Hafta - 3 - 4

1
Outline
Introduction
Three-phase Dynamic Model
Space Phasors of Motor Variables
Three-phase to Two-phase Transformation (Stationary)
Two-phase (Stationary) Dynamic Model (in dsqs frame)
Two-phase Dynamic Model in Arbitrary Rotating Frame (in dq frame)
Voltage equations
Torque equation
Commonly-used Induction Motor Models
Stationary (Stator) Reference Frame Model
Rotor Reference Frame Model
Synchronously Rotating Reference Frame Model
Equations in Flux Linkages
References
2
Introduction
Per phase equivalent circuit model only useful for analysing IM
performance in steady-state
all transients neglected during load and frequency variations
used in scalar control drives which do not require good transient
response
example: drive systems for fans, blowers, compressors
Dynamic model used to observe dynamic (steady-state and transient)
behaviour of IM since:
Considers instantaneous effects of varying:
Voltages and currents
Stator frequency
Torque disturbances
machine is part of the feedback loop elements to control the dynamics
of the drive system
High performance drive control schemes are based on dynamic model of
IM
3
Introduction
Dynamic model complex due to magnetic coupling
between stator phases and rotor phases
Coupling coefficients vary with rotor position and
rotor position vary with time
Dynamic behavior of IM can be described by
differential equations with time varying coefficients
Complexity of dynamic model can be reduced by
employing space vector equations
4
IM consists of three-phase
windings spaced at 120
Magnetic axis apart
of phase B ibs Model windings using
a simplified equivalent stator
winding located on the
b magnetic axis of each
c phase.
Magnetic axis
of phase A
b ias
c
ics Simplified
a
equivalent
Magnetic axis stator winding
of phase C
5
Similar model is applied stator, b
to represent the rotor
windings
Rotor rotates at speed r rotor, a
r
rotor, b
Rotor phase a winding stator, a
displaced from stator
phase a winding by rotor, c
angle r
stator, c
6
Voltage equation for each stator phase:
vas Rs ias d as dt
vbs Rs ibs d bs dt
vcs Rs ics d cs dt
Similarly, voltage equation for each rotor phase:
var Rr' iar d ar dt
vbr Rr' ibr d br dt
vcr Rr' icr d cr dt
These equations can be written in a compact form.
7
Stator voltage equation (compact form):
vabcs Rs iabcs d abcs dt (1)
Rotor voltage equation (compact form):
d abcr dt
(2)
vabcr R i '
r abcr
where:
vas ias as var iar ar
v abcs vbs , i abcs ibs , abcs bs , v abcr vbr , i abcr ibr , abcr br
vcs ics cs vcr icr cr
abcs = stator flux linkage (flux linking stator windings )

abcr = rotor flux linkage (flux that links rotor windings)
8
The displacements between 3 phase stator (rotor) windings
are non-quadrature (i.e. not 90)
Magnetic coupling exists between the 3 stator (or rotor)
phases, i.e. the flux linkage each stator (or rotor) phase is sum
of:
fluxes produced by the winding itself
fluxes produced from the other two stator (or rotor) windings
fluxes produced by all three rotor (or stator) windings
Example: Flux linkage for stator phase a is sum of:
Fluxes produced by stator phase a winding itself
Fluxes produced by stator phase b and stator phase c
Fluxes produced by rotor phase a, b and c
9
In general, the stator flux linkage vector:
abcs abcs,s abcs,r (3)
Las Labs Lacs ias Las,ar Las,br Las,cr iar

abcs,s Labs Lbs Lbcs ibs abcs,r Lbs,ar Lbs,br Lbs,cr ibr
Lacs Lbcs Lcs ics Lcs ,ar Lcs ,br Lcs ,cr icr
Flux linking stator winding Flux linking stator winding

due to stator currents due to rotor currents
10
In general, the rotor flux linkage vector:
abcr abcr,r abcr,s (4)
Lar Labr Lacr iar Lar,as Lar,bs Lar,cs ias

