a-axis". This type of Park transformation is also known as the “sine-based Park transformation”.

The ⍺
ntation relative to the abc frame is the same for both, the difference between the two is the orientation of
SUMMARY
eference frame: relative
abc-⍺ß-dq frames
to the abc system. Inusing thethed-axis
both cases q-axis isaligned with clockwise
at + 90º counter the a-axisrelative
d axis and (remember the analysis of these reference frames assumes a counter-clockwise rotating vecto
difference between the two approaches is the transformation between ⍺ß & dq frames: this also affects
t transformation between the abc & the dq frames.
“Cosine-based Park transformation”
bc-⍺ß-dq FRAMES USING THE D-AXIS ALIGNED WITH THE A-AXIS

vß vq
vb

va v⍺ vd

vc

(a) abc (b) ⍺-ß (c) dq

Fig. 9.8. abc-⍺ß-dq frames using the d-axis aligned with the a-axis
Clarkes transformations
1 0
1 − 12 − 12 va va
[vβ]
2 − 1 3 vα
= vb and the inverse is vb = 2 2
3 0
3
−
3
vc vc 3
 va v⍺ vd
SUMMARY: abc-⍺ß-dq frames using the d-axis aligned with the a-axis
vc

“Cosine-based Park transformation”

Pag
(a) abc (b) ⍺-ß (c) dq
Fig. 9.8. abc-⍺ß-dq frames using the d-axis aligned with the a-axis 9.4. REFERENCE FRAME SUMMARY
The ⍺ß-dq reference frames relative to the 3-phase abc can be considered in terms of that used in 3-pha

(1) Clarkes transformations electrical systems commonly associated with 3-phase converters/inverters and rectifiers where the “d-axis
aligned with the a-axis” where q is at +90º counter clockwise relative to the d axis. This type of Pa

1 0
transformation is also known as the “cosine-based Park transformation”. In machine analysis and control,
q-axis is used to define the torque current and the d-axis for the flux current, here, the “q-axis is aligned w

1 − 12 − 12 va va the a-axis". This type of Park transformation is also known as the “sine-based Park transformation”. The ⍺

[vβ] 3 [vβ]
vα 2 1 3 vα orientation relative to the abc frame is the same for both, the difference between the two is the orientation of

vb and the inverse is vb = − 2

dq reference frame relative to the abc system. In both cases the q-axis is at + 90º counter clockwise relative
= 2 the d axis and (remember the analysis of these reference frames assumes a counter-clockwise rotating vecto
3 3 The difference between the two approaches is the transformation between ⍺ß & dq frames: this also affects
0 − vc vc 3
direct transformation between the abc & the dq frames.
2 2 − 12 −
(a) abc-⍺ß-dq F
2
RAMES USING THE D-AXIS ALIGNED WITH THE A-AXIS

(2) Cosine based Parks transformations vß vq

vb

[vq] [−sin ωet cos ωet] [vβ] [vβ] [ sin ωet cos ωet ] [vq]
vd cos ωet sin ωet vα vα cos ωet −sin ωet vd
va v⍺ vd

= , = vc

(a) abc (b) ⍺-ß (c) dq

Fig. 9.8. abc-⍺ß-dq frames using the d-axis aligned with the a-axis
(3) abc to dq transformations using the d-axis aligned with the a-axis(1)“Cosine based Parks transformations”
Clarkes transformations
1 0
1 − 12 − 12 va va
[vβ] 3 [vβ]
vα 2 1 3 vα
= vb and the inverse is vb = − 2
cos−(ωe t) −sin (ω t)
2
3 3
0 vc vc 3
−e1

cos (ωe t − 3 )
cos (ωe t + 3 )
2 2 − 2
cos (ωe t) 2 2 va va (2) Cosine based Parks transformations
2

π π
[ q] 3 [vq]
cos ω( t v π) cos ω t ( )
vd 2 2 2 vd
= × vb vb =v = cos t ωsin
e tω − −sin ω eωt t −v π ×
vc [ ] [−sin ω t cos ω t] [ 2] [ ] [ sin ω t cos ω t ] [ ]2
v
v 3 −sin
3
−sin (ωe t) −sin (ωe t − 3 )
−sin (ωe t + 3 )
d e e α α e e d
2 2 v v , v = v
π π vc q β β q

(ωe t + using 3 ) (ωthe π) based Parks transformations”

e e e e

cos
(3) abc to dq transformations πthe d-axis−sin
aligned with
e t a-axis
+ 3“Cosine
cos (ωe t) −sin (ωe t)
cos (ωe t) cos (ωe t − 23 π) cos (ωe t + 23 π) va va
[vq] 3 [v
vb = cos (ωe t − 3 π) −sin (ωe t − 3 π) ×
vd 2 2 2 v
= × vb
−sin (ωe t) −sin (ωe t − 3 π) −sin (ωe t + 3 π)
2 2 vc vc
cos (ωe t + 3 π) −sin (ωe t + 3 π)
2 2

Page 8
Pag
 SUMMARY: abc-⍺ß-dq frames using the d-axis aligned with the a-axis

“Sine-based Park transformation”

c-⍺ß-dq FRAMES USING THE Q-AXIS ALIGNED WITH THE a-AXIS

vb vß

va v⍺ vq

vc
vd

(a) abc (b) ⍺-ß (c) dq

Fig. 9.9. abc-⍺ß-dq frames using the q-axis aligned with the a-axis.

arkes transformations
1 0
2 1 − 12 − 12 va va 1 3 v
 vb vß

va vq
SUMMARY: abc-⍺ß-dq frames using
v
the d-axis aligned with the a-axis ⍺

vc
vd

“Sine-based Park transformation”

(a) abc (b) ⍺-ß (c) dq
Fig. 9.9. abc-⍺ß-dq frames using the q-axis aligned with the a-axis.

(1) Clarkes transformations

1 0
1 − 12 − 12 va va
[vβ] 3 [vβ]
vα v
P
2 1 3
= vb and the inverse is vb = − 2 2
(b) αabc-⍺ß-dq FRAMES USING THE Q-AXIS ALIGNED WITH THE a-AXIS

3 3
0 − vc vc 1 3
2 2 −2 − 2 vb vß

va v⍺ vq

vc
(2) Sine-based Parks transformations vd

(a) abc (b) ⍺-ß (c) dq

Fig. 9.9. abc-⍺ß-dq frames using the q-axis aligned with the a-axis.

[vq] [cos ωet sin ωet ] [vβ] [vβ] [−cos ωet sin ω
v et ] [v−] −
vd sin ωet −cos ωet vα vα sin ωet cos(1)ωClarkes vd
et transformations
= and the inverse is = ` 1 0
2 1 q
1 1 va va
[vβ] [vβ]
2 2 1 3 vα
α
= vb and the inverse is vb = − 2 2
3 0
3
−
3
vc vc
2 2 1 3
−2 − 2

(2) Sine-based Parks transformations

(3) abc to qd transformations using the q-axis aligned with the d axis "Sine-based Parks transformations”

[vq] [cos ωet sin ωet ] [vβ] [ β] [−cos ωet sin ωet ] [vq]
vd sin ωet −cos ωet vα vα sin ωet cos ωet vd
= and the inverse is v =
sin (ωe t) cos (ωe t)
`

sin (ωet) sin (ωet 23

π) sin (ωet + π) va 2
va

[vq] 3
vd
[ q]
vb = sin ((3)ωabc π) cos (using 3 ) × v
2 3 2 2 vd d axis "Sine-based Parks transformations”
= × vb e t to−qd3transformations ωe tthe−q-axisπaligned with the
cos (ωet) cos (ωet − 3 π) cos (ωet + 3 π)
2 2 vc
vc
sin (vω 3 ) ( 2e 3 )2
sin (ωe t) cos (ωe t)
2 (ωet) sin ωet 2 π 2ωet + 2 π
d e t 2+ π cos( ω 3 )t + ( π 3 )
sin sin va va

[vq] 3
vb = sin (ωe t − 3 π) cos (ωe t − 3 π) ×
2 2
= × vb
cos (ωet) cos (ωet − 3 π) cos (ωet + 3 π) vc vc
sin (ωe t + 3 π) cos (ωe t + 3 π)
2 2
 R-LOAD
R-LOAD

