Lecture Notes M.

Kaliamoorthy AP/EEE, PSNACET

3-Phase Induction Machines - Dynamic Modeling Using Reference Frame Theory

Winding arrangement for a 2-pole, 3-phase, wye-connected symmetrical induction

machine is shown in Fig.1. Stator windings are identical, sinusoidally distributed
windings, displaced by120, with Ns equivalent turns and resistance rs. Consider the case
when rotor windings are also three identical sinusoidally distributed windings, displaced
by120, with Nr equivalent turns and resistance rr.

Fig1. 2 pole Three Phase Induction Machine

In abc reference frame, voltage equations can be written as

Vabcs = rs iabcs + pabcs
Vabcr = rr iabcr + pabcr
( f abcs )T = [ f as f bs f cs ], ( f abcr )T = [ f ar f br f cr ]
s: denotes variables and parameters associated with the stator circuits and r: denotes
variables and parameters associated with the rotor circuits.
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET

abcs Ls Lsr iabcs

= ( L ) T Lr iabcr
abcr sr

Where,
1 1 1 1
Lls + Lms Lms
2
Lms
2 Llr + Lmr Lmr
2
Lmr
2
1 1 1 1
L s = Lms Lls + Lms Lms , L r = Lmr Llr + Lmr Lmr
2 2 2 2
1L 1
Lms Lls + Lms 1L 1
Lmr Llr + Lmr
2 ms 2 2 mr 2

Lls and Lms are, respectively, the leakage and magnetizing inductance of the stator
windings. Llr and Lmr are, respectively, the leakage and magnetizing inductance of the
rotor windings.
2 2
cos r cos( r +
3
) cos( r )
3
2 2
L sr = L rs = Lms cos( r ) cos r cos( r + ) ,
3 3
cos( + 2 ) cos( 2 ) cos r
r
3
r
3
Lsr is the amplitude of the mutual inductances between stator and rotor windings. A
majority of induction machines are not equipped with coil-wound rotor windings;
instead, the current flows in copper or aluminum bars which are uniformly distributed
in a common ring at each end of the rotor. This type of rotor is referred to as a
squirrel-cage rotor. Rotor variables can be referred to the stator windings by
appropriate turns ratio.
2
N N N N

iabcr = s Vabcr , abcr
= r iabcr , Vabcr = s abcr , Lms = s Lsr
Ns Nr Nr Nr
2 2
cos r cos( r +
3
) cos( r )
3
2
[Lsr ] = N s [L sr ] = Lms cos( r 2 ) cos r cos( r + ) ,
Nr 3 3
cos( + 2 ) cos( 2 ) cos r
r
3
r
3
Also,
2 2
N
Lmr = r Lms , [Lr ] = N r [L r ]
Ns Ns
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET

1 1
Llr + Lmr
2
Lms Lms
2

[Lr ] = 1 Lms Llr + Lms
1
Lms
2 2
1L
1
Lms Llr + Lms
2 ms 2
Where,
2
N
Llr = s Llr
Nr
Flux linkage may be expressed as
abcs L s Lsr iabcs
= ( L ) T
Lr iabcr
abcr sr

Voltage equations expressed in terms of machine variables referred to the stator windings
may be written as
Vabcs rs + pL s pLsr iabcs
V = p (L )T
rr + pLr iabcr
abcr sr

Where,
2
N
rr = s rr
Nr
Energy stored in the coupling field may be written as

1
Wc = W f = (iabcs )T (L s L ls I )iabcs +
2
1
+ (iabcr
(iabcs )T (L sr )iabcr )T (Lr Llr I )iabcr

2
Where, I: identity matrix

Voltage equations expressed in terms of machine variables referred to the stator windings
may be written as
P Wc (i j , r )
Te (i j , r ) =
2 r
Since Ls and Lr are functions of r, the above equation for the electromagnetic torque
yields.
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET

p
Te = ( )(iabcs )T [Lsr ]iabcr

2 r
1 1 1 1 1 1
ibr
ias (iar icr ) + ibs (ibr
iar icr ) + ics (icr
ibr
iar
) sin r
P 2 2 2 2 2 2
= Lms
2 3
+ 2 [ias (ibr icr ) + ibs (icr iar ) + ics (iar ibr )]cos r

The torque and rotor speed are related by

2
Te = J pr + TL
P
Equations of Transformation for Rotor Circuit

In the analysis of induction machines it is desirable to transform the variables associated

with the symmetrical rotor windings to the arbitrary reference frame.

