Basics of Electric Machines

and Transformation
 Rotating field
 fundamental space mmf established by a single phase
winding with a current, i=Iacosωt, is Fa1=Fm1cosωt cosθa,
where Fm1 is the peak value of fundamental mmf Fm1=
(4/π)kw(Nph/P)Ia
 Fa1 is the combination of two counter-revolving mmf
waves Fa1=Fm10.5cos(θa-ωt) +F m10.5cos(θa +ωt)

Ff Fb
 In a three phase machine, the axes of the three phase
windings are 120o apart, assume the phase current
ia=imcosωt
ib=imcos(ωt-120o)
ic=imcos(ωt+120o)
 Rotating field
 fundamental air gap mmf of three phases
Fa1=(1/2)Fm1{cos(θa-ωt) +cos(θa +ωt)}
Fb1=(1/2)Fm1{cos(θa-ωt) +cos(θa +ωt-240o)}
Fc1=(1/2)Fm1{cos(θa-ωt) +cos(θa +ωt+240o)}
 Fa1 + Fb1 + Fc1 =(3/2)Fm1cos(θa-ωt)

the resultant airgap mmf is a constant amplitude, sinusoidal

shape, revolving wave with a speed of ω in a direction
corresponding to the sequence of the phase current
 it is related to the synchronous machine voltage and
mechanical speed: ωe=(P/2)ωm
 Developed torque of a uniform
airgap machine
 The torque and coenergy relation
 T=∂W’fld/∂θm where W’fld =λi- Wfld
 λi=LSSiS2+Lrrir2+2Lsrircosδsr
 Wfld= (1/2)LSSiS2+(1/2)Lrrir2+Lsrisircosδsr
 W’fld= λi- Wfld =(1/2)LSSiS2+(1/2)Lrrir2+Lsrircosδsr J
 Developed ∂W fld
'
∂W fld
'
∂δ sr P
torque: T = = ; δ sr = δ srm
∂δ srm ∂δ ∂δ sr srm 2
P
T =− Lsrisir sin δ sr N⋅m
2
the negative sign indicates the developed torque is in the direction opposite
to that of increasing δsr
 Three Phase Transformations
 Transformation is used to decouple variables
with time-varying coefficients and refer all
variables to a common reference frame
 Transformation to decouple abc phase
variables
 [f012]=[T012][fabc]
 1 1 1  2π
[T012 ] = 1 1 a a 2 
j
where a = e 3
= ∠120o
3
1 a 2 a 
 
 The symmetrical transformation is applicable
to steady-state vectors or instantaneous
quantities
 Sequence Impedances of Y-connected Loads
 Consider a three phase balanced load with self and
mutual elements
Vabc = Zabc Iabc
Va   Z s + Z n Zm + Zn Zm + Zn   Ia 
V  = Z + Z Zs + Zn Z m + Z n   I b 
 b  m n

Vc   Z m + Z n Zm + Zn Z s + Z n   I c 

Zabc

1 1 1   Zs + Zn Zm + Zn Zm + Zn 
  Z + Z
1 a a  = A Z m + Z n 
2
Z abc =
 m n Zs + Zn
1 a a 2   Z m + Z n Zm + Zn Z s + Z n 
 
 Sequence Impedances of Y-connected Loads
 Consider a three phase balanced load with self
and mutual elements in the above figure
 voltage equation: Vabc = Zabc Iabc
 use transformation: AVa012=ZabcAIa012
 Va012=Z012Ia012, where Z012 = A-1ZabcA
 Z012 in case of the above figure 1 1 1 
 Z s + 3Z n + 2 Z m 0 0   
=A
2

= 0  1 a a
Z 012 0 Zs − Zm
  1 a a 2 
 0 0 Z s − Z m   
 impedances of nonzero terms appears in principle
diagonal
 for a balanced load, three sequence impedances are
independent
 current of each phase sequence produces voltage
drops of the same phase sequence only
 Park Transformation
 Park transformation to decouple
three-phase quantities into two-
phase variables (generator notation)
 [fdq0]=[Tdq0(θd)][fabc]
 generator notation, θq = θd + π/2

  2π   2π    
 cos θ cos  θ −  cosθ d +    cos θ d - sinθ d 1
d d
  3   3    
2 2π 2π    
[ ] 
Tdq 0 (θ d ) = − sin θ d - sin θ d −
 