(c) 3-PHASE EQUIVALENT CIRCUITS FOR RL NETWORKS

(i) Resistor
Considering a three phase resistive circuit, with no mutual coupling:
va r 0 0 ia r 0 0 1 0 0
[0 0 r ] [0 0 r ] [0 0 1]
vabc = r × iabc or vb = 0 r 0 ib , r = 0 r 0 0 1 0 = R × I ..
vc ic
Writing both sides of the equation in dq system and using the inverse tran
vabc = r × iabc
K −1vdq = r × K −1idq
vdq = K × r × K −1idq
vdq = R × I × K × K −1idq ................................................................................
vdq = R × I × idq
 R-LOAD

vabc = r × iabc
K −1vdq = r × K −1idq
vdq = K × r × K −1idq
vdq = R × I × K × K −1idq
vdq = R × I × idq
vdq = ridq
vdq = R × idq
 INDUCTOR
dλabc
Vabc = , where λabc = Labciabc
dt
from the basic relation between flux “linkage” & inductance: λ = Li
 va
INDUCTOR
Which results in: vb = co
dλabc
Vabc = , where λabc = Labciabc vc
dt co
Page 8

9.4. REFERENCE FRAME SUMMARY

from the basic relation between flux “linkage” & inductance: λ = Li

The ⍺ß-dq reference frames relative to the 3-phase abc can be considered in terms of that used in 3-phase
electrical systems commonly associated with 3-phase converters/inverters and rectifiers where the “d-axis is
aligned with the a-axis” where q is at +90º counter clockwise relative to the d axis. This type of Park

Note: vdq = K × vabc , inv

transformation is also known as the “cosine-based Park transformation”. In machine analysis and control, the

In short:
[ dt ]
dλabc
q-axis is used to define the torque current and the d-axis for the flux current, here, the “q-axis is aligned with
the a-axis". This type of Park transformation is also known as the “sine-based Park transformation”. The ⍺-ß

vdq = K
orientation relative to the abc frame is the same for both, the difference between the two is the orientation of the
dq reference frame relative to the abc system. In both cases the q-axis is at + 90º counter clockwise relative to
the d axis and (remember the analysis of these reference frames assumes a counter-clockwise rotating vector).

K = Kp × Kc
The difference between the two approaches is the transformation between ⍺ß & dq frames: this also affects the
direct transformation between the abc & the dq frames.

(a) abc-⍺ß-dq FRAMES USING THE D-AXIS ALIGNED WITH THE A-AXIS

vß vq
vb

va v⍺ vd

vc

(a) abc (b) ⍺-ß (c) dq

Fig. 9.8. abc-⍺ß-dq frames using the d-axis aligned with the a-axis
(1) Clarkes transformations
1 0
1 − 12 − 12 va va
[vβ] 3 [vβ]
vα 2 1 3 vα
= vb and the inverse is vb = − 2 2
3 3
0 − vc vc 3
2 2 − 12 − 2
(2) Cosine based Parks transformations

[vq] [−sin ωet cos ωet] [vβ] [vβ] [ sin ωet cos ωet ] [vq]
vd cos ωet sin ωet vα vα cos ωet −sin ωet vd
= , =

(3) abc to dq transformations using the d-axis aligned with the a-axis “Cosine based Parks transformations”

cos (ωe t) −sin (ωe t)

cos (ωe t) cos (ωe t − 23 π) cos (ωe t + 23 π) va va
[vq] 3 [vq]
vb = cos (ωe t − 3 π) −sin (ωe t − 3 π) × d
vd 2 2 2 v
= × vb
−sin (ωe t) −sin (ωe t − 3 π) −sin (ωe t + 3 π)
2 2 vc vc
cos (ωe t + 3 π) −sin (ωe t + 3 π)
2 2

Page 8
 va
INDUCTOR
Which results in: vb = co
dλabc
Vabc = , where λabc = Labciabc vc
dt co
from the basic relation between flux “linkage” & inductance: λ = Li
Note: vdq = K × vabc , inv
In short:
[ dt ]
dλabc
vdq = K

d (K −1λdq)
cos (ωet) sin (ωet)

K −1 = cos (ωet − 3 π) sin (ωet − 3 π)

2 2
vdq = K
dt Note:
cos (ωet + 3 π) sin (ωet + 3 π)
2 2
 va
INDUCTOR
Which results in: vb = co
dλabc
Vabc = , where λabc = Labciabc vc
dt co
from the basic relation between flux “linkage” & inductance: λ = Li
Note: vdq = K × vabc , inv
In short:
[ dt ]
dλabc
vdq = K

d (K −1λdq)
cos (ωet) sin (ωet)

K −1 = cos (ωet − 3 π) sin (ωet − 3 π)

2 2
vdq = K
dt Note: Page 8

cos (ωet + 3 π) sin (ωet + 3 π)

2 9.4. REFERENCE FRAME SUMMARY 2
The ⍺ß-dq reference frames relative to the 3-phase abc can be considered in terms of that used in 3-phase
electrical systems commonly associated with 3-phase converters/inverters and rectifiers where the “d-axis is
aligned with the a-axis” where q is at +90º counter clockwise relative to the d axis. This type of Park
transformation is also known as the “cosine-based Park transformation”. In machine analysis and control, the
q-axis is used to define the torque current and the d-axis for the flux current, here, the “q-axis is aligned with
the a-axis". This type of Park transformation is also known as the “sine-based Park transformation”. The ⍺-ß
orientation relative to the abc frame is the same for both, the difference between the two is the orientation of the
dq reference frame relative to the abc system. In both cases the q-axis is at + 90º counter clockwise relative to
the d axis and (remember the analysis of these reference frames assumes a counter-clockwise rotating vector).
The difference between the two approaches is the transformation between ⍺ß & dq frames: this also affects the
direct transformation between the abc & the dq frames.

(a) abc-⍺ß-dq FRAMES USING THE D-AXIS ALIGNED WITH THE A-AXIS

d (K −1) dλdq
[ ] [ dt ]
vß vq
vb

vdq = K λdq + KK −1
va v⍺ vd

dt vc

(a) abc (b) ⍺-ß (c) dq

Fig. 9.8. abc-⍺ß-dq frames using the d-axis aligned with the a-axis
(1) Clarkes transformations
1 0
1 − 12 − 12 va va
[vβ] 3 [vβ]
vα 2 1 3 vα
= vb and the inverse is vb = − 2 2
3 3
0 − vc vc 1 3
2 2 −2 − 2
(2) Cosine based Parks transformations

vd cos ωet sin ωet vα vα cos ωet −sin ωet vd

 INDUCTOR
d (K −1)
[ ] !
vdq = K λdq
dt
 orientation relative to the abc frame is the same for both, the difference between the two is the orientation of the
dq reference frame relative to the abc system. In both cases the q-axis is at + 90º counter clockwise relative to
the d axis and (remember the analysis of these reference frames assumes a counter-clockwise rotating vector).

INDUCTOR
The difference between the two approaches is the transformation between ⍺ß & dq frames: this also affects the
direct transformation between the abc & the dq frames.

(a) abc-⍺ß-dq FRAMES USING THE D-AXIS ALIGNED WITH THE A-AXIS

d (K −1)
[ ] !
vß vq
vdq = K λdq vb

dt va v⍺ vd

vc

(a) abc (b) ⍺-ß (c) dq

Fig. 9.8. abc-⍺ß-dq frames using the d-axis aligned with the a-axis
cos (ωet) −sin (ωet)
cos (ωet) cos (ωet − 3 )
cos (ωet +1 3 12 )
(1) Clarkes transformations
2 2
π π −1 1 0
cos (is ωvebt −
= 3−π2 ) 2 −sin
[vβ](
− 3 π)
"
2 − va va 2 1 2
[vβ] 3
vα 2 3 vα ω t
K= =
2
vb −1
K and=the inverse e
3 −sin (ωet) −sin (ωet − 3 )
−sin (ωet + 23 π)2
3 3
2 0 − vc vc
π
3

cos (ωet + 3 )
−sin (ωet + 3 )
2 − 12 − 2
2 2
(2) Cosine based Parks transformations π π

[vq] [−sin ωet cos ωet] [vβ] [vβ] [ sin ωet cos ωet ] [vq]
vd cos ωet sin ωet vα vα cos ωet −sin ωet vd
= , =

(3) abc to dq transformations using the d-axis aligned with the a-axis “Cosine based Parks transformations”

cos (ωe t) −sin (ωe t)

cos (ωe t) cos (ωe t − 23 π) cos (ωe t + 23 π) va va
[vq] 3 [vq]
vb = cos (ωe t − 3 π) −sin (ωe t − 3 π) × d
vd 2 2 2 v
= × vb
−sin (ωe t) −sin (ωe t − 3 π) −sin (ωe t + 3 π)
2 2 vc vc
cos (ωe t + 23 π) −sin (ωe t + 23 π)

Page 8
 orientation relative to the abc frame is the same for both, the difference between the two is the orientation of the
dq reference frame relative to the abc system. In both cases the q-axis is at + 90º counter clockwise relative to
the d axis and (remember the analysis of these reference frames assumes a counter-clockwise rotating vector).