abcr,r Labr Lbr Lbcr ibr abcr,s Lbr,as Lbr,bs Lbr,cs ibs
Lacr Lbcr Lcr icr Lcr ,as Lcr ,bs Lcr ,cs ics
Flux linking rotor winding Flux linking rotor winding

due to rotor currents due to stator currents
11
Self inductances in (3) and (4) consists of magnetising
inductance and leakage inductance:
For stator: Las Lbs Lcs Lms Lls Stator leakage inductances
For rotor: Lar Lbr Lcr Lms Llr Rotor leakage inductances
Due to symmetry in windings, mutual inductances between

stator phases in (3)(and rotor phases in (4)) can be written in
terms of magnetising inductances:
Note:
L L
L ms L ls ms ms Subsrcipt s is
i
as
2 2 replaced with
L
i bs
L ms r for rotor
abcs,s ms L ms L ls

phase leakage
2 2
L ms L ms i cs inductances,
L ms L ls currents and
2 2 flux linkage
12
Mutual inductances between the stator and rotor windings
depends on rotor position r:
cos r

cos r 2
3

cos r 2
3
i
i
ar
Nr
abcs,r L ms cos r 2 cos r cos r 2 br
3 3
Ns

cos r 2 3 3
cos 2
r cos r i cr
cos r cos 2
cos r 2 i
r 3 3
i
as
Nr
abcr ,s L ms cos r 2 cos r cos r 2 bs
3 3
Ns

cos r 2 3
cos 2
r 3
cos r i cs
13
Equations (1) (4):
completely describe dynamic characteristics of 3-phase IM
consists of 6 equations (3 for stator and 3 for rotor), i.e.
large number of equations
all equations are coupled to one another
Magnetic coupling complicates dynamic model in 3-
phase!
Better to develop model based on space phasors:
reduces number of equations
eliminates magnetic coupling between phases
14
Space Phasors of Motor Variables
If xa, xb, and xc are the 3-phase IM quantities, whereby:
xa x cos t

xb x cos t 2
3

xc x cos t 4
3
The space phasor in the 3-phase system is obtained from the
vectorial sum of the 3-phase quantities, i.e.:
2 j

2 4
j 2
x xa xb e xc e xa axb a 2 xc
3 3
(5)
3 3
, where a = ej2/3
x is called the space phasor or complex space vector
15
Three-phase to Two-phase
Transformation (Stationary)
Any three-phase machine can be represented by an
equivalent two-phase machine using Parks
transformation
Two-phase equivalent
Three-phase
easier way to obtain
dynamics of IM
There is magnetic There is NO magnetic

coupling between coupling between phases
phases (due to 90 angle between
phases)
16
Dynamic model of IM usually obtained using the two-phase
equivalent machine
stator, qs
stator, b
r rotor,
r rotating rotor, rotating
rotor, b rotor, a
r
r
stator, a
stator, ds
Three-phase Two-phase equivalent

rotor, c
stator, c
17
All 3-phase system quantities have to be transformed
to 2-phase system quantities
Equivalence between the two systems is based on the
equality of mmf produced and current magnitudes,
i.e.:
MMF produced by 2-phase system = MMF of 3-phase
system
current magnitude of 2-phase system = current of 3-phase
system
The use of space phasors enables the transformations
from 3-phase to 2-phase system.
18
In the stationary 2-phase system, the space phasor is defined
as :
x xds j xqs (6)
The space phasor in the 2-phase system must equal that in the
3-phase system.
Hence, by comparing (5) and (6):
2

2 1
x Rex Re xa axb a xc xa xb xc
s
d
2 1
3 3 2 2
2

1
x Imx Im xa axb a xc
s
q
2
xb xc
3 3
19
The abc dsqs transformation is given by:
xds 23 13 13 xa
s (7)
x
q 0 1
3
13 xb
xo 13 13 1
3 xc