2 2
f qd 0 r = K r f abcr
cos cos(
3
) cos( + )
3
[ ]
( f qd 0 r )T = f qr f dr f 0r 2
K r = sin
2
sin( ) sin( +
2
),
)T = [ f ar f br f cr ]
( f abcr 3 3 3
1 1 1
2 2 2
where, =-r from figure below

Fig. 2. Axis of 2-pole, 3-phase Symmetrical machine.

t
r = r (t )dt + r (0)
0
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET

cos sin 1

(K r )1 = cos( 2 ) sin( 2 ) 1
3 3
cos( + 2 2
) sin( + ) 1
3 3

r subscript indicates the variable, parameters and transformation associated with

rotating circuits.

Voltage Equations in Arbitrary Reference Frame Variables

For two-pole, 3-phase symmetrical induction,

Vabcs = rs iabcs + pabcs abcs = (Ls )iabcs + (Lsr )iabcr

Vabcs = K sVqd 0 s , iabcs = K s iqd 0 s
+ pabcr
= rriabcr = (Lsr ) iabcs + (Lr )iabcr = K rVqd 0 r , iabcr
= K r iqd 0 s
T
Vabcr abcr Vabcr

Using the above transformation equations, we can transform the voltage equations to an
arbitrary reference frame rotating at speed of .

Vqd 0 s = rs iqd 0 s + qds + pqd 0 s

Vqd 0 r = rriqd 0 r + ( r )qdr
+ pqd
0r

where, (qds )T = ds [ qs ] )T = dr
0 , (qdr [ qr 0 ]
Flux linkage equations in abc reference frame can be transformed to qd axes using Ks and
Kr transformation matrices.

qd 0 s K s L s (K s )1 K s Lsr (K r )1 iqd 0 s
=
0 r K r Lsr (K s )1 K r Lr (K r )1 iqd
qd 0 r

Where

Lls + M 0 0
= 0 0 , M = Lms
3
K s L s (K s )
1
Lls + M
2
0 0 Lls + M

Llr + M 0 0
= 0 0 , M = Lms
3
K r Lr (K r )
1
Llr + M
2
0 0 Llr + M
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET

M 0 0
K s Lsr (K r ) = K r (Lsr ) (K s ) = 0 M 0
1 T 1

0 0 M
Voltage equations written in expanded form can be expressed as

Vqs = rs iqs + ds + pqs Vqr = rriqr + ( r )dr + pqr

Vds = rs ids qs + pds , Vdr = rridr ( r )qr + pdr
V0 s = rs i0 s + p0 s V0r = rri0 r + p0r
Flux linkage equations are
qr = Llr iqr + M (iqs + iqr )
qs = Lls iqs + M (iqs + iqr )
dr = Llr idr + M (ids + idr )
ds = Lls ids + M (ids + idr )
0r = Llr i0 r
0 s = Lls i0 s

Since machine and power system parameters are nearly always given in ohms or percent
or per unit of a base impedance, it is convenient to express the voltage and flux linkage
equations in terms of reactances rather than inductances.
Let
= b
Then

Vqs = rs iqs +

ds + p qs Vqr = rriqr +
( r ) qr +
p
b b b
dr

p
Vds = rs ids qs + ds , Vdr = rridr
( r ) + p
b b b b
qr dr

p p
V0 s = rs i0 s + 0s V0r = rri0 r + 0 r
b b
And flux linkages become flux linkages per second with the units of volts.

qs = X ls iqs + X m (iqs + iqr ) qr = X lr iqr + X m (iqs + iqr )

ds = X ls ids + X m (ids + idr ), dr = X lr idr + X m (ids + idr )
0 s = X ls i0 s 0 r = X lr i0 r
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET

Equivalent circuits of a 3-phase, symmetrical induction machine with rotating q-d axis at
speed of .

Equivalent circuits of a 3-phase, symmetrical induction machine with rotating q-d axis at
speed of .

Equivalent circuits of a 3-phase, symmetrical induction machine with rotating q-d axis at
speed of .
Lecture Notes M.Kaliamoorthy AP/EEE, PSNACET

Electromagnetic torque in terms of arbitrary reference frame variables may be obtained

by substituting the equations of transformation in

Te =
P
(iabcs )T (Lsr )iabcr

2 r
P
=
2
[
(K s ) 1 iqd 0 s ]
T

r
(Lsr )(K r ) 1iqd 0r
After some work, we will have the following:

3 P
ids iqr
Te = M (iqs idr )
2 2

Where, Te is positive for motor action. Other expressions for the electromagnetic torque
of an induction machine are

3 P
Te = (qr idr dr iqr )
2 2

3 P
Tem = (ds iqs qs ids )
2 2

3 P 1
Te = ( qr idr dr iqr )
2 2 b