INDUCTOR
The difference between the two approaches is the transformation between ⍺ß & dq frames: this also affects the
direct transformation between the abc & the dq frames.

(a) abc-⍺ß-dq FRAMES USING THE D-AXIS ALIGNED WITH THE A-AXIS

d (K −1)
[ ] !
vß vq
vdq = K λdq vb

dt va v⍺ vd

vc

(a) abc (b) ⍺-ß (c) dq

cos (ωet) −sin (ωet)

Fig. 9.8. abc-⍺ß-dq frames using the d-axis aligned with the a-axis

cos−(ωetv) cos (ωetv − 23 π1) cos (ωet + 23 π)

(1) Clarkes transformations
0

K −1 = cos (ωet − 3 π) −sin (ωet − 3 π)

"
2 2 2 1 − 1 1

[vβ] 3 [vβ]
vα 2 a a 3 v
K= 2 2 1
= vb and the inverse is vb = − α

−sin (ωet) −sin (ωet − 23−π)− −sin (ωet + 23 π)

2 2

3
3 3
0 − vc vc 3

cos (ωet + 3 )
−sin (ωet + 3 )
2 2 1
2 2
π π (2) Cosine based Parks transformations
2 2

[vq] [−sin ωet cos ωet] [vβ] [vβ] [ sin ωet cos ωet ] [vq]
vd cos ωet sin ωet vα vα cos ωet −sin ωet vd
= , =

−sin (ωet) cos (ωet)

(3) abc to dq transformations using the d-axis aligned with the a-axis “Cosine based Parks transformations”

cos (ωet) cos (ωet − 3vd =)2

2
π cos ( ( 323 ππ)) cos (ωet + 23 π)
cos (ωe t) ω t + 2 cos (ωe t) −sin (ωe t)

−sin (ω t) −sin (ω t − π) −sin (ω t + π) (

d −sin ω t − π)cos (ω t − π)
e
cos ω t − va va
2 2 2
[v ] 3 [vq]
vb = cos (ωe t − 3 π) −sin (ωe t − 3 π) × d
(K ) = ωe
e v

#
2
−1 × vb
K q 2 2 vce vc 3 e 3
−sin (ωet)−sin (ωet − 23 π)−sin (ωet + 23 π)
dt cos (ωe t + 23 π) −sin (ωe t + 23 π)
e e 3 e 3

−sin (ωet + 3 π)cos (ωet + 3 π)

2 2
Page 8
 orientation relative to the abc frame is the same for both, the difference between the two is the orientation of the
dq reference frame relative to the abc system. In both cases the q-axis is at + 90º counter clockwise relative to
the d axis and (remember the analysis of these reference frames assumes a counter-clockwise rotating vector).

INDUCTOR
The difference between the two approaches is the transformation between ⍺ß & dq frames: this also affects the
direct transformation between the abc & the dq frames.

(a) abc-⍺ß-dq FRAMES USING THE D-AXIS ALIGNED WITH THE A-AXIS

d (K −1)
[ ] !
vß vq
vdq = K λdq vb

dt va v⍺ vd

vc

(a) abc (b) ⍺-ß (c) dq

cos (ωet) −sin (ωet)

Fig. 9.8. abc-⍺ß-dq frames using the d-axis aligned with the a-axis

cos−(ωetv) cos (ωetv − 23 π1) cos (ωet + 23 π)

(1) Clarkes transformations
0

K −1 = cos (ωet − 3 π) −sin (ωet − 3 π)

"
2 2 2 1 − 1 1

[vβ] 3 [vβ]
vα 2 a a 3 v
K= 2 2 1
= vb and the inverse is vb = − α

−sin (ωet) −sin (ωet − 23−π)− −sin (ωet + 23 π)

2 2

3
3 3
0 − vc vc 3

cos (ωet + 3 )
−sin (ωet + 3 )
2 2 1
2 2
π π (2) Cosine based Parks transformations
2 2

[vq] [−sin ωet cos ωet] [vβ] [vβ] [ sin ωet cos ωet ] [vq]
vd cos ωet sin ωet vα vα cos ωet −sin ωet vd
= , =

−sin (ωet) cos (ωet)

(3) abc to dq transformations using the d-axis aligned with the a-axis “Cosine based Parks transformations”

cos (ωet) cos (ωet − 3vd =)2

2
π cos ( ( 323 ππ)) cos (ωet + 23 π)
cos (ωe t) ω t + 2 cos (ωe t) −sin (ωe t)

−sin (ω t) −sin (ω t − π) −sin (ω t + π) (

d −sin ω t − π)cos (ω t − π)
e
cos ω t − va va
2 2 2
[v ] 3 [vq]
vb = cos (ωe t − 3 π) −sin (ωe t − 3 π) × d
(K ) = ωe
e v

#
2
−1 × vb
K q 2 2 vce vc 3 e 3
−sin (ωet)−sin (ωet − 23 π)−sin (ωet + 23 π)
dt cos (ωe t + 23 π) −sin (ωe t + 23 π)
e e 3 e 3

−sin (ωet + 3 π)cos (ωet + 3 π)

2 2
Page 8

K
d
dt
(K ) = ωe [1 0 ]
−1 0 −1
$
 orientation relative to the abc frame is the same for both, the difference between the two is the orientation of the
dq reference frame relative to the abc system. In both cases the q-axis is at + 90º counter clockwise relative to
the d axis and (remember the analysis of these reference frames assumes a counter-clockwise rotating vector).

INDUCTOR
The difference between the two approaches is the transformation between ⍺ß & dq frames: this also affects the
direct transformation between the abc & the dq frames.

(a) abc-⍺ß-dq FRAMES USING THE D-AXIS ALIGNED WITH THE A-AXIS

d (K −1)
[ ]
vß vq
vdq = K λdq vb

dt va v⍺ vd

vc

(a) abc (b) ⍺-ß (c) dq

cos (ωet) −sin (ωet)

Fig. 9.8. abc-⍺ß-dq frames using the d-axis aligned with the a-axis

cos−(ωetv) cos (ωetv − 23 π1) cos (ωet + 23 π)

(1) Clarkes transformations
0

K −1 = cos (ωet − 3 π) −sin (ωet − 3 π)

2 2 2 1 − 1 1

[vβ] 3 [vβ]
vα 2 a a 3 v
K= 2 2 1
= vb and the inverse is vb = − α

−sin (ωet) −sin (ωet − 23−π)− −sin (ωet + 23 π)

2 2

3
3 3
0 − vc vc 3

cos (ωet + 3 )
−sin (ωet + 3 )
2 2 1
2 2
π π (2) Cosine based Parks transformations
2 2

[vq] [−sin ωet cos ωet] [vβ] [vβ] [ sin ωet cos ωet ] [vq]
vd
=
cos ωet sin ωet vα vα
=
cos ωet −sin ωet vd
−sin (ωet) cos (ωet)
cos (ωet) cos (ωet − 3 π) cos (ωet + 3 π)
,
2 2

( 3 ) ( 3 )
d 2 2
K (K ) = ωe
−1 −sin
(3) abc to dq transformations using the d-axis aligned withω t −
the a-axis
e π
“Cosinecos ω
based Parks
et − π
transformations”

dt −sin (ωet)−sin (ωet − v3 π)−sin ( )

2 2
ω t + π cos (ω t) −sin (ω t)

( ) ( )
e e
( ) e ( 3) ( ) 2 2
v v 2 2
cos ω t cos ω t − π cos ω t + π
[v ] 3
−sin × ωv t v+ = π cos
cos (ω t − π)ω t +
(ω t − ππ) ×
[v ]
a a v
2 d e e 3 e 3 −sin 2 2 d
=
−sin (ω t) −sin (ω t − π) −sin (ω t + π)
q
v e v 32 2 e b
3
b e 3 e 3
q
cos (ωe t + 23 π) −sin (ωe t + 23 π)
e e 3 e 3 c c

Page 8

[1 0 ] [1 0 ] [λq]
d 0 −1 0 −1 λd
K (K −1) = ωe vdq = ωe
dt
 orientation relative to the abc frame is the same for both, the difference between the two is the orientation of the
dq reference frame relative to the abc system. In both cases the q-axis is at + 90º counter clockwise relative to
the d axis and (remember the analysis of these reference frames assumes a counter-clockwise rotating vector).