Zero-sequence
components, which
may or may not be
present.
Under balanced conditions, the zero-sequence component
adds to zero, i.e.:
xo xa xb xc 0
20
Assuming balanced conditions, the abc dsqs
transformation:
xsdq Tabcxabc (8)
The inverse transform (dsqs abc transformation) is given by:
1 s
xabc Tabc xdq
(9)
where:
1 0
1 0 0
Tabc 1 1 1
Tabc 12 23 (10)
0 3 3 12 23
21
Transformation equations (8) and (9) apply to all 3-phase
quantities of the IM (i.e. voltages, current and flux linkages)
Transformation matrices (Tabc and Tabc-1) given by (10) causes
the space phasor magnitude to be equal to peak value of the
phase quantities, i.e.:
x x
This is one of many abc dsqs and dsqs abc transformation
matrices in literature, eg.:
space phasor magnitude to be equal to 1.5 times peak value of the
phase quantities ( x 1.5 x )
space phasor magnitude to be equal to rms value of the phase
quantities ( x x 2 )
22
SPACE VECTORS
Space vector representation of the mmf distribution in an AC machine created by balanced
positive-sequence three-phase sinusoidal currents.
Each of the ABC (RGB) space vectors pulsates along its respective axis.
The resultant vector (in black), of 1.5 magnitude, rotates at the excitation frequency.
Source:
http://www.ece.umn.edu/us
ers/riaz/animations/listanim
ations.html
23
SPACE VECTORS
This animation shows the motion of space vectors for the case of a balanced three-
phase sinusoidal signal: fA = cos(t), fB = cos(t-), fC = cos(t+) where = 2/3.
The corresponding space vector is obtained from fR = (fA + fB + 2 fC) = ejt where = ej.
Source:
http://www.ece.umn.edu/users/riaz/animations/listanimati
24
ons.html
Two-phase (Stationary) Dynamic
Model (in dsqs frame)
From the three-phase dynamic model (eq. 1 and 2):
vabcs Rs i abcs d abcs dt
vabcr Rr' i abcr d abcr dt stator, qs
Applying the transformation given by (8):

v s
sdq Ri s
s sdq dt
d s
sdq rotor,
r rotor,
rotating
v r Rr' i r d dt
r
r
Note:
stator, ds
dsqs stator equivalent two-phase winding
- rotor equivalent two-phase winding
27
stator, qs
The rotor winding rotates at
a speed r
rotor,
r
Hence, need to transform the rotor, rotating
rotor quantities from the to

the stationary dsqs frame. r
qs
stator, ds
xr
r

r Bring all rotor and stator quantities to be
ds
on the same axis!
28
Model - dsqs frame transform qs

On the frame:
xr
xr x r xr j xr r

xr
r xr
ds
On the dsqs frame: qs
xr x rdq
s
xrds j xrqs xr
r
The angle between the two xrqs
frames is r
r
ds
xrds
29
Model - dsqs frame transform qs
Therefore:
xr
xrds xr cos r xr sin r r
r
xrqs xr sin r xr cos r
xr
r xr
ds
xrds cos r sin r xr
s (11)
xrq sin r cos r xr qs
More elegantly : xr
r
e j r x r
s (12)
x rdq xrqs
(full derivation dsqs
r
frame transform) ds
xrds
30
Two-phase dynamic model:

v ssdq Rs i ssdq d ssdq dt

v r Rr' i r d r dt Expressed in rotating frame
To transform rotor quantities from the dsqs frame,

from equation (12):
v r e j r v rdq
s
, i r e j r i rdq
s
, r e j r rdq
s
Substituting these into the rotor voltage equation above..
31
Hence:
v r Rr' i r d r dt Expressed in rotating frame
e j r v rdq
s

