EE443

ENERGY Lecture 4

CONVERSION II
AC Machines
Stator
Machine Stator
• The stator windings are three phase AC
Rotor
• The rotor has a DC winding or Permanent magnets
Rotor of Synchronous AC Machines
Cylindrical Salient pole
Surface Mount Permanent Magnet Interior Permanent Magnet Synchronous
Synchronous Machine (SPMSM) Machine (iPMSM)

Permanent magnet PM

Wound Field WF

Synchronous Reluctance Machine (SynRM)

No excitation Not Possible

Permanent Magnet Synchronous Machines (PMSM)
Permanent Magnet Synchronous Machines (PMSM)
The rotating magnetic field
• If the stator currents are sinusoidal and balanced,

• A rotating magnetic field will be generated,

Poles
• The magnetic field in the previous slide has two-poles (North and South).

• In a four-pole motor that has two sets of three-phase windings, the magnetic field has two
north and two south poles in the air gap
Example: 8 Poles

𝜃𝜃𝑟𝑟𝑟𝑟
Equivalent 2-pole machine

𝜃𝜃𝑟𝑟𝑟𝑟

• The rotor position of the equivalent2-pole machine is defined as the rotor electrical position 𝜃𝜃𝑟𝑟𝑟𝑟 where,
𝑃𝑃
𝜃𝜃𝑟𝑟𝑟𝑟 = 𝜃𝜃𝑟𝑟𝑟𝑟
2
• The rotor speed of the equivalent 2-pole machine is defined as the electrical frequency.
𝑃𝑃
𝜔𝜔𝑟𝑟𝑟𝑟 = 𝜔𝜔𝑟𝑟𝑟𝑟
2
• In synchronous machines, 𝜔𝜔𝑟𝑟𝑟𝑟 is the frequency of the currents and voltages.
𝑃𝑃
• Moreover, the torque in 8-pole machines is times the torque in an equivalent 2-pole machine.
2
Example
• Find the electrical frequency in [Hz] for a four-pole generator spinning at 1500 rpm.

𝑃𝑃 4 1500
𝑓𝑓𝑒𝑒 = 𝑓𝑓𝑟𝑟𝑟𝑟 = 𝑓𝑓𝑚𝑚 = = 50 𝐻𝐻𝐻𝐻.
2 2 60
Starting of Synchronous Motors
• Synchronous motors cannot start from a fixed voltage, fixed frequency AC source. It needs:
1. Separate motor

2. Damper winding (start the synchronous motor as an induction motor).

3. Power electronics converter

Control of Synchronous Generators

• Synchronous generators driven by steam or • Synchronous generators in wind turbines

gas turbines can be controlled by: are usually require variable speed operation
and can controlled by using power
1. Controlling the steam valve
electronics converters.
2. Controlling the field current
Model of Synchronous Machines
Voltage equations Flux linkage equations
𝑑𝑑
𝑣𝑣𝑎𝑎𝑎𝑎 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑎𝑎𝑎𝑎 + 𝜆𝜆𝑎𝑎𝑎𝑎
𝑑𝑑𝑑𝑑 𝜆𝜆𝑎𝑎𝑎𝑎 = 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑎𝑎𝑎𝑎 + 𝐿𝐿𝑎𝑎𝑎𝑎𝑏𝑏𝑠𝑠 𝑖𝑖𝑏𝑏𝑠𝑠 + 𝐿𝐿𝑎𝑎𝑎𝑎𝑐𝑐𝑠𝑠 𝑖𝑖𝑐𝑐𝑠𝑠 + 𝐿𝐿𝑎𝑎𝑎𝑎𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑
𝑣𝑣𝑏𝑏𝑏𝑏 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑏𝑏𝑏𝑏 + 𝜆𝜆𝑏𝑏𝑏𝑏 𝜆𝜆𝑏𝑏𝑠𝑠 = 𝐿𝐿𝑏𝑏𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑎𝑎𝑎𝑎 + 𝐿𝐿𝑏𝑏𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑏𝑏𝑏𝑏 + 𝐿𝐿𝑏𝑏𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑐𝑐𝑐𝑐 + 𝐿𝐿𝑏𝑏𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑
𝑑𝑑
𝑣𝑣𝑐𝑐𝑐𝑐 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑐𝑐𝑐𝑐 + 𝜆𝜆𝑐𝑐𝑐𝑐 𝜆𝜆𝑐𝑐𝑠𝑠 = 𝐿𝐿𝑐𝑐𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑎𝑎𝑎𝑎 + 𝐿𝐿𝑐𝑐𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑏𝑏𝑏𝑏 + 𝐿𝐿𝑐𝑐𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑐𝑐𝑐𝑐 + 𝐿𝐿𝑐𝑐𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑
𝑑𝑑
𝑣𝑣𝑓𝑓𝑓𝑓 = 𝑟𝑟𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓 + 𝜆𝜆𝑓𝑓𝑓𝑓 𝜆𝜆𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑎𝑎𝑎𝑎 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑠𝑠 𝑖𝑖𝑏𝑏𝑠𝑠 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑠𝑠 𝑖𝑖𝑐𝑐𝑠𝑠 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑
Model in the matrix form
Voltage equations Flux linkage equations

𝑣𝑣𝑎𝑎𝑎𝑎 𝑖𝑖𝑎𝑎𝑎𝑎 𝜆𝜆 𝜆𝜆𝑎𝑎𝑎𝑎 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑎𝑎𝑎𝑎 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎

𝑑𝑑 𝑎𝑎𝑎𝑎
𝑣𝑣𝑏𝑏𝑏𝑏 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑏𝑏𝑏𝑏 + 𝜆𝜆𝑏𝑏𝑏𝑏 𝜆𝜆𝑏𝑏𝑏𝑏 = 𝐿𝐿𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 𝐿𝐿𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 𝐿𝐿𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 𝑖𝑖𝑏𝑏𝑏𝑏 + 𝐿𝐿𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 𝑖𝑖𝑓𝑓𝑓𝑓
𝑣𝑣𝑐𝑐𝑐𝑐 𝑖𝑖𝑐𝑐𝑐𝑐 𝑑𝑑𝑑𝑑 𝐿𝐿𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝐿𝐿𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝐿𝐿𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑖𝑖𝑐𝑐𝑐𝑐
𝜆𝜆𝑐𝑐𝑐𝑐 𝜆𝜆𝑐𝑐𝑐𝑐 𝐿𝐿𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐

𝑑𝑑
𝑣𝑣𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 + 𝜆𝜆𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝜆𝜆𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 + 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑟𝑟 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑

𝑑𝑑 𝑖𝑖𝑎𝑎𝑎𝑎
𝑣𝑣𝑓𝑓𝑓𝑓 = 𝑟𝑟𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓 + 𝜆𝜆𝑓𝑓𝑓𝑓 𝜆𝜆𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑓𝑓𝑓𝑓𝑎𝑎𝑎𝑎 𝐿𝐿𝑓𝑓𝑓𝑓𝑏𝑏𝑏𝑏 𝐿𝐿𝑓𝑓𝑓𝑓𝑐𝑐𝑐𝑐 𝑖𝑖𝑏𝑏𝑏𝑏 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑
𝑖𝑖𝑐𝑐𝑐𝑐

𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑇𝑇𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑟𝑟 𝑖𝑖𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓

Inductances
• inductances vary sinusoidally with respect to the rotor angle θr
Flux linkage
𝜆𝜆𝑎𝑎𝑎𝑎
𝜆𝜆𝑏𝑏𝑏𝑏 𝑖𝑖𝑓𝑓𝑓𝑓
𝜆𝜆𝑐𝑐𝑐𝑐

2𝜋𝜋 4𝜋𝜋 𝑖𝑖𝑎𝑎𝑎𝑎

𝜆𝜆𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑠𝑠𝑠𝑠 cos 𝜃𝜃𝑟𝑟 cos 𝜃𝜃𝑟𝑟 − cos 𝜃𝜃𝑟𝑟 − 𝑖𝑖𝑏𝑏𝑏𝑏 + 𝐿𝐿𝑙𝑙𝑙𝑙 + 𝐿𝐿𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓
3 3 𝑖𝑖𝑐𝑐𝑐𝑐

where,

𝑁𝑁𝑟𝑟
𝐿𝐿𝑠𝑠𝑠𝑠 = 𝐿𝐿 − 𝐿𝐿𝐵𝐵
𝑁𝑁𝑠𝑠 𝐴𝐴
𝑁𝑁𝑟𝑟2
𝐿𝐿𝑓𝑓 = 2 𝐿𝐿𝐴𝐴 − 𝐿𝐿𝐵𝐵
𝑁𝑁𝑠𝑠
Reference frame transformation (dqn)
• d-axis (direct axis)
The direction the d-axis is chosen as the direction of
the magnetic flux in the AC motor.

• q-axis (quadrature axis)

The direction of the q-axis is defined as the direction
90 ahead of the d-axis.

• n-axis (neutral or normal axis)

The direction of the n-axis, is defined as the direction
that is orthogonal to both the d- and q-axes.
Transformation
• abc to dqn Transformation

𝑣𝑣𝑑𝑑𝑠𝑠 𝜔𝜔 cos 𝜃𝜃 cos 𝜃𝜃 − 2𝜋𝜋⁄3 cos 𝜃𝜃 + 2𝜋𝜋⁄3 𝑣𝑣𝑎𝑎𝑠𝑠

2
𝑣𝑣𝑞𝑞𝑞𝑞 = −sin 𝜃𝜃 −sin 𝜃𝜃 − 2𝜋𝜋⁄3 −sin 𝜃𝜃 + 2𝜋𝜋⁄3 𝑣𝑣𝑏𝑏𝑠𝑠
𝑣𝑣𝑛𝑛𝑛𝑛 3 𝑣𝑣𝑐𝑐𝑠𝑠
1⁄ 2 1⁄ 2 1⁄ 2

𝜔𝜔
𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑇𝑇 𝜃𝜃 𝑣𝑣𝑎𝑎𝑎𝑎𝑎𝑎𝑠𝑠

• dqn to abc Transformation

𝑣𝑣𝑎𝑎𝑎𝑎 cos 𝜃𝜃 −sin 𝜃𝜃 1⁄ 2 𝑣𝑣𝑑𝑑𝑠𝑠 𝜔𝜔

𝑣𝑣𝑏𝑏𝑏𝑏 = c𝑜𝑜𝑜𝑜 𝜃𝜃 − 2𝜋𝜋⁄3 −sin 𝜃𝜃 − 2𝜋𝜋⁄3 1⁄ 2 𝑣𝑣𝑞𝑞𝑞𝑞
𝑣𝑣𝑐𝑐𝑐𝑐 𝑣𝑣
cos 𝜃𝜃 + 2𝜋𝜋⁄3 −sin 𝜃𝜃 + 2𝜋𝜋⁄3 1⁄ 2 𝑛𝑛𝑛𝑛

𝜔𝜔
𝑣𝑣𝑎𝑎𝑎𝑎𝑎𝑎𝑠𝑠 = 𝑇𝑇 −1 𝜃𝜃 𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
Transformation
• When transforming, the matrix can be multiplied by an arbitrarily coefficient k.

• In the transformation matrix 𝑇𝑇 𝜃𝜃 the coefficient k is chosen as 2/3.

• The magnitude of the dq variables is identical to the abc variables, (magnitude invariance transformation)

• the power and the torque evaluated in the dqn variables become 2/3 less than those evaluated in the abc
variables,

• when using the coefficient of 2⁄3 ,

• the power remains the same in the two reference frames, (power invariance transformation).

• However, the magnitude of the dq variables is not equal to the magnitude of the abc variables.
Types of dqn transformation
• Stationary reference frame 𝜃𝜃 = 0 known as Clarke transformation.

• Synchronous reference frame 𝜃𝜃 = 𝜃𝜃𝑒𝑒

rotates at the speed of the rotating magnetic field

• Rotor reference frame 𝜃𝜃 = 𝜃𝜃𝑟𝑟

rotates at the speed of the 2-pole equivalent rotor
Stationary reference frame
• Clarke Transformation
𝑣𝑣𝑑𝑑𝑠𝑠 𝑠𝑠 1 −1/2 −1/2 𝑣𝑣𝑎𝑎𝑠𝑠
2
𝑣𝑣𝑞𝑞𝑞𝑞 = 0 3⁄2 − 3⁄2 𝑣𝑣𝑏𝑏𝑠𝑠
𝑣𝑣𝑛𝑛𝑛𝑛 3 𝑣𝑣𝑐𝑐𝑠𝑠
1⁄ 2 1⁄ 2 1⁄ 2

𝑠𝑠
𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑇𝑇 0 𝑣𝑣𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎
• Inverse Clarke Transformation

𝑣𝑣𝑎𝑎𝑎𝑎 1 0 1⁄ 2 𝑣𝑣𝑑𝑑𝑠𝑠 𝑠𝑠
𝑣𝑣𝑏𝑏𝑏𝑏 = −1/2 3⁄2 1⁄ 2 𝑣𝑣𝑞𝑞𝑠𝑠
𝑣𝑣𝑐𝑐𝑐𝑐 𝑣𝑣𝑛𝑛𝑠𝑠
−1/2 − 3⁄2 1⁄ 2

