Modeling of Induction Motor

using dq0 Transformations

First Semester 1431/1432

Introduction
Steady state model developed in previous studies
of induction motor neglects electrical transients
due to load changes and stator frequency
variations. Such variations arise in applications
involving variable-speed drives.
Variable-speed drives are converter-fed from finite
sources, which unlike the utility supply, are
limited by switch ratings and filter sizes, i.e. they
cannot supply large transient power.

Introduction (contd)
Thus, we need to evaluate dynamics of
converter-fed variable-speed drives to
assess the adequacy of the converter
switches and the converters for a given
motor and their interaction to determine the
excursions of currents and torque in the
converter and motor. Thus, the dynamic
model considers the instantaneous effects
of varying voltages/currents, stator
frequency and torque disturbance.

Circuit Model of a Three-Phase IM

Assumptions and Definitions:

1. Space mmf and flux waves are considered to be

sinusoidally distributed, thereby neglecting the effect of
teeth and slots.
2. The machine is regarded as group of linear coupled
circuits, permitting superposition to be applied, while
neglecting saturation, hysteresis, and eddy currents.
3. Ls : self inductance per phase of the stator windings.
4. Ms: mutual inductance per phase of the stator windings.
5. rs: resistance per phase of the stator windings.
6. Lr : self inductance per phase of the rotor windings.
7. Mr: mutual inductance per phase of the rotor windings
8. rr: resistance per phase of the rotor windings.
9. Msr: maximum value of mutual inductance between any

Circuit Model of a Three-Phase IM

r

Voltage Equations
Stator Voltage Equations:
v as i as rs

d as
dt

v bs

d bs
i bs rs
dt

v cs

d cs
i cs rs
dt

Voltage Equations (contd)

Rotor Voltage Equations:
v a r i a r rr

d a r
dt

v br

d br
i br rr
dt

v cr

d cr
i cr rr
dt

Flux Linkage
Equations

as Ls ias M s ibs M s ics

M sr iar cos( r ) M sr ibr cos( r 120o) M sr icr cos( r 120o)
bs M s ias Ls ibs M s ics
M sr iar cos( r 120o) M sr ibr cos( r ) M sr icr cos( r 120o)

Flux Linkage
Equations
In general, we can assume:

i as i bs i cs 0
Let:
Lss Ls M s

as Ls i as M s (i bs i cs )
M sr i ar cos( r ) M sr i br cos( r 120o) M sr i cr cos( r 120o)
bs M s (i as i cs ) Ls i bs
M sr i ar cos( r 120o) M sr i br cos( r ) M sr i cr cos( r 120o)

Flux Linkage
Equations
In general, we can assume:

i ar i br i cr 0
Let:

L rr L r M r

ar M sr i as cos( r ) M sr i bs cos( r 120o) M sr i cs cos( r 120o)

L r i ar M r (i br i cr )
br M sr i as cos( r 120o) M sr i bs cos( r ) M sr i cs cos( r 120o)
L r i br M r (i ar i cr )

Flux Linkage Equations

Stator:
as Lss i as M sr i ar cos( r ) i br cos( r 120o) i cr cos( r 120o)
bs Lss i bs M sr i ar cos( r 120o) i br cos( r ) i cr cos( r 120o)
cs Lss i cs M sr i ar cos( r 120o) i br cos( r 120o) i cr cos( r )
Rotor:

ar M sr i as cos( r ) i bs cos( r 120o) i cs cos( r 120o) Lrr i ar

br M sr i as cos( r 120o) i bs cos( r ) i cs cos( r 120o) L rr i br
cr M sr i as cos( r 120o) i bs cos( r 120o) i cs cos( r ) Lrr i cr

Flux Linkage Equations

Lss
as
0

bs
cs 0

ar

ar

ar

Lsr M sr

cos( r )
cos( r 120o)
cos( r 120o)

0
Lss
0

0
0
Lss

Lsr
L rr
0
0

LTsr

0
L rr
0

cos( r 120o)
cos( r )
cos( r 120o)

v as i as rs

d as
dt

i as
i
bs
i cs

0 i ar
0 i br

L rr i cr
cos( r 120o)
o
cos( r 120 )
cos( r )

Model of Induction Motor

To build up our simulation equations, we could
just differentiate each expression for , e.g.

d as d
v as But
i assince
rs L depends
on
First
raw of
the Matrix

position
,
dt
srdt

which will generally be a function of time, the

trigonometric terms will lead to a mess!

Parks Transformation
The Parks transformation is a three-phase to twophase transformation for synchronous machine
analysis. It is used to transform the stator variables
of a synchronous machine onto a dq reference
frame that is fixed to the rotor.
The +ve d-axis is aligned with the magnetic axis of
the field winding and the +ve q-axis is defined as
leading the +ve d-axis by /2.

Parks Transformation
(contd)
q-axis

In induction machine, the

d-axis is assumed to align
on a-axis at t = 0 and rotate
with synchronous speed ()

d-axis

The result of this transformation is

that all time-varying inductances in
the voltage equations of an induction
machine due to electric circuits in
relative motion can be eliminated.