Rr' e j r i rdq
s
d e dt
j r s
rdq
s
v rdq Rr' i rdq
s s

d rdq dt j r
s Expressed in
rdq
stationary frame
Therefore, the two-phase dynamic model in the
stationary dsqs frame:
v ssdq Rs i ssdq d ssdq dt (13)

vsrdq Rr' i srdq d srdq dt jr srdq (14)
32
The flux linkages in (13) and (14) are given by:
ssdq Ls i ssdq Lmi srdq (15)
srdq Lmi ssdq L'r i srdq (16)

where Ls Lm Lls and L'r Lm L'lr
Note that equations (13)-(16) each consists of two equations.
One from equating real quantities
One from equating imaginary quantities
Final dynamic equations in the stationary dsqs frame is given
by substituting (15) and (16) into (13) and (14) and separating
the real and imaginary equations.
33
Final dynamic equations in the stationary dsqs frame:
vsds Rs SLs 0 SLm 0
sd
i s
s s
vsq 0 Rs SLs 0 SLm isq
s (17)
vrds SLm r Lm Rr ' SL'r r Lr ird
'
s ' s
vrq r Lm SLm r L'r Rr ' SLr irq
Lm = mutual inductance
Lr = rotor self inductances referred to stator
Rr = rotor resistance referred to stator
Ls = stator self inductance
vrd, vrq, ird, irq are the rotor voltages and currents referred to stator
S = derivative operator
34
Example 2 Dynamic Model
of Induction Motor in dsqs frame
The induction motor from the Example 1 has the
following additional parameters:
Parameter Symbol Value
Rated torque Te,rat 183 Nm
Stator resistance Rs 0.294
Stator self Ls 0.0424 H
inductance
Referred rotor Rr 0.156
resistance
Referred rotor self Lr 0.0417 H
inductance
Mutual inductance Lm 0.041 H
35
Example 2 - Dynamic Model
of Induction Motor in dsqs frame (contd.)
Using the values of stator and rotor currents obtained in
the Example 1 , calculate the stator flux s and rotor flux
r vectors at time t = 0.
Given that
Te
3P
22

*
Im is s 3 P Lm
2 2 Lr'

*
Im is r
3P
22
Lm Imis ir
*
Calculate the torque produced by the motor using:

Stator flux s and stator current Is vector
Rotor flux r and stator current Is vector
Stator current Is and rotor current Ir vector
36
SPACE VECTOR DECOMPOSITION
Space vectors under balanced
sinusoidal conditions, appears
as constant amplitude vectors
rotating at the excitation
frequency (2f).
In the stationary dsqs ( in

the diagram) frame:
dsqs components are
time varying sinusoidal
signals at stator frequency
(2f)
Source:
http://www.ece.umn.edu/users/riaz/animatio
ns/listanimations.html
37
If we want the Induction
Motor to behave like a DC
motor, the two-phase
components must be constant
values.
This can be achieved by

having a two-phase frame
that rotates together with the
space vector.
A rotating dq frame!
Source:
http://www.ece.umn.edu/users/riaz/animatio
38
Two-phase Dynamic Model in Arbitrary
Rotating Frame (in dq frame)
The dq referance frame is rotated
at an arbitrary speed g
On the dsqs frame: q qs
x x dq
s
xds j xqs x
g
On the dq frame:
x x dq xd j xq xqs d
g
ds
xds
The angle between the two
frames is g where:
g g t
39
Two-phase Dynamic Model
in Arbitrary Rotating Frame
(dsqs dq frame transform)
Therefore:
xd xds cos g xq sin g
s
q qs
xqs xq xds sin g xqs cos g

x
g
g
xd cos g sin g xds

d
s (18)
xd g xq xq sin g cos g xq
ds
xds
More elegantly :
j g
xdq e s
xdq (19)
(full derivation dsqs dq

frame transform)
40
Hence, space vectors in the q qs
stationary dsqs frame will have to

x
be transformed into the rotating g
dq frame using:
xqs d
j g
x e
s
dq xdq (20) g
ds
xds
Equation (20) will have to be
xd cos g sin g xds
employed onto equations (13)
(16) to obtain the IM dynamic xq sin g cos g xqs
model in the rotating dq frame. j g
x dq e s
x dq (Note : g g t )
41
Subst. (20) into (13), stator voltage equation:

v ssdq Rs i ssdq d ssdq dt Expressed in stationary frame
e
j g

v sdq Rs e
j g

i sdq d e
j g

sdq dt
v sdq Rs i sdq d sdq dt j g sdq (21)
Expressed in
arbitrary rotating
Subst. (20) into (14), rotor voltage equation: frame
s
v rdq s

Rr' i ssdq d rdq
dt jr rdq
s Expressed in stationary
frame
j
j j
j
e g v rdq Rr' e g i sdq d e g rdq dt jr e g rdq

v rdq Rr i rdq d rdq dt j g r rdq
'

(22)
Expressed in
arbitrary
rotating frame
42
Subst. (20) into the flux linkages equations of (15) and (16):
Stator flux linkage: sdq Ls i sdq Lm i rdq (23)
Rotor flux linkage: rdq Lmi sdq L'r i rdq (24)
Airgap flux linkage: odq Lmi sdq Lmi rdq (25)
where Ls Lm Lls and L'r Lm L'lr
43
Note that equations (21)-(25) each consists of two equations.
One from equating real quantities
One from equating imaginary quantities
Final dynamic equations in the arbitrary rotating dq frame is
given by substituting (23)-(24) into the (21)-(22) and
separating the real and imaginary equations.
Final dynamic equations in the arbitrary dq frame:
vsd Rs SLs g Ls SLm g Lm isd

vsq g Ls Rs SLs g Lm SLm isq
vrd SLm ( g r ) Lm Rr ' SL'r ( g r ) L'r ird

vrq ( g r ) Lm ( g r ) L'r Rr ' SLr irq
'
SLm
(26) 44
Torque equation in the arbitrary dq frame:
Product of voltage and current conjugate space vectors:
vs is*
2
3

v as av bs a 2v cs
2
3

ias a 2i bs aics
It can be shown that for ias + ibs + ics = 0,
2
Re v i v as ias v bs i bs v csics
*
s s
3
Input power to the IM:
3
2

Pin vasias vbsibs vcs ics Re vs is*
45
Input power to the IM:

Pin vasias vbsibs vcs ics Re vs is*
3
2
3
2
3
2
3
Pin Re vs is* Re (v d jvq )(id jiq ) v d id v q iq
2

v d i d 3 t
If v and i P
i then: in 2 i v
v q q
46
The IM equation given by (26) can be written as:
v Ri LS i Gr i F g i
Note that the matrices:
[R] = consists of resistive elements
[L] = consists of coefficients of the derivative operator S
[G] = consists of coefficients of the electrical rotor speed r
[F] = consists of coefficients of the reference frame speed g
47
Hence, the input power is given by:
3 t
2
3 t
2

Pin i v i Ri i t LSi i t G r i i t F g i
Power
Rate of change Power
Losses in
of stored associated
winding Mechanical with upon
magnetic g
resistance power
energy expansion
gives zero
48
The mechanical power is most important:
mTe i G r i
3 t
Pmech
2
By observing equation (26), [G] consists of terms associated
with r :
vsd Rs SLs 0 SLm 0 isd


'
SLm
49
Therefore, mechanical power:
mTe i G r i
3 t
Pmech
2
t
isd 0

3 isq 0
mTe
2 ird Lmisq Lr irq r
'

irq
m sd
L i L '
r rd
i
G i
50
t
isd 0

3 isq 0
Pmech mTe
2 ird Lmisq Lr irq r
'

Lmisd Lr ird
'
irq
Since m = r / (P/2), hence the electromagnetic torque:
Lm isqird isd irq