INDUCTOR
The difference between the two approaches is the transformation between ⍺ß & dq frames: this also affects the
direct transformation between the abc & the dq frames.

(a) abc-⍺ß-dq FRAMES USING THE D-AXIS ALIGNED WITH THE A-AXIS

d (K −1)
[ ]
vß vq
vdq = K λdq vb

dt va v⍺ vd

vc

(a) abc (b) ⍺-ß (c) dq

cos (ωet) −sin (ωet)

Fig. 9.8. abc-⍺ß-dq frames using the d-axis aligned with the a-axis

cos−(ωetv) cos (ωetv − 23 π1) cos (ωet + 23 π)

(1) Clarkes transformations
0

K −1 = cos (ωet − 3 π) −sin (ωet − 3 π)

2 2 2 1 − 1 1

[vβ] 3 [vβ]
vα 2 a a 3 v
K= 2 2 1
= vb and the inverse is vb = − α

−sin (ωet) −sin (ωet − 23−π)− −sin (ωet + 23 π)

2 2

3
3 3
0 − vc vc 3

cos (ωet + 3 )
−sin (ωet + 3 )
2 2 1
2 2
π π (2) Cosine based Parks transformations
2 2

[vq] [−sin ωet cos ωet] [vβ] [vβ] [ sin ωet cos ωet ] [vq]
vd
=
cos ωet sin ωet vα vα
=
cos ωet −sin ωet vd
−sin (ωet) cos (ωet)
cos (ωet) cos (ωet − 3 π) cos (ωet + 3 π)
,
2 2

( 3 ) ( 3 )
d 2 2
K (K ) = ωe
−1 −sin
(3) abc to dq transformations using the d-axis aligned withω t −
the a-axis
e π
“Cosinecos ω
based Parks
et − π
transformations”

dt −sin (ωet)−sin (ωet − v3 π)−sin ( )

2 2
ω t + π cos (ω t) −sin (ω t)

( ) ( )
e e
( ) e ( 3) ( ) 2 2
v v 2 2
cos ω t cos ω t − π cos ω t + π
[v ] 3
−sin × ωv t v+ = π cos
cos (ω t − π)ω t +
(ω t − ππ) ×
[v ]
a a v
2 d e e 3 e 3 −sin 2 2 d
=
−sin (ω t) −sin (ω t − π) −sin (ω t + π)
q
v e v 32 2 e b
3
b e 3 e 3
q
cos (ωe t + 23 π) −sin (ωe t + 23 π)
e e 3 e 3 c c

Page 8

$
−ωe λq −ωe Liq
[1 0 ] [1 0 ] [λq] [ ωe λd ] [ ωe Lid ]
d 0 −1 0 −1 λd
K (K −1) = ωe vdq = ωe vdq = =
dt
on”. In machine analysis and control, the
current, here, the “q-axis is aligned with
ne-based Park transformation”. The ⍺-ß
e between the two is the orientation of the
s is at + 90º counter clockwise relative to
INDUCTOR
mes a counter-clockwise rotating vector).
een ⍺ß & dq frames: this also affects the

vq
−ωeλq −ωeLiq
[ ωeλd ] [ ωeLid ]
vd vdq = = Cosine based parks

%
Page 9
(c) dq
d with the a-axis

[vβ]
3 vα
2

ωeλd ωeLid
[−ωeλq] [−ωeLiq]
3 vq

vqd = = Sine based parks

2

vd

(c) dq
“Cosine based Parks transformations”
with the a-axis.

cos (ωe t) −sin (ωe t)

0
[vq]
cos (ωe t − 3 π) −sin (ωe t − 3 π) × d
2 2 v
3 vα 2
2 cos (ωe t + 3 π) −sin (ωe t + 3 π)
2
v
e between the two is the orientation of the
is at + 90º counter clockwise relative to
mes a counter-clockwise rotating vector).
een ⍺ß & dq frames: this also affects the INDUCTOR

vq
−ωeλq −ωeLiq
[ ωeλd ] [ ωeLid ]
vd vdq = = Cosine based parks
Electrical - grid interface
Plecs uses this
(c) dq

% d - real power
with the a-axis
Page 9
0
q - reactive power
[vβ]
3 vα
2
3
2

ωeλd ωeLid
[−ωeλq] [−ωeLiq]
vq

vqd = = Sine based parks

vd
Cosine based Parks transformations”

cos (ωe t) (c) dq −sin (ωe t)

Machines
with the a-axis.2 2
[vq]
cos (ωe t − 3 π) −sin (ωe t − 3 π) × d
v q - torque axis
0
cos (ωe t + 3 π) −sin (ωe t + 3 π)
2 2
d - flux axis
3 vα
2 v Page 8
 INDUCTOR

d (K −1)
[ ]
vdq = K λdq
dt
 INDUCTOR

&
d (K −1) dλdq
[ ] [ dt ]
−1
vdq = K λdq + KK
dt
 INDUCTOR

d (K −1) dλdq
[ ] [ dt ]
−1
vdq = K λdq + KK
dt

d
−ωeλq
[ ωeλd ]
vdq = ωeλqd + λdq
dt = ωeλqd In short
 INDUCTOR

d (K −1) dλdq
[ ] [ dt ]
−1
vdq = K λdq + KK
dt

d
vdq = ωeλqd + λdq
dt

[ 0 Ls] dt [iq]
d Ls 0 d id
dt
λdq = λ = Li
 INDUCTOR

d (K −1) dλdq
[ ] [ dt ]
−1
vdq = K λdq + KK
dt

d
vdq = ωeλqd + λdq
dt

[ 0 Ls] dt [iq]
d Ls 0 d id
λdq =
dt

[vq] [ ωeλd ]
vd −ωeλq d id
dt [iq]
= + Ls
 INDUCTOR

d (K −1) dλdq
[ ] [ dt ]
−1
vdq = K λdq + KK
dt

d
vdq = ωeλqd + λdq
dt

[ 0 Ls] dt [iq]
d Ls 0 d id
λdq =
dt

[vq] [ ωeλd ]
vd −ωeλq d id
dt [iq]
= + Ls

Ls 0 0

[ 0 Ls] abc
Ls 0 Ls is the same value in Ldq and Labc matrices
Ldq = L = 0 Ls 0
0 0 Ls
 SUMMARY

Resistor vabc = R × iabc, vdq = R × idq

d
Inductor * vdq = ωeλqd + λdq
dt
−ωeλq
[ e d ] dt
d
* vdq = ω λ + λdq

[ q] [ ωeλq ]
vd −ωeλq d id
dt [iq]
* v = +L
 diq Page 14
ωe Lq foridanalysisLq 0
] [iq] [0 L]
frame dt
0
+ RL L didOAD EXAMPLE
d
dt
a
12 Ω
Vdq = Z × Idq

[ 0 ] [ωe L R ] [iq]
208 j16 Ω j16 Ω Vs,pk R −ωe L id
chronous frame => in steady-state: =
b

]c[iq]
6 208 id 12 Ω 12 Ω

j16 Ω

77]
2

the delta connected load voltages: e.g., vac, vcb, and vbc, and vac aligns
 diq Page 14
ωe Lq foridanalysisLq 0
] [iq] [0 L]
frame dt
+ RL
vd L EXAMPLE
[ q] dt [ 0 R] [iq]
OAD id 0 −ωe Lq id Lq
[ωe Ld ] [iq] [ 0
0 di R 0
dv = d + +
0
a
12 Ω
Vdq = Z × Idq

