Synchronous Machines: Two-Axis Model

SYNCHRONOUS MACHINES
Two-axis model
d
u
f
u
f
i
d
i
D
i
Q
i
q
u
q
i
d
q
d
q
Q
D
f
Synchronous machines
8 MW diesel-generator 270 MVA turbo-generator
Rotor windings
Field winding Damping bar Field winding Damping bar
A PM machine with 30 poles and 36 slots
+
-
-
+
-
+
+
-
+
-
-
+
-
+
+
-
+
-
-
+
-
+
+
-
q = 2/5
= +
= + +
= +
= +
= +
d
d
d
d
d
d
d
0
d
d
0
d
d
d s d q
q
q s q d
f
f f f
D
D D
Q
Q Q
u R i
t
u R i
t
u R i
t
R i
t
R i
t
= + +
= + +
= + +
= +
= +
d d d df f dD D
f df d f f fD D
D dD d fD f D D
q q q qQ Q
Q qQ q Q Q
L i L i L i
L i L i L i
L i L i L i
L i L i
L i L i
Voltage, flux-linkage and motion equations
( )
e

= +
3 d
2 d
d
d
q q m d d
J
p i i T
p t
t
Rotor frame of reference
Space-vector model for induction motor
Rotor frame of reference
Voltage and flux linkage
The axes in the rotor frame of reference denoted by d and q
= + +
= +

d
j
d
d
d
r
s
r r r
s s s s
r
r
r r
r r r
u R i
t
u R i
t
= +
= +

r r r
s s m r
s
r r r
m s r r
r
L i L i
L i L i
= +
= +

j
j
r
s sd sq
r
r rd rq
i i i
i i i
= +
= + +
= +
= +
d
d
d
d
d
d
d
d
sd
sd s sd sq
sq
sq s sq sd
rd
rd r rd
rq
rq r rq
u R i
t
u R i
t
u R i
t
u R i
t
= +
= +
= +
= +
sd s sd m rd
sq s sq m rq
rd m sd r rd
rq m sq r rq
L i L i
L i L i
L i L i
L i L i
i s
d
i s
d
u
s
d
u
s
d
i s
q
i s
q
u
s
q
u
s
q q
d
|
o
( )
=
3
2
e sd sq sq sd
T p i i
Load angle
e =
d
dt
o
e e =
d
d
s
t
is replaced by
where the load angle o is the angle
between the excitation voltage vector
u
p
(on q-axis) and stator voltage
vector u
r
s
o
o
=
sin
cos
d s
q s
u u
u u
For synchronous machines, the position angle of the rotor is defined
differently from the angle typically used for induction machine analysis
d
q
r
s
u
p
u
o
Assumption
where L
md
is the direct-axis magnetising inductance
Direct-axis equivalent circuit
df dD fD md
L L L L = = =
= +
= +
= +
d
d
d
d
d
0
d
d
d s d q
f
f f f
D
D D
u R i
t
u R i
t
R i
t
( )
( )
( )
d d d md d f D
f f f md d f D
D D D md d f D
L i L i i i
L i L i i i
L i L i i i
o
o
o
= + + +
= + + +
= + + +
( )
( )
( )
d d
d d
d
d
d d
d d
0
d d
d
d s d q d md d f D
f
f f f f md d f D
D
D D D md d f D
i
u R i L L i i i
t t
i
u R i L L i i i
t t
i
R i L L i i i
t t
o
o
o
e
= + + + +
= + + + +
= + + + +
Direct-axis equivalent circuit

d
i
d
d
d
t
d
d
md
L
t
o
d
d
D
L
t
o
d
d
f
L
t
D
R
f
R
+ +
d D f
i i i
D
i
f
i
o
d
d
d
L
t
f
u
( )
( )
( )
d d
d d
d
d
d d
d d
0
d d
d
d s d q d md d f D
f
f f f f md d f D
D
D D D md d f D
i
u R i L L i i i
t t
i
u R i L L i i i
t t
i
R i L L i i i
t t
o
o
o
e
= + + + +
= + + + +
= + + + +
More accurate equivalent circuit for direct axis