3P
Te (27)
22
51
Rotating Frame (in dq frame) - Summary
Final dynamic equations in the arbitrary dq frame:
vsd Rs SLs g Ls SLm g Lm isd

vsq g Ls Rs SLs g Lm SLm isq

'
SLm
(26)
Lm isqird isd irq

3P
Te (27)
22
52
Commonly-used Induction Motor Models -
Stationary (Stator) Reference Frame
Speed of reference frame: g 0 (28)
Dynamic model in the stationary reference frame:
vsds Rs SLs 0 SLm 0
sd
i s
s s
s (29)
vrds SLm r Lm Rr ' SL '
r Lr ird
'
s ' s
r
vrq r Lm SLm r L'r Rr ' SLr irq

Torque equation in the stationary reference frame:
Te
3P
22
s s
Lm isq
ird isd
s s
irq (30)
53
Assuming balanced conditions, vsds, vsqs, isds, isqs can be
obtained from:
s
x dq Tabcx abc (31)
The inverse transform is given by:
1 s
x abc Tabcx dq (32)
where:
1 0
1 0 0
Tabc 1 1 and
1
Tabc 12 23 (33)
0 3 3 12 23
vrds, vrqs, irds, irqs obtained from transforming vabcr vr vrdqs
using equations (31), (32), (33) and (11)
54
Stationary (Stator) Reference Frame
This model is used when:
stator variables are required to be actual (i.e. same as in the actual
machine stator)
rotor variables can be fictitious
Allows elegant simulation of stator-controlled induction motor
drives
phase-controlled and inverter-controlled IM drives (i.e. this IM
model is used for variable voltage control at constant frequency)
Input variables are well defined and can be used to find vsd and
vsq easily
Reduce computations leading to real-time control applications
55
Rotor Reference Frame
Speed of reference frame: g r (34)
Dynamic model in the rotor reference frame:
vsdr Rs SLs r Ls SLm r Lm isdr
r r
vsq r Ls Rs SLs r Lm SLm isq
r (35)
vrdr SLm 0 Rr ' SLr 0 ird
r r
vrq 0 SLm 0 Rr ' SLr irq
Torque equation in the rotor reference frame:
Te
3P
22
r r
Lm isq
ird isd
r r
irq (36)
56
Two-phase Transformation (from stationary
stator dsqs frame to rotor drqr frame)
Assuming balanced conditions, vsdr, vsqr, isdr, isqr can be obtained from
vsds, vsqs, isds, isqs using:
xsdr cos r sin r xsds
r s (37)
xsq sin r cos r xsq
xsds cos r sin r xsdr (38)

s
xsq sin r cos r xsqr
Note: vsds, vsqs, isds, isqs can be obtained from vabcs and iabcs using (31),
(32) and (33)
Note : r r t
57
Rotor Reference Frame
vrdr, vrqr, irdr, irqr obtained from transforming vabcr
vrdqr using equations (31), (32) and (33)
This model is used when:
Switching elements and power are controlled on
the rotor side
Example: for simulations of slip-energy recovery
scheme
58
Synchronously Rotating Reference Frame
Speed of reference frame: g s (39)
Dynamic model in the synchronously rotating frame:
vsd Rs SLs s Ls SLm s Lm isd

i
vsq g Ls Rs SLs g Lm SLm sq
vrd SLm (s r ) Lm Rr ' SLr (s r ) Lr ird

vrq (s r ) Lm SLm (s r ) Lr Rr ' SLr irq
(40)
Torque equation in the synchronously rotating frame:
Te
3P
22