 - sin θ d +  [ ] −1
Tdq 0 (θ d ) = cosθ d −
2π  
 - sin θ d −
2π 
 1
3  3   3    3   3  
1 1 1    2π   2π  
   cosθ d +  - sin θ d +  1
2 2 2    3   3  

 relationship between qd and abc

b
quantities, d ω=ωs
 positive d-axis is along with magnetic q θd
field winding axis a ω=0
 positive q-axis is along with internal
voltage ωLaf if c
 internal voltage leads magnetic field by
90 degree (generating)
 Park Transformation
 Park transformation (motor
notation)
 [fdq0]=[Tdq0(θd)][fabc]
 motor notation, θq = θd - π/2
   2π   2π 
cos θ cos θ −  cos θ + 
 3 
d d d
  3   
π π
[Tdq 0 (θd )] = 3 sin θd sinθd − 3  sinθd + 3  
2 2 2
     
1 1 1 
2 
 2 2 
 relationship between qd and abc
quantities,
 positive d-axis is along with magnetic b d ω=ωs
field winding axis
θd
 positive q-axis is along with negative a ω=0
of the internal voltage ωLaf if (induced
voltage – motoring) q
c
 d-axis is referred from a-axis
 Park Transformation
 Park transformation to decouple
abc phase variables
 [fqd0]=[Tqd0(θq)][fabc]
 generator notation, θq = θd + π/2
   2π   2π   
cos θ q cos θ q − 3  cos θ q + 3   cos θ q - sinθ q 1
      
  2π  2π 
[Tqd 0 (θq )] = 23 sin θq sinθq − 23π  sinθq + 23π   [T
qd 0 (θ q ) ]
−1
= cosθ q −

 sin θ q −

 1
      3   3  

1 1 1    2π   2π  
2   cosθ q +  sin θ q +  1
 2 2    3   3  

 relationship between qd and abc

quantities,
 q-axis is along with internal voltage b ω=ωs
q
 d-axis is along with the magnetic θq
field a ω=0
 q-axis is referred from a-axis
c d
 qd0 Transformation to Series RL
 Consider a three phase balanced RL transmission line
with self and mutual elements
[Vs ] − [VR ] = [ R ][i ] + p[ L][i ]
Where
vasgs  varg r 
   
[VS ] = vbsgs 
abc [VRabc ] = vbrgr 
v  v 
 csgs   crgr 

ra + rg rg rg 
 
[ R abc ] =  rg rb + rg rg 
 r r r + r 
 g g c g 
 Laa + Lgg − 2 Lag Lab + Lgg − Lbg − Lag Lac + Lgg − Lcg − Lag 
 
[ Labc ] =  Lab + Lgg − Lag − Lbg Lbb + Lgg − 2 Lbg Lbc + Lgg − Lcg − Lbg 
L + L − L − L
 ac gg ag cg Lbc + Lgg − 2 Lbg − Lcg Lcc + Lgg − 2 Lcg 
 qd0 Transformation to Series RL
 Consider a three phase balanced line with self and mutual
elements in Fig. 5.17
 voltage equation: Δ[Vabc]= [Rabc][iabc]+p [Labc][iabc]
 use transformation:
[Tqd0(θ)] -1Δ Vaqd0= [Rabc] [Tqd0(θ)]-1 [iqd0]+ [Labc] p [Tqd0(θ)]-1 [iqd0]
 [Tqd0(θ)] [Tqd0(θ)]-1 Δ Vqd0= [Tqd0(θ)] [Rabc] [Tqd0(θ)]-1 [iqd0]+ [Tqd0(θ)]
[Labc] p ( [Tqd0(θ)]-1 [iqd0] )
 Δ Vqd0= [Rqd0] [iqd0]+ [Lqd0] p[iqd0]+ [Tqd0(θ)] [Labc] [iqd0] p [Tqd0(θ)]-1
 [Rqd0]=[Tqd0(θ)] [Rabc] [Tqd0(θ)]-1,
 [Lqd0]= [Tqd0(θ)] [Labc] [Tqd0(θ)]-1
 Rqd0 and Lqd0 in case of Fig. 5.17