Parks Transformation (contd)

The Parks transformation equation is of the
form:

fd

f T
dq 0
q
f0

fa
f
b
fc

where f can be i, v, or .

Parks Transformation (contd)

cos d

Tdq 0 (d ) K sin d

2
cos d
3

sin d
3

1
2

cos d
3

sin d
3

where K is a convenient constant. The current id and iq are

proportional to the components of mmf in the direct and quadrature
axes, respectively, produced by the resultant of all three armature
currents, ia, ib, and ic. For balanced phase currents of a given maximum
magnitude, the maximum value of id and iq can be of the same
magnitude. Under balanced conditions, the maximum magnitude
of
ia , peak ib , peak ic , peak id2 iq2
any one of the phase currents is given by
. To
achieve this relationship, a value of 2/3 is assigned to the constant K.

Parks Transformation (contd)

The inverse transform is given by:

Tdq 0 (d )

cos d

cos d
3

cos d 3

Of course, [T][T]-1=[I]

sin d
2

sin d
3

sin d
3

Parks Transformation (contd)

Thus,

and

vd

v T
dq 0
q
v0

va
v
T dq 0 vabc
b

vc

id

i T
dq 0
q
i0

ia
i

b T dq 0 iabc
ic

Induction Motor Model in dq0

q-axis

d-axis

Induction Motor Model in dq0 (contd)

Lets us define new dq0 variables.
Our induction motor has two subsystems - the
rotor and the stator - to transform to our
orthogonal coordinates:
So,

dq 0 s Ts abcs on the stator,

where [Ts]= [T()], ( = t)

and

dq 0 r [Tr ]abcr

on the rotor,

where [Tr]= [T()], ( = - r = ( r) t )

Induction Motor Model in dq0 (contd)

STATOR:
"abc": abcs [ Lss ] iabcs [ Lsr ] iabcr
"dq0": dq 0 s Ts abcs [ Lss ] Ts iabcs Ts [ Lsr ] Tr1 Tr iabcr

dq 0 s [ Lss ] idq 0 s Ts [ Lsr ] Tr1 idq 0 r

ROTOR:
"abc": abcr [ LTsr ] iabcs [ Lrr ]iabcr
"dq0": dq 0 r Tr abcr Tr [ LTsr ] Ts1 Ts iabcs [ Lrr ] Tr iabcr

dq 0 s Tr [ LTsr ]Ts1 idq 0 s [ Lrr ] idq 0 r

Lss

1 0 0
Lss 0 1 0
0 0 1

Lrr

1 0 0
Lrr 0 1 0
0 0 1

Induction Motor Model in dq0 (contd)

Now:
3
2 M sr
T 1
r sr s

TT T

1
sr r

Ts L T

0
3
M sr
2
0

Just constants!!
Our double reference frame transformation
eliminates the trigonometric terms found in our
original equations.

Induction Motor Model in dq0 (contd)

Let us look at our new dq0 constitutive law and
work out simulation equations.
v dq 0s T s v abcs T s R i abcs
1

T s RT s i dq 0s
R i dq 0s

d
T s abcs
dt

d
T s T s 1dq 0s
dt

d
T s T s 1dq 0s
dt

Induction Motor Model in dq0 (contd)

Using the differentiation product rule:
v dq 0s R i dq 0s

d
d
dq 0s T s T s 1 dq 0s
dt
dt

0
R i dq 0s

d
d

dq 0s dt
dt
0

d
dt
0
0

0 dq 0s

Induction Motor Model in dq0 (contd)

For the stator this matrix is:
0

0
0 0

0 0

For the rotor the terminal equation is

essentially identical but the matrix is:
0
( r ) 0
( )

0
0
r

0
0
0

Induction Motor Model in dq0 (contd)

Simulation model; Stator Equations:
v ds i ds rs qs
v qs i qs rs ds
v 0s

d 0s
i 0s rs
dt

d ds
dt
d qs
dt

Induction Motor Model in dq0 (contd)

Simulation model; Rotor Equations:
v dr i dr rr ( r )qr

d dr
dt

v qr i qr rr ( r )dr
v 0r

d 0 r
i 0 r rr
dt

d qr
dt

Induction Motor Model in dq0 (contd)

Zero-sequence equations (v0s and v0r) may be
ignored for balanced operation.
For a squirrel cage rotor machine,
vdr= vqr= 0.

Induction Motor Model in dq0 (contd)

We can also write down the flux linkages:
ds

qs
0s

dr
qr

0 r

Lss

3 2M sr

0
Lss
0
0
3 2M sr
0

0
0
L ss 0
0
0
0

3 2M sr
0
0
L rr
0
0

0
3 2M sr
0
0
L rr
0

0
0

0
0

L rr 0

i ds
i
qs
i 0s

i dr
i qr

i 0r

Induction Motor Model in dq0 (contd)

The torque of the motor in qd0 frame is given
by:
3 P
e qr i dr dr i qr
2 2

where P= # of poles
F=ma, so:
d r
J
( e l )
dt
where l = load torque