Dynamic modeling of electrical machines

Lecture 6 - contents

Modeling of IM in an arbitrary reference-frame

Dynamic modeling of electrical machines

Modeling of IM in an arbitrary reference-frame

Reference frame definition - mapping the synchronous
machine to the induction machine
b

d
r

q
c

An arbitrary rotating reference frame (qd0):

ar

as

as-axis

ar
d

d
cr

bs

cs
br

as
r

q
bs

cr
cs

br
2

Dynamic modeling of electrical machines

Stator self-inductance matrix

ar

as

cr
bs

cs

Lms
Lms

L
L

ls ms
2
2 ias
ias
as
Lms
L i Lms L L
ibs

ls
ms
bs s bs
2
2
ics
ics L
cs
L
ms
ms Lls Lms

2
2

br

Learned from lecture 3 how the inductances are

determined

Observation of these two values

Dynamic modeling of electrical machines

Rotor self-inductance matrix

ar

as

cr
bs

cs

Lmr
Lmr

L
L

lr mr
2
2 iar
iar
ar
Lmr
L i Lmr L L
ibr

lr
mr
br r br
2
2
icr
icr L
cr
L
mr
mr Llr Lmr

2
2

br

Stator and rotor self-inductances are position independent

Stator and rotor self-inductance matrices have the similar form
2

It could be expected that

N
Lmr s Lms
Nr

Dynamic modeling of electrical machines

Rotor to stator mutual inductance matrix

ar

as

cr
bs

cs
br

2
2

cos

cos

cos

r
r
r

3
3
iar

asr

iar
2

L i M cos 2

cos

cos

ibr

bsr
sr
br
sr
r
r
r



3
3

csr

icr
icr
2

cos cos
cosr
r
r 3

Flux-axis, the phase with current for

producing that flux linkage

From stator to rotor:

j 2 j 2
e 3 e 3
2

M sr Re 2 Re 2 M sr cos r

3
jr j

e 3 e 3

j r 2 j r 2
e 3 e 3
2

M sr Re 2 Re 2 M sr cos r

3
j jr

e 3 e 3

Rotor phase b axis

Stator phase c axis

rs L rs i abcs L sr T i abcs
5

Dynamic modeling of electrical machines

Transform the stator flux linkage to an arbitrary qd0 system

ar

as

abcs L s i abcs L sr i abcr

cr
bs

qd 0 s K s L s K s 1 i qd 0 s K s L sr K r 1 i qd 0 r

cs
br

cos

2
K s sin
3
1

2
2

cos
cos

3
3

2
2

sin
sin

3
3

1
1

2
2

cos

2
K r sin
3
1

2
2

cos
cos

3
3

2
2

sin
sin

3
3

1
1

2
2

K 1s

cos

cos

3

cos
3

K 1r

cos

cos

3

cos
3

sin
2

sin
3

sin
3

sin
2

sin
3

sin
3

1
1

Dynamic modeling of electrical machines

Transform the stator flux linkage to an arbitrary qd0 system

3
2 Msr

1
Lsrqd0 K s Lsr K r 0

0
0
Lls 2 Lms

3
Lsqd0 K s Ls K s 1
0
Lls Lms 0
2

0
0
L

ls

Define

qd 0 s

Lls L m

0

i' j

3
Lms Lm
2

0
Lls L m
0

M sr

0
3
M sr
2
0

Ns
2
Lms Lm
Nr
3

0
Lm
0 i qd 0 s 0
0
Lls

0
Lm
0

Nr
i j , j qr , dr ,0r , ar , br , cr
Ns

Nr

i qr

0 N s

N
0 r i dr
N

0 N s
r

i0 r
N s

Dynamic modeling of electrical machines

Transform the rotor flux linkage to an arbitrary qd0 system

abcr L r i abcr L sr T i abcs
qd 0 r K r L r K r 1 i qd 0 r K r L sr T K s 1 i qd 0 s

qd 0 r

L
Lmr

lr

0
Llr

3
Lmr
2
0

'
s
Define j N j
r

3
0
2 M sr

0 i qd 0 r 0

Llr
0

u' j

N
2
Lmr s Lms Lm ,
3
Nr

' qd 0 r

L'lr Lm

0
0

M sr

Ns
uj
Nr

0
3
M sr
2
0

j qr , dr ,0r , ar , br , cr

Ns
2
Lms Lm
Nr
3

0
L'lr Lm
0

0 i qd 0 s

0
Lm
'
0 i qd 0 r 0
0
L'lr

N
i j r ij
Ns
'

0
Lm
0

N
L'lr Llr s
Nr

0
0 i qd 0 s
0
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Dynamic modeling of electrical machines

Transform the voltage equations to an arbitrary qd0 system

According to the slide P11-12, lecture 4, the stator voltage equations
0 1 0qs
uqs Rs 0 0 iqs qs
u 0 R 0 i p 1 0 0
s
ds
ds ds
ds
0 0 00s
u0s 0 0 Rs i0s 0s

Similarly, the rotor voltage equations would be

ar

as

cr
bs

cs
br

'
u'qr R'r 0 0 i'qr 'qr
0 1 0qr
'
' '
1 0 0'
'

u
R
i
p

0
0

dr
r
dr
dr

r
dr
u'0r 0 0 R'r i'0r '0r
0 0 0'0r

Why?

Dynamic modeling of electrical machines

Advanced notes
Another method - Using the vectors instead of the matrices
Please refer to Vector control and dynamics of AC machines
By D.W. Novotny, and T.A. Lipo, pp43~61
ar
u abcs

uas
2
d
1 2 ubs Rs i abcs Lls Lm i abcs Lm i abcr e j r
3
dt
ucs

abcs Lls Lm i abcs Lm i abcr e

j r

i abcs i qds e j ,

abcs qds e j ,

i abcr i qdr e j

qds Lls Lm i qds Lm i abcr e j Lls Lm i qds Lm i qdr

cr
cs
br

f qd f q jf d
No zero component involved
in the qd vectors!

d
Lls Lm i abcs Lm i abcr e jr
dt
d
d
Rs i qds Lls Lm i qds Lm i qdr e j Lls Lm i abcs Lm i abcr e j r
dt
dt
d
Rs i qds qds j qds
dt

bs

u abcs u qds e j ,

u qds Rs i qds e j

as

10

Dynamic modeling of electrical machines

Advanced notes
Another method - Using the vectors instead of the matrices
For the rotor side equations
'

u abcr

u ' ar
ar
'
'

2
d
1 2 u 'br R ' r i abcr L'ls Lm i abcr Lm i abcs e j r

3
dt
u 'cr
q

abcr L'lr Lm i abcr Lm i abcs e j

'

'

'

cr
bs

'

qdr L lr Lm i qdr Lm i qds

'

as

cs
br

'

'

'

R ' r i qdr
'

'
d '
L ls Lm i abcr Lm i abcs e j r

dt
j
'
d
de
L'ls L i ' abcr L i abcs e j r
L'ls Lm i qdr Lm i qds
m
m

dt
dt

u qdr R ' r i qdr e j

R ' r i qdr

'
d '
qdr j r qdr
dt

It is not recommended to apply this method to the synchronous motor!

11

Dynamic modeling of electrical machines

Exercises
Use the obtained induction machine qd model, please give
the machine equations when the q-axis of the rotating qd reference frame
is aligned with the rotor flux vector.
What the machine equations will be when in afa-beta reference frame?

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