 rs − rm 0 0   Ls − Lm 0 0 
= rs − rm 0  Lqd 0 = 0 Ls − Lm 0 
R qd 0

0
  
 0 0 rs + 2rm   0 0 Ls + 2 Lm 

 impedances of nonzero terms appears in principle diagonal

 qd0 Transformation to Series RL
 Transform from abc to qd0 equivalent circuit

speed voltage

speed voltage

diq dθ q
∆vq = (rs − rm )iq + ( Ls − Lm ) + ( Ls − Lm )id
dt dt
did dθ q
∆vd = (rs − rm )id + ( Ls − Lm ) − ( Ls − Lm )iq
dt dt
di
∆v0 = (rs + 2rm )i0 + ( Ls + 2 Lm ) 0
dt
 Space Vector and Transformations
 Air gap mmf due to current ia(t)
 Fa1=(Nsine/2) ia(t) cos(θa), Fa1 is centered about a-
phase winding axis
 space vector notation
N sin
Fa1 = ia , where ia =i a (t ) cos θ a
2
 Resultant airgap mmf by currents flowing into
all three windings
 Fs = Fa1 + Fb1 + Fc1

=
N sin
2
( )
ia + ib + ic =
N sin
2
(ia cos θ a + ib cos θ b + ic cos θ c )
N sin  jθ a  
2π 4π 2π 4π
−j −j   j j
= e  ia + ib e 3
+ ic e 3  + e  ia + ib e + ic e 
− j θ a 3 3
4     
  
N
{ ( ) ( )} N
(
= sin e jθ a ia + ib a 2 + ic a + e − jθ a ia + ib a + ic a 2 = sin i2 e jθ a + i1e − jθ a
4 4
)
 Sequence Current Space Vector
 Sequence space vector
 i1 = (i2 ) *
 Balanced three-phase current in term of t
2π 4π
 i = I cos(ω t ), i = I cos(ω t − ), i = I cos(ω t − )
a m e b m e c m e
3 3
 Sequence current space vector
3
 i1 = ia + aib + a 2ic = I m e jωet
2
3
i2 = ia + a ib + aic = I m e
2

2
− jωe t
()
= i1
*

 Resultant airgap mmf


Fs =
N sin
4
(
jθ a
i2e + i1e − jθ a
= )
 N sin  3 
 I m  cos(θ a − ωet )
 2  2 
for balanced 3 phase currents
 Relation Between Space Vector And
Phase Quantity
 Current space vector and phase currents
 current space vector 3
i1 = I m e jωet
2
 phase current
i = I m e jωet

 relations between current space vector and phase expression

2
i = i1
3
()
 Balanced sequence current space vector
 3
i1 = ia + aib + a ic = I m e jωet
2

2
3
i2 = ia + a ib + aic = I m e
2

2
− jωet
= i1
*
()
i0 = (ia + ib + ic ) = I m ∗ 0 = 0
1 1
3 3
 Transformation Between abc and qd0
 New rotating qd axes with stationery qd axes

iq  cos θ − sin θ  iq 
s
t
 =  s  θ (t ) = ∫ ω (t )dt + θ (0)
 d
i sin θ cos θ  id  0

 qd component space vector form

(
iq − jid = iq − jid e − jθ
s s
)
 the above equation implies rotating stationery qd components
backward by angle θ
 synchronous rotating frame w.r.t. stationery frame
e e
( s s
)
iq − jid = iq − jid e − j (ωet +θe ( 0 ))
= I m cos(φ − θ e (0)) + jI m sin(φ − θ e (0))
 quantities in synchronous frame are constant
 relationship between syn. frame and peak value phasor of a phase
current
i = iqs − jids = (iqe − jide )e jωet = 2 I a e jωet
~

∴ (iqe − jide ) = 2 I a
~

 syn. frame quantities and peak value phasor quantities of phase a

current are the same
 Transformation Between abc and qd0
 Full transformation from stationery qd frame to
arbitrary qd rotating frame
 full transformation form
0 iq 
s
iq  cos θ − sin θ
     s
id  = sin θ cos θ 0 id 

i0  0
  0 1 i0 
 
 In matrix notation, [iqd0] in terms of original abc currents [iabc]
[iqd 0 ] = [Tθ ][iqds 0 ] = [Tθ ][Tqds 0 ][iabc ] = [Tqd 0 ][iabc ]

 Total instantaneous power into three phase circuit in

arbitrary qd0 frame

Pabc = va ia + vbib + vcic =
3
(vqiq + vd id ) + 1 v0i0
2 3
 no restriction on abc currents, could be balanced or
unbalanced
 Project Demo (1)
Space Vectors
 Transform the instantaneous three-phase
ac current to space vectors in positive
and negative-sequence in the spatial
domain
 The abc currents are of the form
ia=2e-αtcos(m*2πt)+10/n*cos(n*2 πt)
ib=2e-αtcos(m*2πt-2π/3)+10/n*cos(n*2 πt t-2π/3)
ic=2e-αtcos(m*2πt+2π/3)+10/n*cos(n*2 πt +2π/3)
 Show the two rotating space vectors i1 and i2 in
fundamental and harmonic components
 Project Demo (2)
Complex quantities in qd0
 Examine the waveforms of the qd0
components to corresponding to sinusoidal
and complex phase currents
 Case 1:
 the abc currents are of the form
ia=10cos(2πt)
ib=10cos(2πt-2π/3)
ic=10cos(2πt+2π/3)
 run the dq0 in
 stationary frame ωe=0 frame
 rotating frame ωe
 -ωe frame
 2 ωe frame
 5 ωe frame
 Project Demo (2)
Complex quantities in qd0
 Model used for transformation from phase abc
to dq0
U(E)
U y
Initialize Scope To Workspace
Clock Selector
and plot
Mux Mux
m3
2*pi

Gain
Mux Mux1
ia
iqs iq
cos(u[2])
ib ids
cos(u[2]-2*pi/3)
id
ic i0s
cos(u[2]+2*pi/3)

abc2qd0s qds2qd
nframe
theta
nframe theta0
theta(0) Sum
 Project Demo (2)
Complex quantities in qd0
 Model used for transformation from phase abc
to stationary dq0: use equation (5.130)

(2*u[1] - u[2]- u[3])/3 1

1
abc2qds_row1 out_qs
in_a

2 Mux (-u[2] + u[3])/sqrt(3) 2

in_b abc2qds_row2 out_ds

3
(u[1] + u[2] + u[3])/3 3
in_c out_0s
abc2qd_row3
 Project Demo (2)
Complex quantities in qd0
 Model used for transformation from stationary
dq0 to any rotation dq0: use equation (5.136)

1
u[1]*cos(u[3]) - u[2]*sin(u[3]) 1
in_qs
out_q
qds2qd_row1
2 Mux
in_ds
u[1]*sin(u[3]) + u[2]*cos(u[3]) 2
3 out_d
qds2qd_row2
theta
 Project Demo (2)
Complex quantities in qd0
 run the dq0 in
 stationary frame ω=0 frame
stationary frame
20 20

i0s in A
ias in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20

iqe in A
iqs in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20
ide in A
ids in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Time in sec
 Project Demo (2)
Complex quantities in qd0
 run the dq0 in
 rotating frame ω=ωe

20 20

i0s in A
ias in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20

iqe in A
iqs in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 ide in A
20
ids in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Time in sec
 Project Demo (2)
Complex quantities in qd0
 run the dq0 in
 rotating frame ω=-ωe

20 20

i0s in A
ias in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20
2ωe

iqe in A
iqs in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20
ide in A
ids in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Time in sec
 Project Demo (2)
Complex quantities in qd0
 run the dq0 in
 rotating frame ω=2ωe

20 20
ias in A

i0s in A
0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20
ωe 2ωe
iqs in A

iqe in A
0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20
ids in A

ide in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Time in sec
 Project Demo (2)
Complex quantities in qd0
 run the dq0 in
 rotating frame ω=5ωe

20 20

i0s in A
ias in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20
4ωe

iqe in A
iqs in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 ide in A 20
ids in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Time in sec
 Project Demo (2)
Complex quantities in qd0
 run the dq0 in
 rotating frame ω=ωe, θo=π/4

20 20
ias in A

i0s in A
0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20
iqs in A

iqe in A
0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20
ids in A

ide in A

0 0
+
-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Time in sec
 Project Demo (2)
Complex quantities in qd0
 run the dq0 in
 rotating frame ω=ωe, θo=-π/4

20 20
ias in A

i0s in A
0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20
iqs in A

iqe in A
0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
20 20

-
ids in A

ide in A

0 0

-20 -20
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Time in sec
Project. 5 qd0 Transformation
 Given a one-line diagram of a three-phase
system as shown below, sketch the input-
output relations between the qd0 component
 generator is represented by an equivalent voltage
source E behind a source inductance Lg
 since it is a three-wire system, no zero sequence
component. zero-sequence circuit is omitted