Lm isqird isd irq (41)
59
Two-phase Transformation (from stationary stator
dsqs frame to synchronously rotating dq frame)
Assuming balanced conditions, vsd, vsq, isd, isq can be obtained from
vsds, vsqs, isds, isqs using:
xsd cos s sin s xsds
s (42)
xsq sin s cos s xsq
xsds cos s sin s xsd

s (43)
xsq sin s cos s xsq
Note: vsds, vsqs, isds, isqs can be obtained from vabcs and iabcs using (31),
(32) and (33)
Note : s s t
60
Synchronously Rotating Reference Frame
vrd, vrq, ird, irq obtained from transforming vabcr vr
vrdqs vrdq using equations (31), (32), (33), (11)
and (42)
Synchronous reference frame:
transforms sinusoidal inputs into dc signals
provides decoupled torque and flux channels
Hence, IM control similar to separately excited DC
motor achieved by employing vector control schemes
61
Space vectors under balanced
sinusoidal conditions, appears as
constant amplitude vectors
rotating at the excitation
frequency (2f).
In the stationary (dsqs) frame:

(dsqs) components are time
varying sinusoidal signals at
stator frequency (2f)
In the rotating synchronous dq

frame:
dq components are constant
values depend on the
orientation of the space vectors Source:
with respect to the dq axes. http://www.ece.umn.edu/users/riaz/animatio
62
Equations in Flux Linkages
All dynamic equations presented are consists of 4 variables,
i.e. vsdq, vrdq, isdq and irdq
Note that in squirrel-cage IM: vrdq = 0 at all times
If the equations are required to contain flux linkages (i.e.
either sdq, rdq or odq), the dynamic model can be obtained
by substituting irdq using the following equations respectively:
sdq Ls i sdq Lmi rdq (23)
rdq Lmi sdq L'r i rdq (24)
odq Lmi sdq Lmi rdq (25)
63
References
Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
Bose, B. K., Modern Power Electronics and AC drives, Prentice-
Hall, New Jersey, 2002.
64
s
dq s frame transform
xrds xr cos r xr sin r
qs
xrqs xr sin r xr cos r
xrqs
xr
r x r xrds j xrqs
r

xr cos r xr sin r

jxr sin r xr cos r

xr r xr
ds
xrds
xr j xr cos r j sin r
s
xrdq xr e j r
Back
65
s
dq s dq frame transform
xd xds cos g xqs sin g
q qs xq xds sin g xqs cos g

xqs x xd j xq
x
xds cos g xqs sin g
g
g
j xds sin g xqs cos g

d
xd g xq
xds j xqs cos g j sin g

ds
xds
j g
x dq x e
s
dq where g g t
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Hafta - 3 - 4

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Hafta - 3 - 4

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1

abcs = stator flux linkage (flux linking stator windings )

abcs abcs,s abcs,r (3)

Las Labs Lacs ias Las,ar Las,br Las,cr iar

Flux linking stator winding Flux linking stator winding

abcr abcr,r abcr,s (4)

Lar Labr Lacr iar Lar,as Lar,bs Lar,cs ias

Flux linking rotor winding Flux linking rotor winding

Due to symmetry in windings, mutual inductances between

There is magnetic There is NO magnetic

Three-phase Two-phase equivalent

Applying the transformation given by (8):

rotor quantities from the to

The angle between the two xrqs

To transform rotor quantities from the dsqs frame,

Substituting these into the rotor voltage equation above..

srdq Lmi ssdq L'r i srdq (16)

Calculate the torque produced by the motor using:

In the stationary dsqs ( in

This can be achieved by

xqs xq xds sin g xqs cos g

(full derivation dsqs dq

stationary dsqs frame will have to

Rotor flux linkage: rdq Lmi sdq L'r i rdq (24)

Airgap flux linkage: odq Lmi sdq Lmi rdq (25)

where Ls Lm Lls and L'r Lm L'lr

Lm isqird isd irq

Lm isqird isd irq

vrq r Lm SLm r L'r Rr ' SLr irq

xsds cos r sin r xsdr (38)

vsd Rs SLs s Ls SLm s Lm isd

xsds cos s sin s xsd

In the stationary (dsqs) frame:

In the rotating synchronous dq

rdq Lmi sdq L'r i rdq (24)

odq Lmi sdq Lmi rdq (25)

jxr sin r xr cos r

q qs xq xds sin g xqs cos g

j xds sin g xqs cos g

xds j xqs cos g j sin g

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