𝑠𝑠
𝑣𝑣𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝑇𝑇 −1 0 𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
Transformation between reference frames
• Park Transformation
𝑣𝑣𝑑𝑑𝑠𝑠 𝜔𝜔
cos 𝜃𝜃 sin 𝜃𝜃 0 𝑣𝑣𝑑𝑑𝑠𝑠 𝑠𝑠
𝑣𝑣𝑞𝑞𝑞𝑞 = −sin 𝜃𝜃 cos 𝜃𝜃 0 𝑣𝑣𝑞𝑞𝑞𝑞
𝑣𝑣𝑛𝑛𝑛𝑛 0 0 1 𝑣𝑣𝑛𝑛𝑛𝑛

𝜔𝜔 𝑠𝑠
𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑅𝑅 𝜃𝜃 𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑

• Inverse Park Transformation

𝑣𝑣𝑑𝑑𝑠𝑠 𝑠𝑠
cos 𝜃𝜃 −sin 𝜃𝜃 0 𝑣𝑣𝑑𝑑𝑠𝑠 𝜔𝜔
𝑣𝑣𝑞𝑞𝑞𝑞 = sin 𝜃𝜃 cos 𝜃𝜃 0 𝑣𝑣𝑞𝑞𝑞𝑞
𝑣𝑣𝑛𝑛𝑛𝑛 0 0 1 𝑣𝑣𝑛𝑛𝑛𝑛

𝑠𝑠 𝜔𝜔
𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑅𝑅−1 𝜃𝜃 𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
Rotor reference frame
• abc to dqn Transformation

𝑣𝑣𝑑𝑑𝑠𝑠 cos 𝜃𝜃𝑟𝑟 cos 𝜃𝜃𝑟𝑟 − 2𝜋𝜋⁄3 cos 𝜃𝜃𝑟𝑟 + 2𝜋𝜋⁄3 𝑣𝑣𝑎𝑎𝑠𝑠
2
𝑣𝑣𝑞𝑞𝑞𝑞 = −sin 𝜃𝜃𝑟𝑟 −sin 𝜃𝜃𝑟𝑟 − 2𝜋𝜋⁄3 −sin 𝜃𝜃𝑟𝑟 + 2𝜋𝜋⁄3 𝑣𝑣𝑏𝑏𝑠𝑠
𝑣𝑣𝑛𝑛𝑛𝑛 3 𝑣𝑣𝑐𝑐𝑠𝑠
1⁄ 2 1⁄ 2 1⁄ 2

𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑇𝑇 𝜃𝜃𝑟𝑟 𝑣𝑣𝑎𝑎𝑎𝑎𝑎𝑎𝑠𝑠

• Note that,

𝑇𝑇 𝜃𝜃𝑟𝑟 ) = 𝑅𝑅(𝜃𝜃𝑟𝑟 𝑇𝑇(0)

Example
• For a given current magnitude 𝐼𝐼 and a phase shift angle in the current 𝜃𝜃𝑖𝑖 .
a) Find 𝑖𝑖𝑑𝑑𝑠𝑠 , 𝑖𝑖𝑞𝑞𝑠𝑠 𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑛𝑛𝑛𝑛 in the stationary reference frame and in the rotating reference frame if:

𝑖𝑖𝑎𝑎𝑠𝑠 = 𝐼𝐼 cos 𝜃𝜃𝑟𝑟𝑟𝑟 + 𝜃𝜃𝑖𝑖

𝑖𝑖𝑏𝑏𝑠𝑠 = 𝐼𝐼 cos 𝜃𝜃𝑟𝑟𝑟𝑟 + 𝜃𝜃𝑖𝑖 − 120𝑜𝑜
𝑖𝑖𝑐𝑐𝑠𝑠 = 𝐼𝐼 cos(𝜃𝜃𝑟𝑟𝑟𝑟 + 𝜃𝜃𝑖𝑖 + 120𝑜𝑜 )
a) Find 𝑖𝑖𝑑𝑑𝑑𝑑 , 𝑖𝑖𝑞𝑞𝑞𝑞 𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑛𝑛𝑛𝑛 if 𝐼𝐼 = 10 𝐴𝐴, 𝜃𝜃𝑖𝑖 = 30𝑜𝑜 and 𝜃𝜃𝑟𝑟𝑟𝑟 = 2𝜋𝜋𝜋𝜋 𝑡𝑡 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠
Solution
Transformation to a rotating reference frame
• Define
𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑇𝑇 𝜃𝜃 𝑣𝑣𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎
𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑇𝑇 𝜃𝜃 𝑖𝑖𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎
𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑇𝑇 𝜃𝜃 𝜆𝜆𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎

• The properties of the transformation

3 𝑇𝑇
𝑇𝑇 −1 𝜃𝜃 = 𝑇𝑇 𝜃𝜃
2
𝑑𝑑 −1 𝑑𝑑𝑑𝑑 Where
𝑇𝑇 𝜃𝜃 𝑇𝑇 𝜃𝜃 = ×= 𝜔𝜔 × 0 −1 0
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑑𝑑 ×= 1 0 0
𝑇𝑇 𝜃𝜃 𝑇𝑇 −1 𝜃𝜃 = −𝜔𝜔 × 0 0 0
𝑑𝑑𝑑𝑑
abc equations in the matrix form
Voltage equations Flux linkage equations

𝑣𝑣𝑎𝑎𝑎𝑎 𝑖𝑖𝑎𝑎𝑎𝑎 𝜆𝜆 𝜆𝜆𝑎𝑎𝑎𝑎 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑎𝑎𝑎𝑎 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎

𝑑𝑑 𝑎𝑎𝑎𝑎
𝑣𝑣𝑏𝑏𝑏𝑏 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑏𝑏𝑏𝑏 + 𝜆𝜆𝑏𝑏𝑏𝑏 𝜆𝜆𝑏𝑏𝑏𝑏 = 𝐿𝐿𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 𝐿𝐿𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 𝐿𝐿𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 𝑖𝑖𝑏𝑏𝑏𝑏 + 𝐿𝐿𝑏𝑏𝑏𝑏𝑏𝑏𝑏𝑏 𝑖𝑖𝑓𝑓𝑓𝑓
𝑣𝑣𝑐𝑐𝑐𝑐 𝑖𝑖𝑐𝑐𝑐𝑐 𝑑𝑑𝑑𝑑 𝐿𝐿𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝐿𝐿𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝐿𝐿𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑖𝑖𝑐𝑐𝑐𝑐
𝜆𝜆𝑐𝑐𝑐𝑐 𝜆𝜆𝑐𝑐𝑐𝑐 𝐿𝐿𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐

𝑑𝑑
𝑣𝑣𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 + 𝜆𝜆𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝜆𝜆𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 + 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑟𝑟 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑

𝑑𝑑 𝑖𝑖𝑎𝑎𝑎𝑎
𝑣𝑣𝑓𝑓𝑓𝑓 = 𝑟𝑟𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓 + 𝜆𝜆𝑓𝑓𝑓𝑓 𝜆𝜆𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑓𝑓𝑓𝑓𝑎𝑎𝑎𝑎 𝐿𝐿𝑓𝑓𝑓𝑓𝑏𝑏𝑏𝑏 𝐿𝐿𝑓𝑓𝑓𝑓𝑐𝑐𝑐𝑐 𝑖𝑖𝑏𝑏𝑏𝑏 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑
𝑖𝑖𝑐𝑐𝑐𝑐

𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑇𝑇𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑟𝑟 𝑖𝑖𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓

Transformation of stator voltages
• Since
𝑑𝑑
𝑣𝑣𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 + 𝜆𝜆𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎
𝑑𝑑𝑑𝑑
• Then
𝑑𝑑 −1
𝑇𝑇 𝜃𝜃 𝑣𝑣𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝑟𝑟𝑠𝑠 𝑇𝑇 𝜃𝜃 𝑖𝑖𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 + 𝑇𝑇 𝜃𝜃 (𝑇𝑇 𝜃𝜃 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 )
𝑑𝑑𝑑𝑑

−1
𝑑𝑑 𝑑𝑑 −1
𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝑇𝑇 𝜃𝜃 𝑇𝑇 𝜃𝜃 𝜆𝜆 + 𝑇𝑇 𝜃𝜃 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
−1
𝑑𝑑 𝑑𝑑 −1
𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝑇𝑇 𝜃𝜃 𝑇𝑇 𝜃𝜃 𝜆𝜆 + 𝑇𝑇 𝜃𝜃 𝑇𝑇 𝜃𝜃 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑑𝑑
𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝜔𝜔 × 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑
Transformation of stator flux linkages
• Since
𝜆𝜆𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 + 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑓𝑓𝑓𝑓
• Then
𝑇𝑇 𝜃𝜃 𝜆𝜆𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝑇𝑇 𝜃𝜃 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑇𝑇 −1 𝜃𝜃 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝑇𝑇 𝜃𝜃 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑖𝑖𝑓𝑓𝑓𝑓

• Define
𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑇𝑇 𝜃𝜃 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑇𝑇 −1 𝜃𝜃
𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑇𝑇 𝜃𝜃 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎
• Then
𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 =𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑖𝑖𝑓𝑓𝑓𝑓
• Or in the matrix form
𝜆𝜆𝑑𝑑𝑑𝑑 𝐿𝐿𝑑𝑑𝑠𝑠𝑑𝑑𝑠𝑠 𝐿𝐿𝑑𝑑𝑠𝑠𝑞𝑞𝑠𝑠 𝐿𝐿𝑑𝑑𝑠𝑠𝑛𝑛𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑 𝐿𝐿𝑑𝑑𝑠𝑠𝑠𝑠𝑠𝑠
𝜆𝜆𝑞𝑞𝑞𝑞 = 𝐿𝐿𝑞𝑞𝑠𝑠𝑑𝑑𝑠𝑠 𝐿𝐿𝑞𝑞𝑠𝑠𝑞𝑞𝑠𝑠 𝐿𝐿𝑞𝑞𝑠𝑠𝑛𝑛𝑠𝑠 𝑖𝑖𝑞𝑞𝑞𝑞 + 𝐿𝐿𝑞𝑞𝑠𝑠𝑠𝑠𝑠𝑠 𝑖𝑖𝑓𝑓𝑓𝑓
𝜆𝜆𝑛𝑛𝑛𝑛 𝐿𝐿𝑛𝑛𝑠𝑠𝑑𝑑𝑠𝑠 𝐿𝐿𝑛𝑛𝑠𝑠𝑞𝑞𝑠𝑠 𝐿𝐿𝑛𝑛𝑠𝑠𝑛𝑛𝑠𝑠 𝑖𝑖𝑛𝑛𝑛𝑛 𝐿𝐿𝑛𝑛𝑠𝑠𝑠𝑠𝑠𝑠
Transformation of rotor flux linkages
• Since
𝜆𝜆𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑇𝑇𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑟𝑟 𝑖𝑖𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓
• Then
𝜆𝜆𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑇𝑇𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑇𝑇 −1 𝜃𝜃 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓

• Note that
3 𝑇𝑇 3 3 𝑇𝑇
𝐿𝐿𝑇𝑇𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑇𝑇 −1 𝜃𝜃 = 𝐿𝐿𝑇𝑇𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑇𝑇 𝜃𝜃 = 𝑇𝑇 𝜃𝜃 𝐿𝐿𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑇𝑇
= 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
2 2 2
• Then
3 𝑇𝑇
𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓
2
• Or in the matrix form
𝑖𝑖𝑑𝑑𝑑𝑑
3
𝜆𝜆𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑠𝑠 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑠𝑠 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑠𝑠 𝑖𝑖𝑞𝑞𝑞𝑞 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓
2
𝑖𝑖𝑛𝑛𝑛𝑛
dqn equations in the matrix form
Voltage equations Flux linkage equations

𝑣𝑣𝑑𝑑𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 𝜆𝜆 0 −𝜔𝜔 0 𝜆𝜆𝑑𝑑𝑑𝑑 𝜆𝜆𝑑𝑑𝑑𝑑 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑖𝑖𝑑𝑑𝑑𝑑 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
𝑑𝑑 𝑑𝑑𝑑𝑑
𝑣𝑣𝑞𝑞𝑠𝑠 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝜆𝜆𝑞𝑞𝑞𝑞 + 𝜔𝜔 0 0 𝜆𝜆𝑞𝑞𝑞𝑞 𝜆𝜆𝑞𝑞𝑞𝑞 = 𝐿𝐿𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 𝐿𝐿𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 𝐿𝐿𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 𝑖𝑖𝑞𝑞𝑞𝑞 + 𝐿𝐿𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 𝑖𝑖𝑓𝑓𝑓𝑓
𝑣𝑣𝑛𝑛𝑠𝑠 𝑑𝑑𝑑𝑑
𝑖𝑖𝑛𝑛𝑠𝑠 𝜆𝜆𝑛𝑛𝑛𝑛 0 0 0 𝜆𝜆𝑛𝑛𝑛𝑛 𝜆𝜆𝑛𝑛𝑛𝑛 𝐿𝐿𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 𝐿𝐿𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 𝐿𝐿𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 𝑖𝑖𝑛𝑛𝑛𝑛 𝐿𝐿𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛

𝑑𝑑
𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝜔𝜔 × 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑠𝑠 = 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑠𝑠 + 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑠𝑠𝑟𝑟 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑

𝑑𝑑 𝑖𝑖𝑑𝑑𝑠𝑠
𝑣𝑣𝑓𝑓𝑓𝑓 = 𝑟𝑟𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓 + 𝜆𝜆𝑓𝑓𝑓𝑓 𝜆𝜆𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑠𝑠 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑠𝑠 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑
𝑖𝑖𝑛𝑛𝑠𝑠
MATLAB code to evaluate the inductances
syms Lls LA LB Lsf Llr Lf thr Nr Ns

Labcs = [Lls+LA-LB*cos(2*thr), -1/2*LA-LB*cos(2*thr-2*pi/3), -1/2*LA-LB*cos(2*thr+2*pi/3);...

