Synchronous and induction machine inductances are functions of the rotor speed,
therefore the coefficients of the differential equations (voltage equations) which describe
the behavior of these machines are time-varying. A change of variables can be used to
reduce the complexity of machine differential equations, and represent these equations in
another reference frame with constant coefficients. A change of variables which
formulates a transformation of the 3-phase variables of stationary circuit elements to the
arbitrary reference frame may be expressed as
f qd 0 s = K s f abcs
[
where, (f qd 0 s )T = f qs f ds ]
f0s ,
(f abcs )T = [ f as f bs f cs ],
2 2
cos cos(
3
) cos( + )
3
2 2 2
K s = sin sin( ) sin( + ),
3 3 3
1 1 1
2 2 2
t
= (t )dt + (0).
0
cos sin 1
(K s )1 = cos( 2 ) sin( 2 ) 1 .
3 3
cos( + 2 ) sin( + 2 ) 1
3 3
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET
f can represent either voltage, current, or flux linkage.s indicates the variables,
parameters and transformation associated with stationary circuits. represent the
speed of reference frame.=0: Stationary reference frame.=e: synchronously
rotating reference frame.=r: rotor reference frame (i.e., the reference frame is fixed
on the rotor).fas, fbs and fcs may be thought of as the direction of the magnetic axes of
the stator windings.fqs and fds can be considered as the direction of the magnetic axes
of the new fictious windings located on qs and ds axis which are created by the
change of variables. Power Equations corresponding to the transformations is given
by
Pqd 0 s = Pabcs =
3
(Vqsiqs + Vdsids + 2V0 si0 s )
2
iabcs = (K s ) iqd 0 s
1
rs 0 0
rs = 0 rs 0
(K s )1Vqd 0 s = rs (K s )1 iqd 0 s 0 0 rs
Vqd 0 s = (K s )rs (K s ) iqd 0 s
1
Vabcs = pabcs ,
d
where, p = ,
dt
Ls 0 0 ias
abcs = L s iabcs = 0 Ls 0 ibs
0 0 Ls ics
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET
[ 1
] [ ] 1
Vqd 0 s = K s p K s qd 0 s = K s p K s qd 0 s + K s K s [ ]p
1
qd 0 s
sin cos 0
where, p K s[ ] 1 2 2
= sin( ) cos( ) 0
3 3
sin( + 2 ) cos( + 2 ) 0
3 3
0 1 0
Ks p Ks[ ] 1
= 1 0 0
0 0 0
where, (qds )T = ds [ qs 0 ]
Vector equation Vqd0s can be expressed as
Vqs = ds + pqs
Vds = qs + pds
V0 s = p0 s
Where ds term and qs term are referred to as a speed voltage with the
speed being the angular velocity of the arbitrary reference frame. When the reference
frame is fixed in the stator, that is, the stationary reference frame (=0), the voltage
equations for the three-phase circuit become the familiar time rate of change of flux
linkage in abcs reference frame. For the three-phase circuit shown, Ls is a diagonal
matrix, and
abcs = L s iabcs
qd 0 s = K s L s K s 1iqd 0 s = L s iqd 0 s
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET
3
L ls + 2 L ms 0 0
3
K s L s (K s ) 1 = 0 L ls + L ms 0
2
0 0 L ls + L ms
3
2
rs = diag [rs rs rs ]
Ls M M
L s = M Ls M
M M Ls
Ls = Lls + Lms
1
M = Lms
2
In vector form,
Vabcs = rs iabcs + pabcs ,
Multiplying by Ks
K sVabcs = K s rs iabcs + K s pabcs
Replace iabcs and abcs using the transformation equations
1 1
K sVabcs = K s rs (K s iqd 0 s ) + K s p (K s qd 0 s )
Vqd 0 s = rs iqd 0 s + qd 0 s
Or
2
f cs = 2 f s cos( ef + )
3
ef Angular position of each electrical variable (voltage, current, and flux linkage) is
ef with the f subscript used to denote the specific electrical variable.
e: Angular position of the synchronously rotating reference frame is e. e and e
differ only in the zero position e(0) and ef(0), since each has the same angular
velocity of e.fas, fbs and fcs can be transformed to the arbitrary reference frame,
f qd 0 s = K s f abcs
qs and ds variables form a balanced 2-phase set in all reference frames except when
=e,
[
f e qs = 2 f s cos ef (0) e (0) ]
[
f e ds = 2 f s sin ef (0) e (0) ]
In qse and dse reference frame, sinusoidal quantities appear as constant dc quantities.
Balanced Steady-State Phasor Relationships
For balanced steady-state conditions e is constant and sinusoidal quantities can be
represented as phasor variables.
[
Fas = 2 Fs cos et + ef (0) = Re 2 Fs e ] [ jef (0 )
e jet ]
2
j ef ( 0 )
2
3 j e t
Fbs = 2 Fs cos et + ef (0) = Re 2 F e
e
3
s
2
j ef ( 0 ) +
2
3 j et
Fbs = 2 Fs cos et + ef (0) + = Re 2 F e
e
3
s
Balanced steady-state qs-ds variables are,
[
Fqs = 2 Fs cos (e )t + ef (0) (0) ]
[
= Re 2 Fs e
(
j ef ( 0 ) ( 0 ) ) j (e )t
e ]
[
Fds = 2 Fs sin (e )t + ef (0) (0) ]
[
= Re j 2 Fs e ef
(
j ( 0 ) ( 0 ) ) j (e )t
e ]
fas phasor can be expressed as
~ j ( 0 )
Fas = Fs e ef
For arbitrary reference frame (e),
~ j ( ( 0 ) ( 0 ) ) ~ ~
Fqs = Fs e ef , Fds = jFqs
Selecting (0)=0,
~ ~
Fas = Fqs
Thus, in all asynchronously rotating reference frame (e) with (0) =0, the phasor
representing the as variables is equal to the phasor representing the qs variables. In
the synchronously rotating reference frame =e, Feqs and Feds can be expressed as
[
F e qs = Re 2 Fs e
(
j ef ( 0 ) ( 0 ) )
]
[
F e ds = Re j 2 Fs e
(
j ef ( 0 ) ( 0 ) )
]
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET