qd0s

(2.9)

q dqs qds - qqs 0 T

Dr. Amr AbdAllah

20

Reference Frame Theory

Stationary Circuit Variables transformed to the

arbitrary Reference Frame

Capacitive Elements:
2.9 in expanded form results in:

iqs qds pqqs

ids qqs pqds
i0s pq0s

The terms containing the speed (angular velocity of the

arbitrary reference frame) are referred to as Speed
current applying same terminology used for the inductive
circuits.
Dr. Amr AbdAllah

21

Reference Frame Theory

Stationary Circuit Variables transformed to

the arbitrary Reference Frame

Capacitive Elements:
For linear capacitive circuits the relation between the
charge and voltage is given as:

q abcs Cs v abcs
Where Cs is the capacitance matrix of the phases in the
actual frame (abc) where the circuit physically exist.
The charge in the arbitrary reference frame can be
written as:
-1

q qd0s K s Cs K s v qd0s

Dr. Amr AbdAllah

22

Reference Frame Theory

Commonly used Reference Frames

Dr. Amr AbdAllah

23

Reference Frame Theory

Transformation between Reference Frames

In some derivations and analysis it is convenient to relate

variables in one frame to variables in another
reference frame directly.
Let x denote the reference frame from which
the variables are being transformed and y
denote the reference frame to which the
variables are being transformed; then
(2.10)

Dr. Amr AbdAllah

24

Reference Frame Theory

Transformation between Reference Frames

We have,
(2.11)
Substitute 2.11 in 2.10 to get:
(2.12)
Also we have
(2.13)
Comparing 2.12 and 2.13 it can be shown that:
(2.14)
From which:
(2.15)
Dr. Amr AbdAllah

25

Reference Frame Theory

Transformation between Reference Frames

The desired transformation is obtained by substituting the

appropriate transformations into 2.13 hence:
(Student Assignment)

It can also be shown that:

(Student Assignment)
This transformation which is usually referred
to as Vector rotator is also obtainable by the
resolving of fqsx and fdsx (first row) into fqsy
and fdsy (second row).

Dr. Amr AbdAllah

26

NEXT LECTURE

CHAPTER II
Symmetrical Induction Machine Models

Dr. Amr AbdAllah

27