-1/2*LA-LB*cos(2*thr-2*pi/3), Lls+LA-LB*cos(2*thr+2*pi/3) , -1/2*LA-LB*cos(2*thr);...
-1/2*LA-LB*cos(2*thr+2*pi/3), -1/2*LA-LB*cos(2*thr), Lls+LA-LB*cos(2*thr-2*pi/3)];
Lsf = Nr/Ns*(LA-LB);
Labcsr = Lsf*[cos(thr);cos(thr-2*pi/3);cos(thr+2*pi/3)];

T = 2/3*[ cos(thr), cos(thr-2*pi/3), cos(thr+2*pi/3);...

-sin(thr), -sin(thr-2*pi/3), -sin(thr+2*pi/3);...
1/sqrt(2), 1/sqrt(2), 1/sqrt(2)];

Ldqns = simplify(T*Labcs/T)
Ldqnsr = simplify(T*Labcsr)
Define
3
• 𝐿𝐿𝑚𝑚𝑚𝑚 = 𝐿𝐿𝐴𝐴 − 𝐿𝐿𝐵𝐵
2
3
• 𝐿𝐿𝑚𝑚𝑚𝑚 = 𝐿𝐿𝐴𝐴 + 𝐿𝐿𝐵𝐵
2
dqn equations in the matrix form
Voltage equations Flux linkage equations

𝑣𝑣𝑑𝑑𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 𝜆𝜆 0 −𝜔𝜔 0 𝜆𝜆𝑑𝑑𝑑𝑑 2 𝑁𝑁𝑟𝑟

𝑑𝑑 𝑑𝑑𝑑𝑑 𝜆𝜆𝑑𝑑𝑑𝑑 𝐿𝐿𝑙𝑙𝑙𝑙 + 𝐿𝐿𝑚𝑚𝑚𝑚 0 0 𝑖𝑖𝑑𝑑𝑑𝑑 𝐿𝐿𝑚𝑚𝑚𝑚
𝑣𝑣𝑞𝑞𝑠𝑠 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝜆𝜆𝑞𝑞𝑞𝑞 + 𝜔𝜔 0 0 𝜆𝜆𝑞𝑞𝑞𝑞 𝜆𝜆𝑞𝑞𝑞𝑞 = 0 𝐿𝐿𝑙𝑙𝑙𝑙 + 𝐿𝐿𝑚𝑚𝑚𝑚 0 𝑖𝑖𝑞𝑞𝑞𝑞 + 3 𝑁𝑁
𝑑𝑑𝑑𝑑 𝑠𝑠 𝑖𝑖𝑓𝑓𝑓𝑓
𝑣𝑣𝑛𝑛𝑠𝑠 𝑖𝑖𝑛𝑛𝑠𝑠 𝜆𝜆𝑛𝑛𝑛𝑛 0 0 0 𝜆𝜆𝑛𝑛𝑛𝑛 0
𝜆𝜆𝑛𝑛𝑛𝑛 0 0 𝐿𝐿𝑙𝑙𝑙𝑙 𝑖𝑖𝑛𝑛𝑛𝑛
0
𝑑𝑑
𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝜔𝜔 × 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑖𝑖𝑓𝑓𝑓𝑓

𝑑𝑑
𝑣𝑣𝑓𝑓𝑓𝑓 = 𝑟𝑟𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓 + 𝜆𝜆 𝑖𝑖𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑 𝑓𝑓𝑓𝑓 3 2 𝑁𝑁𝑟𝑟 2 𝑁𝑁𝑟𝑟2
𝜆𝜆𝑓𝑓𝑓𝑓 = 𝐿𝐿 0 0 𝑖𝑖𝑞𝑞𝑞𝑞 + 𝐿𝐿𝑙𝑙𝑙𝑙 + 𝐿𝐿 𝑖𝑖
2 3 𝑁𝑁𝑠𝑠 𝑚𝑚𝑚𝑚 3 𝑁𝑁𝑠𝑠2 𝑚𝑚𝑚𝑚 𝑓𝑓𝑓𝑓
𝑖𝑖𝑛𝑛𝑛𝑛
3
𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑇𝑇𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓
2
Define
′ 2 𝑁𝑁𝑟𝑟
𝑖𝑖𝑓𝑓𝑓𝑓 = 𝑖𝑖
3 𝑁𝑁𝑠𝑠 𝑓𝑓𝑓𝑓

′ 𝑁𝑁𝑠𝑠
𝜆𝜆𝑓𝑓𝑓𝑓 = 𝜆𝜆
𝑁𝑁𝑟𝑟 𝑓𝑓𝑓𝑓

′ 𝑁𝑁𝑠𝑠
𝑣𝑣𝑓𝑓𝑓𝑓 = 𝑣𝑣
𝑁𝑁𝑟𝑟 𝑓𝑓𝑓𝑓

′ 𝑁𝑁𝑠𝑠2
𝑟𝑟𝑓𝑓𝑓𝑓 = 2 𝑟𝑟𝑓𝑓𝑓𝑓
𝑁𝑁𝑟𝑟

′ 𝑁𝑁𝑠𝑠2
𝐿𝐿𝑓𝑓𝑓𝑓 = 2 𝐿𝐿𝑓𝑓𝑓𝑓
𝑁𝑁𝑟𝑟
dqn equations in the matrix form
Voltage equations Flux linkage equations

𝑣𝑣𝑑𝑑𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 𝜆𝜆 0 −𝜔𝜔 0 𝜆𝜆𝑑𝑑𝑑𝑑 𝜆𝜆𝑑𝑑𝑑𝑑 𝐿𝐿𝑙𝑙𝑙𝑙 + 𝐿𝐿𝑚𝑚𝑚𝑚 0 0 𝑖𝑖𝑑𝑑𝑑𝑑 𝐿𝐿𝑚𝑚𝑚𝑚

𝑑𝑑 𝑑𝑑𝑑𝑑
𝑣𝑣𝑞𝑞𝑠𝑠 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝜆𝜆𝑞𝑞𝑞𝑞 + 𝜔𝜔 0 0 𝜆𝜆𝑞𝑞𝑞𝑞 𝜆𝜆𝑞𝑞𝑞𝑞 = 0 𝐿𝐿𝑙𝑙𝑙𝑙 + 𝐿𝐿𝑚𝑚𝑚𝑚 0 ′
𝑖𝑖𝑞𝑞𝑞𝑞 + 0 𝑖𝑖𝑓𝑓𝑓𝑓
𝑣𝑣𝑛𝑛𝑠𝑠 𝑑𝑑𝑑𝑑
𝑖𝑖𝑛𝑛𝑠𝑠 𝜆𝜆𝑛𝑛𝑛𝑛 0 0 0 𝜆𝜆𝑛𝑛𝑛𝑛 𝜆𝜆𝑛𝑛𝑛𝑛 0 0 𝐿𝐿𝑙𝑙𝑙𝑙 𝑖𝑖𝑛𝑛𝑛𝑛 0

𝑑𝑑
𝑣𝑣𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝜆𝜆 + 𝜔𝜔 × 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝐿𝐿𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑

′ ′ ′ 𝑑𝑑 ′ 𝑖𝑖𝑑𝑑𝑑𝑑
𝑣𝑣𝑓𝑓𝑓𝑓 = 𝑟𝑟𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓 + 𝜆𝜆𝑓𝑓𝑓𝑓 ′
𝜆𝜆𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑚𝑚𝑚𝑚 0 ′
0 𝑖𝑖𝑞𝑞𝑞𝑞 + 𝐿𝐿′𝑙𝑙𝑙𝑙 + 𝐿𝐿𝑚𝑚𝑚𝑚 𝑖𝑖𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑
𝑖𝑖𝑛𝑛𝑛𝑛

𝜆𝜆𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑇𝑇𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑖𝑖𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝐿𝐿′𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓

′
Define
The d-axis inductance
𝐿𝐿𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑙𝑙𝑙𝑙 + 𝐿𝐿𝑚𝑚𝑚𝑚

The q-axis inductance

𝐿𝐿𝑞𝑞𝑞𝑞 = 𝐿𝐿𝑙𝑙𝑙𝑙 + 𝐿𝐿𝑚𝑚𝑚𝑚

The field inductance

′
𝐿𝐿𝑓𝑓𝑓𝑓 = 𝐿𝐿′𝑙𝑙𝑙𝑙 + 𝐿𝐿𝑚𝑚𝑚𝑚

The rotor flux linking the stator

′
𝜆𝜆𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑚𝑚𝑚𝑚 𝑖𝑖𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑠𝑠𝑠𝑠 𝑖𝑖𝑓𝑓𝑓𝑓
dqn equations in the scalar form
Voltage equations Flux linkage equations
𝑑𝑑
𝑣𝑣𝑑𝑑𝑠𝑠 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑 + 𝜆𝜆𝑑𝑑𝑑𝑑 − 𝜔𝜔𝑟𝑟𝑟𝑟 𝜆𝜆𝑞𝑞𝑞𝑞
𝑑𝑑𝑑𝑑
𝜆𝜆𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑑𝑑𝑑𝑑 𝑖𝑖𝑑𝑑𝑑𝑑 + 𝜆𝜆𝑑𝑑𝑑𝑑
𝑑𝑑
𝑣𝑣𝑞𝑞𝑠𝑠 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝜆𝜆𝑞𝑞𝑞𝑞 + 𝜔𝜔𝑟𝑟𝑟𝑟 𝜆𝜆𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑 𝜆𝜆𝑞𝑞𝑞𝑞 = 𝐿𝐿𝑞𝑞𝑞𝑞 𝑖𝑖𝑞𝑞𝑞𝑞

𝑑𝑑
𝑣𝑣𝑛𝑛𝑠𝑠 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑛𝑛𝑠𝑠 + 𝜆𝜆𝑛𝑛𝑛𝑛 𝜆𝜆𝑛𝑛𝑛𝑛 = 𝐿𝐿𝑙𝑙𝑙𝑙 𝑖𝑖𝑛𝑛𝑛𝑛
𝑑𝑑𝑑𝑑

′
′ ′ ′ 𝑑𝑑 ′ 𝜆𝜆𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑚𝑚𝑚𝑚 𝑖𝑖𝑑𝑑𝑑𝑑 + 𝐿𝐿′𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓
′
𝑣𝑣𝑓𝑓𝑓𝑓 = 𝑟𝑟𝑓𝑓𝑓𝑓 𝑖𝑖𝑓𝑓𝑓𝑓 + 𝜆𝜆𝑓𝑓𝑓𝑓
𝑑𝑑𝑑𝑑
dqn equations in the scalar form
Assume 𝜆𝜆𝑑𝑑𝑑𝑑 is constant Comapring to the symbols we used for DC Machines

Electric Model
𝐾𝐾 = 𝜆𝜆𝑑𝑑𝑑𝑑
𝑑𝑑
𝑣𝑣𝑑𝑑𝑠𝑠 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑 + 𝐿𝐿𝑑𝑑𝑑𝑑 𝑖𝑖𝑑𝑑𝑑𝑑 − 𝜔𝜔𝑟𝑟𝑟𝑟 𝐿𝐿𝑞𝑞𝑞𝑞 𝑖𝑖𝑞𝑞𝑞𝑞 𝑘𝑘 ′ = 𝐿𝐿𝑠𝑠𝑠𝑠
𝑑𝑑𝑑𝑑

𝑑𝑑
𝑣𝑣𝑞𝑞𝑠𝑠 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝐿𝐿𝑞𝑞𝑞𝑞 𝑖𝑖 + 𝜔𝜔𝑟𝑟𝑟𝑟 𝐿𝐿𝑑𝑑𝑑𝑑 𝑖𝑖𝑑𝑑𝑑𝑑 + 𝑒𝑒𝑞𝑞
𝑑𝑑𝑑𝑑 𝑞𝑞𝑞𝑞

EMF
𝑒𝑒𝑞𝑞 = 𝜔𝜔𝑟𝑟𝑟𝑟 𝜆𝜆𝑑𝑑𝑑𝑑

For wound field machines

𝜆𝜆𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑠𝑠𝑠𝑠 𝑖𝑖𝑓𝑓𝑓𝑓
For PM machines
𝜆𝜆𝑑𝑑𝑑𝑑 is constant
Example
• A three-phase two-pole generator is open circuited. The peak flux density B of the rotor is
0.2T and the mechanical speed is fixed at 3600 rpm. The diameter of the stator (coil width) is
0.5 m and the coil length is 0.3 m. If each coil has 15 turns and the coils are Y-connected, Find:

a) The phase voltage as a function of time.

b) The rms of the phase voltage.

c) The line voltage of the generator.