= 0[in0a steady
] [state R ] [iqframe
208
id
] => i
j16 Ω
didq
j16 ΩV s,pk R −ω e L
chronous frame => in steady-state:
Ldq
=
b ωe L synchronous
dt

]c[iq]
6 208 id
12 Ω

] [16 12 ] [iq]
12 −16 id
12 Ω

[
Hence: 2 × 208 =
j16 Ω
0

Solving for id and iq:

77] [−11.77]
id 6.24 × 2
[iq]
2 8.82
= =
−8.33 × 2

Is,pk = id2 + iq2

the delta connected loadI voltages:
= 8.82 e.g.,
2 vac, vcb2, and vbc, and vac aligns
+ 11.77
 diq Page 14
ωe Lq foridanalysisLq 0
] [iq] [0 L]
frame dt
+ RL
vd L EXAMPLE
[ q] dt [ 0 R] [iq]
OAD id 0 −ωe Lq id Lq
[ωe Ld ] [iq] [ 0
0 di R 0
dv = d + +
0
a
12 Ω
Vdq = Z × Idq

= 0[in0a steady
] [state R ] [iqframe
208
id
] => i
j16 Ω
didq
j16 ΩV s,pk R −ω e L
chronous frame => in steady-state:
Ldq
=
b ωe L synchronous
dt

]c[iq]
6 208 id
12 Ω

] [16 12 ] [iq]
12 −16 id
12 Ω

[
Hence: 2 × 208 =
j16 Ω
0
Idq = Z −1 × Vdq
Solving for id and iq:

77] [−11.77]
id 6.24 × 2
[iq]
2 8.82
= =
−8.33 × 2

Is,pk = id2 + iq2

the delta connected loadI voltages:
= 8.82 e.g.,
2 vac, vcb2, and vbc, and vac aligns
+ 11.77
 diq Page 14
ωe Lq foridanalysisLq 0
] [iq] [0 L]
frame dt
+ RL
vd L EXAMPLE
[ q] dt [ 0 R] [iq]
OAD id 0 −ωe Lq id Lq
[ωe Ld ] [iq] [ 0
0 di R 0
dv = d + +
0
a
12 Ω
Vdq = Z × Idq

= 0[in0a steady
] [state R ] [iqframe
208
id
] => i
j16 Ω
didq
j16 ΩV s,pk R −ω e L
chronous frame => in steady-state:
Ldq
=
b ωe L synchronous
dt

]c[iq]
6 208 id
12 Ω

] [16 12 ] [iq]
12 −16 id
12 Ω

[
Hence: 2 × 208 =
j16 Ω
0
Idq = Z −1 × Vdq
Solving for id and iq:

[−0.04 0.03] [ 0 ]
Id
[Iq] =
6.24 × 2 = 0.038.820.04 × 249.16
77] [−11.77]
id
[iq]
2 =
−8.33 × 2

Is,pk = id2 + iq2

the delta connected loadI voltages:
= 8.82 e.g.,
2 vac, vcb2, and vbc, and vac aligns
+ 11.77
 diq Page 14
ωe Lq foridanalysisLq 0
] [iq] [0 L]
frame dt
+ RL
vd L EXAMPLE
[ q] dt [ 0 R] [iq]
OAD id 0 −ωe Lq id Lq
[ωe Ld ] [iq] [ 0
0 di R 0
dv = d + +
0
a
12 Ω
Vdq = Z × Idq

= 0[in0a steady
] [state R ] [iqframe
208
id
] => i
j16 Ω
didq
j16 ΩV s,pk R −ω e L
chronous frame => in steady-state:
Ldq
=
b ωe L synchronous
dt

]c[iq]
6 208 id
12 Ω

] [16 12 ] [iq]
12 −16 id
12 Ω

[
Hence: 2 × 208 =
j16 Ω
0
Idq = Z −1 × Vdq
Solving for id and iq:

[−0.04 0.03] [ 0 ]
Id
[Iq] =
6.24 × 2 = 0.038.820.04 × 249.16
77] [−11.77]
id
[iq]
2 =
−8.33 × 2
[−11.77]
Id 6.24 × 2
[ q]
8.82
= =
I −8.33 × 2
2 2
Is,pk = id + iq
the delta connected loadI voltages:
= 8.82 e.g.,
2 vac, vcb2, and vbc, and vac aligns
+ 11.77
 diq Page 14

−ωe Lq id[ 0 ]Lq

ω L diidq L 0 Vs,pk

0 ] [ q] [ 0 Ld]v =d
e
frame Ldqfor analysis
q d = 0 in a steady state
q dt synchronous frame => in steady-state: =
dti + RLvd L E
[ q]12dt [−16
0 R] [
OAD XAMPLE
id 0
idiq] [ωe Ld ] [iq] [0
di R 0
+ +

] [16 12 ] [iq]
0
[
a Hence:
12
2
Ω
× 208 = Vdq = Z × Idq
0

= 0[in0a steady
] [state R ] [iqframe
208
id
] => i
j16 Ω j16 Ω
didq V s,pk R −ω e L
chronous frame
Solving for i =>
and in
i : steady-state:
Ldq
=
b d q
ωe L synchronous
dt
[−11.77 ] 208
id 6.24 × 2
6 208[iidq] =
8.82

] i
c[ q]
12 =
Ω

[16 12 ] [iq]
12 Ω id
[ ]
−8.33 × 2Hence: 2× 12 −16
j16 Ω =
0
Is,pk = id2 + iq2 Idq = Z −1 × Vdq
Solving for id and iq:

[−0.048.820.03] [ 0 ]
Id
[Iq] =
2 2 0.03 0.04 249.16

[−11.77]
Is,pk = 8.82 + 11.77id
]
6.24 × 2
[iq]
= ×
2 =
Is,pk = 14.71 A
77 −8.33 × 2
[−11.77]
Id 6.24 × 2
[Iq]
Is,pk 14.71 = =
8.82
Is = =
2 2 −8.33 × 2
Is,pk = id2 + iq2
Is = 10.4 A
the delta connected loadI voltages:
= 8.82e.g.,
2 vac, vcb2, and vbc, and vac aligns
+ 11.77
 diq Page 14

−ωe Lq id[ 0 ]Lq

ω L diidq L 0 Vs,pk

0 ] [ q] [ 0 Ld]v =d
e
frame Ldqfor analysis
q d = 0 in a steady state
q dt synchronous frame => in steady-state: =
dti + RLvd L E
[ q]12dt [−16
0 R] [
OAD XAMPLE
id 0
idiq] [ωe Ld ] [iq] [0
di R 0
+ +

] [16 12 ] [iq]
0
[
a Hence:
12
2
Ω
× 208 = Vdq = Z × Idq
0

= 0[in0a steady
] [state R ] [iqframe
208
id
] => i
j16 Ω j16 Ω
didq V s,pk R −ω e L
chronous frame
Solving for i =>
and in
i : steady-state:
Ldq
=
b d q
ωe L synchronous
dt
[−11.77 ] 208
id 6.24 × 2
6 208[iidq] =
8.82

] i
c[ q]
12 =
Ω

[16 12 ] [iq]
12 Ω id
[ ]
−8.33 × 2Hence: 2× 12 −16
j16 Ω =
0
Is,pk = id2 + iq2 Idq = Z −1 × Vdq
Solving for id and iq:

[−0.048.820.03] [ 0 ]
Id
[Iq] =
2 2 0.03 0.04 249.16

[−11.77]
Is,pk = 8.82 + 11.77id
]
6.24 × 2
[iq]
= ×
2 =
Is,pk = 14.71 A
77 −8.33 × 2
[−11.77]
Id 6.24 × 2
[Iq]
Is,pk 14.71 = =
8.82
Is = =
2 2 −8.33 × 2
Is,pk = id2 + iq2
Is = 10.4 A
the delta connected loadI voltages:
= 8.82e.g.,
2 vac, vcb2, and vbc, and vac aligns
+ 11.77
 diq Page 14

−ωe Lq id[ 0 ]Lq

ω L diidq L 0 Vs,pk

0 ] [ q] [ 0 Ld]v =d
e
frame Ldqfor analysis
q d = 0 in a steady state
q dt synchronous frame => in steady-state: =
dti + RLvd L E
[ q]12dt [−16
0 R] [
OAD XAMPLE
id 0
idiq] [ωe Ld ] [iq] [0
di R 0
+ +