Solution
a)

𝑉𝑉
𝜆𝜆𝑑𝑑𝑑𝑑 = 𝑁𝑁Φ = 𝑁𝑁 𝐴𝐴 𝐵𝐵 = 15 × 0.5 × 0.3 × 0.2 = 0.45
𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠

2 3600
𝜔𝜔𝑟𝑟𝑟𝑟 = 𝜔𝜔𝑟𝑟𝑟𝑟 = 2𝜋𝜋 = 120𝜋𝜋 = 377 𝑟𝑟𝑟𝑟𝑟𝑟⁄𝑠𝑠
2 60
𝜃𝜃𝑟𝑟𝑟𝑟 = 𝜔𝜔𝑟𝑟𝑟𝑟 𝑡𝑡 = 377 𝑡𝑡 𝑟𝑟𝑟𝑟𝑟𝑟
• Since the machine is open circuited,
𝑣𝑣𝑑𝑑 = 0
𝑣𝑣𝑞𝑞 = 𝜔𝜔𝑟𝑟𝑟𝑟 𝜆𝜆𝑑𝑑𝑑𝑑 = 169.64 𝑉𝑉
• Using the inverse transformation,
𝑣𝑣𝑎𝑎 = −𝜔𝜔𝑟𝑟𝑟𝑟 𝜆𝜆𝑝𝑝𝑝𝑝 sin 𝜃𝜃𝑟𝑟𝑟𝑟 = −169.64 sin 377 𝑡𝑡 𝑉𝑉
𝑣𝑣𝑏𝑏 = −169.64 sin 377 𝑡𝑡 − 120𝑜𝑜 𝑉𝑉
𝑣𝑣𝑐𝑐 = −169.64 sin 377 𝑡𝑡 + 120𝑜𝑜 𝑉𝑉
Solution
b)

𝑉𝑉𝑚𝑚 𝜔𝜔𝑟𝑟 𝜆𝜆𝑑𝑑𝑑𝑑

𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 = = = 120𝑉𝑉
2 2

c)
𝑉𝑉𝐿𝐿 = 3𝑉𝑉𝜙𝜙 = 208 𝑉𝑉
Power Equation
• Electric Power:
𝑝𝑝𝑒𝑒 = 𝑣𝑣𝑎𝑎𝑠𝑠 𝑖𝑖𝑎𝑎𝑠𝑠 + 𝑣𝑣𝑏𝑏𝑠𝑠 𝑖𝑖𝑏𝑏𝑠𝑠 + 𝑣𝑣𝑐𝑐𝑠𝑠 𝑖𝑖𝑐𝑐𝑠𝑠
• Using transformation,

3
𝑝𝑝𝑒𝑒 = 𝑣𝑣𝑑𝑑𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 + 𝑣𝑣𝑞𝑞𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠
2
• Using the machine model,

3 𝑑𝑑 𝑑𝑑
𝑝𝑝𝑒𝑒 = 𝑖𝑖𝑑𝑑𝑠𝑠 𝑟𝑟𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 + 𝐿𝐿𝑑𝑑𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 − 𝜔𝜔𝑟𝑟𝑟𝑟 𝐿𝐿𝑞𝑞𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝑖𝑖𝑞𝑞𝑠𝑠 𝑟𝑟𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝐿𝐿𝑞𝑞𝑠𝑠 𝑖𝑖 + 𝜔𝜔𝑟𝑟𝑟𝑟 𝐿𝐿𝑑𝑑𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 + 𝜔𝜔𝑟𝑟𝑟𝑟 𝜆𝜆𝑑𝑑𝑑𝑑
2 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑞𝑞𝑠𝑠
• Or

3 2 2
𝑑𝑑 𝑑𝑑
𝑝𝑝𝑒𝑒 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 + 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝐿𝐿𝑑𝑑𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 + 𝐿𝐿𝑞𝑞𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝜔𝜔𝑟𝑟𝑟𝑟 𝜆𝜆𝑑𝑑𝑑𝑑 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝐿𝐿𝑑𝑑𝑠𝑠 − 𝐿𝐿𝑞𝑞𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠
2 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
• Then mechanical power is only the last term,

3
𝑝𝑝𝑚𝑚 = 𝜔𝜔𝑟𝑟𝑟𝑟 𝜆𝜆𝑑𝑑𝑑𝑑 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝐿𝐿𝑑𝑑𝑠𝑠 − 𝐿𝐿𝑞𝑞𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠
2
Torque Equation
• The torque is,

3
𝑝𝑝𝑚𝑚 𝜔𝜔𝑟𝑟𝑟𝑟 𝜆𝜆𝑑𝑑𝑑𝑑 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝐿𝐿𝑑𝑑𝑠𝑠 − 𝐿𝐿𝑞𝑞𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠
𝑇𝑇𝑒𝑒 = = 2
𝜔𝜔𝑟𝑟𝑟𝑟 2
𝑃𝑃 𝜔𝜔𝑟𝑟𝑟𝑟
• Or

3 𝑃𝑃
𝑇𝑇𝑒𝑒 = 𝜆𝜆 𝑖𝑖 + 𝐿𝐿𝑑𝑑𝑠𝑠 − 𝐿𝐿𝑞𝑞𝑠𝑠 𝑖𝑖𝑑𝑑𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠
2 2 𝑑𝑑𝑑𝑑 𝑞𝑞𝑠𝑠

Magnet torque Reluctance torque

Special Case: Cylindrical Rotor
• Since the air gap is uniform
𝐿𝐿𝐵𝐵 = 0

Then
𝐿𝐿𝑑𝑑𝑑𝑑 = 𝐿𝐿𝑞𝑞𝑞𝑞 = 𝐿𝐿𝑠𝑠

The mode becomes

𝑑𝑑
𝑣𝑣𝑑𝑑𝑠𝑠 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑 + 𝐿𝐿𝑠𝑠 𝑖𝑖 − 𝜔𝜔𝑟𝑟𝑟𝑟 𝐿𝐿𝑠𝑠 𝑖𝑖𝑞𝑞𝑞𝑞
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑑𝑑
𝑣𝑣𝑞𝑞𝑠𝑠 = 𝑟𝑟𝑠𝑠 𝑖𝑖𝑞𝑞𝑠𝑠 + 𝐿𝐿𝑠𝑠 𝑖𝑖 + 𝜔𝜔𝑟𝑟𝑟𝑟 𝐿𝐿𝑠𝑠 𝑖𝑖𝑑𝑑𝑑𝑑 + 𝑒𝑒𝑞𝑞
𝑑𝑑𝑑𝑑 𝑞𝑞𝑞𝑞
𝑒𝑒𝑞𝑞 = 𝜔𝜔𝑟𝑟𝑟𝑟 𝜆𝜆𝑑𝑑𝑑𝑑

3 𝑃𝑃
𝑇𝑇𝑒𝑒 = 𝜆𝜆 𝑖𝑖
2 2 𝑑𝑑𝑑𝑑 𝑞𝑞𝑠𝑠
 Summary
• Electric Model
𝒗𝒗𝒅𝒅𝒔𝒔 𝒊𝒊𝒅𝒅𝒔𝒔 𝑳𝑳𝒅𝒅𝒔𝒔 𝟎𝟎 𝒅𝒅 𝒊𝒊𝒅𝒅𝒔𝒔 𝟎𝟎 −𝑳𝑳𝒒𝒒𝒔𝒔 𝒊𝒊𝒅𝒅𝒔𝒔 𝟎𝟎
𝒗𝒗𝒒𝒒𝒔𝒔 = 𝒓𝒓𝒔𝒔 𝒊𝒊𝒒𝒒𝒔𝒔 + 𝟎𝟎 𝑳𝑳𝒒𝒒𝒔𝒔 𝒅𝒅𝒅𝒅 𝒊𝒊𝒒𝒒𝒔𝒔 + 𝝎𝝎𝒓𝒓𝒓𝒓 𝑳𝑳𝒅𝒅𝒔𝒔 𝟎𝟎 𝒊𝒊𝒒𝒒𝒔𝒔 +
𝝀𝝀𝒅𝒅𝒅𝒅 𝝎𝝎𝒓𝒓𝒓𝒓
• Torque equation,
𝟑𝟑 𝑷𝑷
𝑻𝑻𝒆𝒆 = 𝝀𝝀 𝒊𝒊 + 𝑳𝑳𝒅𝒅𝒔𝒔 − 𝑳𝑳𝒒𝒒𝒔𝒔 𝒊𝒊𝒅𝒅𝒔𝒔 𝒊𝒊𝒒𝒒𝒔𝒔
𝟐𝟐 𝟐𝟐 𝒅𝒅𝒅𝒅 𝒒𝒒𝒔𝒔
• Mechanical Model,
𝒅𝒅𝝎𝝎𝒎𝒎
𝑱𝑱 + 𝑩𝑩𝝎𝝎𝒎𝒎 = 𝑻𝑻𝒆𝒆 + 𝑻𝑻𝑳𝑳
𝒅𝒅𝒅𝒅
• The electrical frequency 𝜔𝜔𝑒𝑒 is related to the mechanical speed 𝜔𝜔𝑟𝑟𝑟𝑟 as,
𝑷𝑷
𝝎𝝎𝒆𝒆 = 𝝎𝝎𝒓𝒓𝒓𝒓 = 𝝎𝝎𝒎𝒎
𝟐𝟐
• The rotor could be,
Permanent magnet Wound Field No excitation
Cylindrical rotor Salient pole rotor Reluctance Machine
𝑳𝑳𝒅𝒅𝒔𝒔 = 𝑳𝑳𝒒𝒒𝒔𝒔 = 𝑳𝑳𝒔𝒔 𝑳𝑳𝒅𝒅s ≠ 𝑳𝑳𝒒𝒒s 𝝀𝝀𝒅𝒅𝒅𝒅 = 𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄 𝝀𝝀𝒅𝒅𝒅𝒅 = 𝑳𝑳𝒔𝒔𝑓𝑓 𝒊𝒊𝒇𝒇r 𝝀𝝀𝒅𝒅𝒅𝒅 = 𝟎𝟎
Rotor of Synchronous AC Machines
Cylindrical Salient pole
𝑳𝑳𝒅𝒅𝒔𝒔 = 𝑳𝑳𝒒𝒒𝒔𝒔 = 𝑳𝑳𝒔𝒔 𝑳𝑳𝒅𝒅s ≠ 𝑳𝑳𝒒𝒒s
Surface Mount Permanent Magnet Interior Permanent Magnet Synchronous
Synchronous Machine (SPMSM) Machine (iPMSM)
Permanent magnet PM
𝝀𝝀𝒅𝒅𝒅𝒅 = 𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄

Wound Field WF
𝝀𝝀𝒅𝒅𝒅𝒅 = 𝑳𝑳𝒔𝒔𝑓𝑓 𝒊𝒊𝒇𝒇r

Synchronous Reluctance Machine (SynRM)

No excitation
Not Possible
𝝀𝝀𝒅𝒅𝒅𝒅 = 𝟎𝟎
Example
• A four-pole Surface Mount PM (SPMSM) motor which has a cylindrical rotor has the following
parameters:
𝑟𝑟𝑠𝑠 = 1.1 Ω 𝐿𝐿𝑑𝑑𝑠𝑠 = 𝐿𝐿𝑞𝑞𝑠𝑠 = 4.1 𝑚𝑚𝑚𝑚 𝑉𝑉𝑜𝑜𝑜𝑜 𝑙𝑙−𝑙𝑙 = 40.7 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 𝑎𝑎𝑎𝑎 1000 𝑟𝑟𝑟𝑟𝑟𝑟
• If the rated current if 3 Arms, find:
a)The maximum torque at the rated current.
b)The three-phase current,
Solution
a) To find the flux linkage 𝜆𝜆𝑑𝑑𝑑𝑑 ,

𝑉𝑉𝑜𝑜𝑜𝑜(𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝)(𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝) 40.7 × 2/ 3
𝜆𝜆𝑑𝑑𝑑𝑑 = = = 0.1587 𝑉𝑉. 𝑠𝑠
𝜔𝜔𝑟𝑟𝑟𝑟 4 1000
2 × 2𝜋𝜋 60
• The magnitude of the current is,

𝐼𝐼 = 3 2 𝐴𝐴

• Since 𝐿𝐿𝑑𝑑𝑠𝑠 = 𝐿𝐿𝑞𝑞𝑠𝑠 ,

3 𝑃𝑃
𝑇𝑇𝑒𝑒 = 𝜆𝜆 𝑖𝑖
2 2 𝑑𝑑𝑑𝑑 𝑞𝑞𝑠𝑠
• Then we can set 𝑖𝑖𝑑𝑑𝑠𝑠 = 0 and 𝑖𝑖𝑞𝑞𝑠𝑠 = 𝐼𝐼,

34
𝑇𝑇𝑒𝑒 = 0.1585 3 2 = 2.02 𝑁𝑁. 𝑚𝑚
22

b) Using the inverse transformation,

𝑖𝑖𝑎𝑎𝑠𝑠 = 3 2 cos 𝜃𝜃𝑟𝑟𝑟𝑟 + 90𝑜𝑜 𝐴𝐴
𝑖𝑖𝑏𝑏𝑠𝑠 = 3 2 cos 𝜃𝜃𝑟𝑟𝑟𝑟 − 30𝑜𝑜 𝐴𝐴
𝑖𝑖𝑐𝑐𝑠𝑠 = 3 2 cos 𝜃𝜃𝑟𝑟𝑟𝑟 + 210𝑜𝑜 𝐴𝐴
Cylindrical rotor synchronous machine at steady state
𝜔𝜔𝑟𝑟𝑟𝑟 𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓 𝜔𝜔𝑟𝑟𝑟𝑟 𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓
Example
• A 60Hz, Y-connected wound-field synchronous motor is observed to have a terminal
voltage of 460V (line-line) and a terminal current of 120A at a power factor of 0.95
lagging. The field-current under this operating condition is 47 A. The synchronous
reactance is equal to 1.68 Ω. Assume the armature resistance to be negligible. Calculate
(a) The generated voltage E in volts.
(b) The magnitude of the stator-to-rotor mutual inductance Laf.
(c) The electrical power input to the motor in kW.
(d) If the Pin and V remain constant calculate the required back-EMF to achieve unity
power factor.
(e) The field current required for unity power factor.
Solution