] [16 12 ] [iq]
0
[
a Hence:
12
2
Ω
× 208 = Vdq = Z × Idq
0

= 0[in0a steady
] [state R ] [iqframe
208
id
] => i
j16 Ω j16 Ω
didq V s,pk R −ω e L
chronous frame
Solving for i =>
and in
i : steady-state:
Ldq
=
b d q
ωe L synchronous
dt
[−11.77 ] 208
id 6.24 × 2
6 208[iidq] =
8.82

] i
c[ q]
12 =
Ω

[16 12 ] [iq]
12 Ω id
[ ]
−8.33 × 2Hence: 2× 12 −16
j16 Ω =
0
Is,pk = id2 + iq2 Idq = Z −1 × Vdq
Solving for id and iq:

[−0.048.820.03] [ 0 ]
Id
[Iq] =
2 2 0.03 0.04 249.16

[−11.77]
Is,pk = 8.82 + 11.77id
]
6.24 × 2
[iq]
= ×
2 =
Is,pk = 14.71 A
77 −8.33 × 2
[−11.77]
Id 6.24 × 2
[Iq]
Is,pk 14.71 = =
8.82
Is = =
2 2 −8.33 × 2
Is,pk = id2 + iq2
Is = 10.4 A
the delta connected loadI voltages:
= 8.82e.g.,
2 vac, vcb2, and vbc, and vac aligns
+ 11.77
 diq Page 14

−ωe Lq id[ 0 ]Lq

ω L diidq L 0 Vs,pk

0 ] [ q] [ 0 Ld]v =d
e
frame Ldqfor analysis
q d = 0 in a steady state
q dt synchronous frame => in steady-state: =
dti + RLvd L E
[ q]12dt [−16
0 R] [
OAD XAMPLE
id 0
idiq] [ωe Ld ] [iq] [0
di R 0
+ +

] [16 12 ] [iq]
0
[
a Hence:
12
2
Ω
× 208 = Vdq = Z × Idq
0

= 0[in0a steady
] [state R ] [iqframe
208
id
] => i
j16 Ω j16 Ω
didq V s,pk R −ω e L
chronous frame
Solving for i =>
and in
i : steady-state:
Ldq
=
b d q
ωe L synchronous
dt
[−11.77 ] 208
id 6.24 × 2
6 208[iidq] =
8.82

] i
c[ q]
12 =
Ω

[16 12 ] [iq]
12 Ω id
[ ]
−8.33 × 2Hence: 2× 12 −16
j16 Ω =
0
Is,pk = id2 + iq2 Idq = Z −1 × Vdq
Solving for id and iq:

[−0.048.820.03] [ 0 ]
Id
[Iq] =
2 2 0.03 0.04 249.16

[−11.77]
Is,pk = 8.82 + 11.77id
]
6.24 × 2
[iq]
= ×
2 =
Is,pk = 14.71 A
77 −8.33 × 2
[−11.77]
Id 6.24 × 2
[Iq]
Is,pk 14.71 = =
8.82
Is = =
2 2 −8.33 × 2
Is,pk = id2 + iq2
Is = 10.4 A
the delta connected loadI voltages:
= 8.82e.g.,
2 vac, vcb2, and vbc, and vac aligns
+ 11.77
 ZERO SEQUENCE
A three phase current or voltage can have a common component in all three
phases: common mode io
or zero sequence. This can be represented also in the αβ frame:

1 1 va
iα 1 −2 −2
[ β] 3
2
No common mode: = vb
i 3 3
vc
0 2
− 2

iα 1 − 12 − 12 ia vα 1 − 12 − 12 va
2 vβ = 2
Common mode: iβ = 3 3 ib 3 3 vb
3 0 − 3 0 − vc
io 2 2 ic vo 2 2
0.5 0.5 0.5 0.5 0.5 0.5
aligned with the a-axis” where q is at +90º counter clockwise relative to the d axis. This type of Park
transformation is also known as the “cosine-based Park transformation”. In machine analysis and control, the

EXAMPLE 1
q-axis is used to define the torque current and the d-axis for the flux current, here, the “q-axis is aligned with
the a-axis". This type of Park transformation is also known as the “sine-based Park transformation”. The ⍺-ß
orientation relative to the abc frame is the same for both, the difference between the two is the orientation of the
dq reference frame relative to the abc system. In both cases the q-axis is at + 90º counter clockwise relative to
the d axis and (remember the analysis of these reference frames assumes a counter-clockwise rotating vector).
The difference between the two approaches is the transformation between ⍺ß & dq frames: this also affects the
Example 1 3-phase RL load using the “Cosine-based” Parks Transformation: d-axis
:
direct transformation between the abc & the dq frames.

ALIGNED - a-AXIS
(a) abc-⍺ß-dq F WITH THE -
RAMES USING THE D AXIS ALIGNED WITH THE A AXIS

vb
vß vq

θi
va
va v⍺ vd

vc ia
(a) abc (b) ⍺-ß (c) dq
Fig. 9.8. abc-⍺ß-dq frames using the d-axis aligned with the a-axis
(1) Clarkes transformations
⇀ ⇀ R ωeL
Va = Vp∠0, I a = Ip∠ − ϕi, cos ϕi = , sin ϕi =
1 0
1 − 12 − 12 va va
[ β] 3 [vβ]
vα 2 1 3 vα

Z Z
= vb and the inverse is vb = − 2
v 3 3
2
0 − vc vc 3
2 2 − 12 − 2
(2) Cosine based Parks transformations

vd cos ωet sin ωet vα Vp

[ q] [−sin ωet cos ωet] [ β] [ β] [ sin ωet cos ωet ] [vq]
vα cos ωet −sin ωet vd Vp Vp
R + (ωeL) , Ip =
v = v , v =
2 2
Z= ∠ϕi, Z = =
Ip using the d-axis aligned with the a-axis “Cosine based Parks transformations” Z
+ (ωeL)
(3) abc to dq transformations 2
cos (ωe t) −sin (ωe t)
R2
cos (ωe t) cos (ωe t − 3 )
2
π cos (ωe t + 3 )
2
π va va
[vq] 3 [ vq]
vb = cos (ωe t − 3 π) −sin (ωe t − 3 π) × d
vd 2 2 2 v
= × vb
−sin (ωe t) −sin (ωe t − 3 π) −sin (ωe t + 3 π)
2 2 vc vc
cos (ωe t + 3 π) −sin (ωe t + 3 π)
2 2

I1r = Ip cos ϕi I1i = − Ip sin ϕi

Page 8
 EXAMPLE 1

abc αβ dq
va = Vp cos (ωet)
Vα = Vp cos (ωet) vd = Vp
( 3 )
2
vb = Vp cos ωet − π
Vβ = Vp sin (ωet) vq = 0
( 3 )
2
vc = Vp cos ωet + π

ia = Ip cos (ωet − ϕi)

iα = Ip cos (ωet − ϕi) id = Ip cos ϕ
( )
2
ib = Ip cos ωet − π − ϕi
3 iq = − Ip sin ϕ
iβ = Ip sin (ωet − ϕi)
( )
2
ic = Ip cos ωet + π − ϕi
3
 3 )
2
et + π
− ϕ) EXAMPLE 1
)
iα = Ip cos (ωet − ϕ)
αβ
2 id = Ip cos ϕ
t − π −ϕ
3 reference frame **********
(
i = I sin ω t − ϕ i ) q = − Ip sin ϕ

)
β p e
2
t + π −ϕ
3
LLs LLs
(ω e tet−−ϕϕ)i) Rs
(ω sin((ωωeett −
− ϕϕi)) RRs
iα = Ip Icos
iα = R
p cos iβ iβ==IpIpsin

+ + ++
v = Vp cos (ωe t ) v = Vp sin (ωe t )
- - α - - β
+ +
- -
(a) ⍺-ß Reference frame

id = Ip cos ϕ R dq reference frame

L
− ωe λ q
iq = − Ip sin ϕ R L
ωe λd

+ +- - + +- -
−ωe λq ωe λd
id i= R L iqiq==+−
−+IIpp sin
sinϕθi R L
d =I+
pIpcos
+cosθϕ
vid = Vp vq = 0
- - + - - - + -

+ v =V +
d p vq = 0
- -ω 𝝀
-ωe𝝀qe q - ωe𝝀ed dω𝝀
id −ω Ipλcos
id I=p ecos
= q ø=ø − R
ωRe L iLq L= ωe L Ip sin ϕ iq ω =λpd-Isin
iqe-I
= =øωøe L iRd R=
p sin
ωeLLLIp cos ϕ
++ - - d-q reference frame.
(b) + +- -
f the equivalent circuits -ωe𝝀q ωe𝝀d
+ ø
id = I+p cos R L iq = +-Ip+sin vø = 0 R L
v v
= =
V V v =0
d reference
- - d frame
d p p + - - - q q q reference frame
+ -
d
 3 )
2
et + π
− ϕ) EXAMPLE 1
)
2
t − π −ϕ iα = Ip cos (ωet − ϕ) id = Ip cos ϕ
3 **********
iβ = Ip sin (ωet − ϕ) iq = − Ip sin ϕ

)
2
t + π −ϕ
3
LLs LLs
(ω e tet−−ϕϕ)i) Rs
(ω sin((ωωeett −
− ϕϕi)) RRs
iα = Ip Icos
iα = R
p cos iβ iβ==IpIpsin
+ +
- -
+ + ++
v = Vp cos (ωe t ) v = Vp sin (ωe t )
- - α - - β

−ωe λq ωe λd
iidd = IIppcos
cosϕθi R L (a) ⍺-ß Referenceiiq frame
==−−IpIsinsin
ϕθ R L
q p i
+ ωe-λq
− +ωe λ-d
R L iq = − Ip sin ϕ R L
id = Ip cos ϕ
+ v =V
d p
+ +- - +
vq = 0 + +- -
- -
+ + vd = Vp ++ v =0
q
- - - -
-ωe𝝀q ωe𝝀d
id −ω λ
e qø
= I cos = − ω Li
R e qL = ωe p sin ϕi
LI iq ω λ = ω Li =
=e-I d sin ø e d R ω LI
L
e p cos ϕi
p p
-ω+-ω -𝝀q
e𝝀qesin ωe𝝀
+ed d ω 𝝀-
−ω λ
id I=p ecos
id = = − ω
qø ø R e q
Ip cos RL iL =
L ω L
e p I ϕ ωi e=λ d
-I
iq =q -Ip sin=
sin
p ø
ωøe L id
R =
R ωeLLLIp cos ϕ
+ ++ - - d-q
(b) reference +frame. + +- -
vd = Vp vq = 0
f the equivalent- circuits -
+ + + + v =0
vd V
= Vp v =0
- - vd =
d reference framep - - q q q reference frame
d
 id = Ip cos ϕ iq = − Ip sin ϕ
+ +- -
+ +- -

EXAMPLE 1 + +
- -
vd = Vp
+ + vd = Vp
- -
++
- -
vq = 0

+ + -ωe𝝀qe q -ω 𝝀
−ω
i -ω
= e
I λ
-ω𝝀q 𝝀
cos= ø − ωR
e L iL
q =
L ω e L Ip sin ϕ
- - −ω λ
id =d Ip ecos
i = I p qø
cos=ø − RωRL
e qiL =
L idω
=d IL
e p
p I
ep qsin
cos eø ϕ
q R ω λ
iq =qe-Ipdsin
i = -I =ø-ωø-e L
sin
- - d-q reference frame.
+ (b)
p + d-
++ (b)
KVL analysis of the equivalent circuits
KVL analysis of the equivalent circuits + +
+ + vd v=dV= Vp + + v =0
- - vd =
d reference
v = V
d Vp p
frame
d reference
- - framep
Zero- -invq =q 0 q
d
d vd = R id − ωe λq + λ steady state
−ωe λq vd = R id − ωe λq + λd dt d
id = Ip cos ϕ R L dt -ω-ω 𝝀
e𝝀qe q
vd = R IpLcos ϕi-ω+
i=-ω
𝝀ω
= 𝝀I L I sin
R ϕ L L
vd = R Ip cos ϕid + ω I L I sinR ϕ L + - d ed Iqp ep p R
e q iq =
+ - id I=
= p ep p R
iq = 0 0
+- -
vd = Ip (R cos ϕ+ ++- ω- e L sin ϕ) +
vq = R
vd = Ip (R cos ϕ + ωe L sin ϕ)
+ +
( Z )
vd = Vp R+ + v v=d V =ωV L øø + + vq = −
( Z R Z )
+ +
R v v=d V ωVecos
Ldcos ecos
p cos
- - = v =
ø I
øp R - +- ωde L p v v= =V Vsi
vd = Ip R - +- ωde L p Lp Z - - q q p p
vq = I
2
-ωe𝝀q 2 Rω2e+𝝀-ωd(-ω ω L ) -ω-ωe𝝀
𝝀
=(-IsinesinR)ø vdR =
2 e𝝀sin v qe q= I
id =−ω e λqø = −RωeLiLq = ωeLIp sin ϕi R + ω L i = 𝝀
-I ø R L L q
RLIpL L id =d -Ipe sin pq ø R
e q
Ip cos vd =iq I=p -Ip sin idø-I iq -I
= -Icos cos ø
id = p p ø 2 iq = p+ p+- ø-
+ - 2 R+2 + +- +(-ω-e L)
R 2 + (ωe L)
+ + vq = I
+ + + + v =2 0 + +
v2q = -0 vd v=d 0=20vd = Ip R 2 + - ( v
- ωd Ld =
)
0
vq v=q =-V-V
= Ip - R + (ωe L)
vd = Vp e -
- vd - - vq = 0
p

vd = Ip Z
vd = Ip Z
-ω-ω 𝝀
vd = Vp -ω -ω
i 𝝀= 𝝀 0 R L L e𝝀qe q
-ωe𝝀q vd = Vp i =0 R L ω i𝝀d = ed 0qe q R iq =-Ip-Ip -
id = Ip R L iq = 0 id =d 0 R R L L e d iq =
+ +-
+ +- -
+ - + -
+ + v v= V = Vpsinø ø
+ + v v= V =V sinsin
ø ø - d d psin + + v = -V
+ + - d d p p - - vq =q -Vpc
vd = Vp cos ø -
v = V sin ø -
- - q p
 id = Ip cos ϕ iq = − Ip sin ϕ
+ +- -

EXAMPLE 1 + +
- -
vd = Vp ++
- -
vq = 0

-ω 𝝀
-ωe𝝀qe q
id −ω Ipλcos
q ø=ø − R
ωRe L iLq L= ωe L Ip sin ϕ iq ω =λpd-Isin
=øωøe L
+
id I=p ecos
= iqe-I
= p sin
- - - d-q reference frame.
++(b)
KVL analysis of the equivalent circuits
+ + + + v =0
vd V
= Vp v =0
d - - vd =
reference framep - - q q q
d d
Zero in
vd = R id − ωe λq + λd
v
dt q = Riq + ω λ
e d + λq steady state
ωe λd -ωe𝝀qe qdt
-ω 𝝀
iq = Ip sin θi R L vd = R Ip cos ϕid + ω
id I=
= IpL Ip R
e sin
Rϕ L L iq =
iq = 0 0
+ -
p
vq = − RIp sin+ϕ+-+- ωeLIp cos ϕ vq = R
vd = Ip (R cos ϕ + ωe L sin ϕ)
vVeqL= Iøp (ωeL cos ϕ − R sin ϕ) + + vvq==V −
( Z )
+ R+ + v v=d V
=ω cos
cos ø v = V si
vq = 0 vd = Ip R - +- ωde L p p - - q q p p

( Z-ω𝝀e𝝀q Z )
-
i = − I sin ϕ Z R ωeL vq = I
q p
vq = Ip ωeL − R
2
ωe𝝀d R 2 + (ωe L) -ω vq = I
sin ø R R L L e q
ø ø

( Z )
vd = Ip id -I
id = = -Isin i = -I p cos
iq =q -Ip cos
L p p ø ωeRL+ +- -ωeRL
iqω
=λ =ω e Lid = ωe LIp cos ϕi
-Ip sin ø R 2
e d
+ - R + (ωe Lv)q = Ip
2 −
Z vq = I
+ + + + v = -V
- ( vd v=d 0=20 v =q -V
R2 + e L) vq = 0
+ vd = Ip -ω - - q v =p 0
vq = 0 q
-
vd = Ip Z
-ω-ω 𝝀
vd = Vp id 0= 0 LL e𝝀qe q iq =
-Ip-Ip
id = RR iq =
ωe𝝀d + +- -
iq = 0 R L
+ - + + v v= V + + v = -V
= Vpsin
ø ø
- d d psin v =q -Vpc
- - - q
+
v = V sin ø
Question 4 EXAMPLE 2
A 230V, 60Hz, 4-pole, Delta-connected RL load use a resistance of 10 Ω and an inductance of 26.6 mH:
A 230V, 60Hz, 4-pole, Delta-connected RL load: R =10 Ω, L = 26.6 mH:
In steady state, use a dq axis use a+ synchronous reference frame where the d+axis is aligned with the RL delta
In steady
connected state,
load using use
Cosine a- (DO
Parks dq NOT
axisconvert
use the
a synchronous
load to an equivalentreference frame where
- Y connected (star) RL load).
the
This willdbeaxis is aligned
the approach withconnected
used in delta the RL delta connected load using Cosine Parks
machines.
(a) Clearly explaining your approach, draw the dq circuit for the system using the RL load voltages and currents
to define the dq circuit parameters.

a 26.6 m H 26.6 m H
10 Ω
230
id = 16.22 A 10 Ω
Vd = 230+ ×- 2 = 325.27V Cosine parks,
iq = − 16.26 A
+ -d axis
26.6 mH
b +
Vq =
−ωe0
λq = − 10.0 Iq
+ aligned with phase
ωe λd = 10.0 Id a
vd = 325.27 V vq = 0

[Vq] [ωeL ] [iq]

10Ω - Vd R −ωeL id-
230
=
c R
-ωe𝝀q ωe𝝀d

[ 0] [10.0 10.0 ] [iq]

id = Ip cos ø R L id iq = -Ip sin ø R L
(b) vd, vq, id and iq 325.27 10.0 −10.0
= + - + -

d =]Vp [ ωe L= R]0.05[iq] 0.05 [ 325.27

0] - [ q−10.0 10] [iq]
2 = 325.27V + Vd R − ωe L id 325.27 + 10 − 11.55 id
- [vV
Vd = 230 ×
= = v =0
[iq] [−0.05 0.05] [ 0]
, id =>
Vq = 0 q

[ ] [ ] [ ] ]
id id
[ q] 0 d p [ q] i −16.26
0.05 0.05 325.27 16.2216.26
[
=id L =
[ q]
= -ωe𝝀q ωe𝝀d
i i = =>.
I i R iq = 0 R L
−0.05 0.05 −16.26
+ - + -

+ +
vd = Vp cos ø vq = Vp sin ø
- -
Question 4
EXAMPLE 2
A 230V, 60Hz, 4-pole, Delta-connected RL load use a resistance of 10 Ω and an inductance of 26.6 mH:
Asteady
In 230V, state,60Hz,
use a dq4-pole,
axis use a+ Delta-connected RL load:
synchronous reference frame R d=10
where the +axis isΩ, L =with
aligned 26.6 mH:
the RL delta
connected
In steady load state,
using Cosine
use Parks
a dq - (DO NOTuse
axis convert the load to an equivalent
a synchronous - Y connected
reference (star) RLwhere
frame load).
This will be the approach used in delta connected machines.
the d axis is aligned with the RL delta connected load using Cosine Parks
(a) Clearly explaining your approach, draw the dq circuit for the system using the RL load voltages and currents
to define the dq circuit parameters.

a 26.6 m H 26.6 m H
id = 16.26 A 10 Ω iq = − 16.26 A 10 Ω
230 + - + -
26.6 mH
−ωe λq = − 10.0 Iq ωe λd = 10.0 Id
b + +
vd = 325.27 V vq = 0
10Ω - -
230
c
-ωe𝝀q ωe𝝀d
id = Ip cos ø R L iq = -Ip sin ø R L
(b) vd, vq, id and iq + - + -

q] p [ ωe L R[]iq[]iq] [=> [ 0] ] -[[−10.02

0] 10 ] [iq]
Vd R − ωe L id id 10.02 id
[V
Vd = 230 × 2 = 325.27V + 325.27
0.05 0.05 10
+ 325.27
vd = V= = vq = 0
[Vq] [ωe L R ] [iq]
V R −ωe L id - , =
Vq = 0d = −0.05 0.05

[iq[] [−0.05 0.05] [ 0]d p [iq] [−16.26] =

id id

[−16.26]
0.05 0.05 325.27 16.26-ω
ide𝝀q
[i+q]-
= = 16.26 ωe𝝀d
] [ ][ ]
325.27 10.0 −10.0 16.26
i = =>.
I R L iq = 0 R L
=
0 10.0 10.0 −16.26 + -

+ +
vd = Vp cos ø vq = Vp sin ø
- -
(c) Irms Pin, Qin, PF (all calculations should use the dq circuit parameters).
Question 4
EXAMPLE 2 - DQ CALCULATIONS
A 230V, 60Hz, 4-pole, Delta-connected RL load use a resistance of 10 Ω and an inductance of 26.6 mH:
InAsteady
230V,state,60Hz,
use a dq4-pole,
axis use a+ Delta-connected RL load:
synchronous reference frame R d=10
where the +axis isΩ, L =with
aligned 26.6 mH:
the RL delta
connected load using Cosine Parks- (DO NOT convert the load to an equivalent- Y connected (star) RL load).
In steady state, use a dq axis use a synchronous reference frame where
This will be the approach used in delta connected machines.
the d axis is aligned with the RL delta connected load using Cosine Parks
(a) Clearly explaining your approach, draw the dq circuit for the system using the RL load voltages and currents
to define the dq circuit parameters.

a 26.6 m H 26.6 m H
id = 16.26 A 10 Ω iq = − 16.26 A 10 Ω
230 + - + -
26.6 mH
−ωe λq = − 10.0 Iq ωe λd = 10.0 Id
b + +
vd = 325.27 V vq = 0
10Ω - -
230
c
-ωe𝝀q ωe𝝀d
id = Ip cos ø R L 3 iq = -Ip sin ø R L
(b) vd, vqi,d2id+and
iq2 iq Q in + -(id vq − iqvd )
= S = P 2
+ Q 2
3 2 in in in + -
Is = Pin = (id vd + iqvq)

d =]Vp [ ] [ ] - [−10.02 ] [iq]

2 × 2 = 325.27V2 + Vd R − ωe L id3 id 2
3 - , [vV [ ]
Vd = 230 Q = (−i v +325.27
i v ) + 10 = 10.02
7.913 2
+ 7.935
= in
2
q d
=> d q = vq = 0
Vq =16.26
0 2 + 16.262 ω L R i 0 10 kVA
= 11.219
= = (16.26 q× 325.27 +e 0) q
3
2
2 = (16.26 × 325.27 + 0) Pin 7.933
= 7.933 kW id 2 PF = = = 0.707
[−0.05 0.05] [ 0]id = =>. [L−16.26]
i=d 16.26 A0.05 0.05 325.27
[iq] I p [i R
q]
16.26-ω 𝝀q
= e7.933 kVAR Sin 11.219
= = iq = 0 R
ωe𝝀d
L
+ - + -

+ +
vd = Vp cos ø vq = Vp sin ø
- -
(c) Irms Pin, Qin, PF (all calculations should use the dq circuit parameters).
 EXAMPLE 2 - 3-PHASE CALCULATIONS
A 230V, 60Hz, Delta-connected RL load: R =10 Ω, L = 26.6 mH =10.03 Ω: =
> Z = 14.14 Ω

V 230 Pin
Is = = Sin = 3VL Is PF =
Z R + jX Pin = 3VL Is cos ϕ Sin
230 = 3 × 230 × 16.26 × cos 45∘ = 3 × 230 × 16.26 7.933
= = 7.933 kW =
10.0 + 10.0j = 11.219 kVA 11.219
= 11.5 − j11.5
= 0.707
= 16.26∠ − 45 A

id2 + iq2 3
Is = Pin = (id vd + iqvq) 3
Qin = (−iqvd + id vq) Sin = Pin2 + Qin2
2 2 2
3 3 = 7.9332 + 7.9132
16.262 + 16.262 = (16.26 × 325.27 + 0) = 2 (16.26 × 325.27 + 0) = 11.219 kVA
=
2 2 Pin 7.933
= 7.933 kVAR PF = = = 0.707
= 16.26 A = 7.933 kW Sin 11.219