Assumption
where L
md
is the direct-axis magnetising inductance
d
i
d
d
d
t
d
d
md
L
t
o
d
d
D
L
t
o
d
d
f
L
t
D
R
f
R
+ +
d D f
i i i
D
i
f
i
o
d
d
d
L
t
f
u
o
d
d
k
L
t
= = <
df dD md fD
L L L L
Quadrature-axis equivalent circuit
Notation
where L
mq
is the quadrature-axis magnetising inductance
=
qQ mq
L L
= + +
= +
d
d
d
0
d
q
q s q d
Q
Q Q
u R i
t
R i
t
( )
( )
q q q mq q Q
Q Q Q mq q Q
L i L i i
L i L i i
o
o
= + +
= + +
( )
( )
d
d
d d
d
d
0
d d
q
q s q d q mq q Q
Q
Q Q Q mq q Q
i
u R i L L i i
t t
i
R i L L i i
t t
o
o
e
= + + + +
= + + +
Quadrature-axis equivalent circuit

q
i
d
d
q
t
d
d
mq
L
t
o
d
d
Q
L
t
Q
R
+
q Q
i i
Q
i
o
d
d
q
L
t
( )
( )
d
d
d d
d
d
0
d d
q
q s q d q mq q Q
Q
Q Q Q mq q Q
i
u R i L L i i
t t
i
R i L L i i
t t
o
o
e
= + + + +
= + + +
Notations and abbreviations

Leakage factors and other abbreviations
o
o
o
o
=
=
=
=
2
2
2
2
1
1
1
1
df
df
d f
dD
dD
d D
fD
fD
f D
qQ
qQ
q Q
L
L L
L
L L
L
L L
L
L L
=
=
1
1
df fD
f
dD f
dD fD
D
D df
L L
L L
L L
L L
Synchronous machine in steady state
Steady state => a) Space vectors are constants in the rotor frame
of reference
= + =
= + =

j constant
j constant
r
s d q
r
s d q
u u u
i i i
b) The time-derivatives of flux linkages vanish
= =
d
d
0
d d
q
d
t t
c) The currents of the damper windings are zero
= = 0
D Q
i i
Space-vector diagram for
a synchronous generator

r
s
i
r
s
u
p
u
e
df f
L i
e
q q
L i
e j
d d
L i
e j
r
s

r
s s
R i
f
i
d
q
r
s
o
d
i
q
i
( )

j
r
d q s
L L i e

j
r
q s
L i e
e
e
= +
s q d d
q s q d
f f f
u R i
u R i
u R i
= +
d d d df f
q q q
L i L i
L i
e e
e
= + +
= =

j
j j
r r
s s s q q p d d
p p df f
u R i L i L i u
u u L i
( )
( )
o
o
= +
= +
sin
cos
s d
q s
i i
i i
Electromagnetic torque
( ) ( )

(
= = +

3 3
2 2
e q q q q q d d d d df f
T p i i p L L i i L i i
Neglecting the stator resistance
o e
o e
= =
= = +
sin
cos
s q q d
q s p d d
u u L i
u u L i u
o
e
o
e
cos
sin
s p
d
d
s
q
q
u u
i
L
u
i
L
=>
( )( )
o o
o
e e
o o
e
(

(
=
(

(
| |
= + (
|
|
(
\ .

2 2
2

cos sin
sin
3
2

3 1 1
sin sin2
2 2
q s p s d
p s
e
q q d
s p
s
q d d
L L u u u
u u
T p
L L L
u u
p u
X X X
Operator inductances of synchronous machine
Laplace transformation of the voltage and flux-linkage equations
| |
= +
|
\ .
| |
= +
|
\ .
| |
= +
|
\ .
| |
= + +
|
\ .
| |
= +
|
\ .
0
0
0
0
0
0
0
d
s q d d d
f
f f f f
D
D D D
q
q s q q d
Q
Q Q Q
u R i s
s
u R i s
s
R i s
s
u R i s
s
R i s
s
= + +
= + +
= + +
= +
= +
d d d df f dD D
f df d f f fD D
D dD d fD f D D
q q q qQ Q
Q qQ q Q Q
L i L i L i
L i L i L i
L i L i L i
L i L i
L i L i
( (

( (
(
( (
(
( (
=
(
( (
(
( (
(

( (

( (

0 0
0 0
0 0
d d
d d
d df dD
f f
f df f fD f
D dD fD
D D
D D
i
i
s s
L L L
i
L L L i
s s
L L L
i
i
s s
The flux differences expressed using the current differences
Typical initial values:
= = =
0
0 0 0
0;
f
D Q f
f
u
i i i
R
( (

( (
(
= ( (
(
( (

( (

0 0
0 0
q q
q q
q qQ
qQ Q
Q Q
Q Q
i
i
L L
s s
L L
i
i
s s
Typical initial values:
= = =
0
0 0 0
0;
f
D Q f
f
u
i i i
R
( (

( (
(
= ( (
(
( (

( (

0 0
0 0
q q
q q
q qQ
qQ Q
Q Q
Q Q
i
i
L L
s s
L L
i
i
s s
We try to express the stator
flux as a function of the
stator current. The rotor
quantities should be
eliminated from the
equations.
Quadrature-axis operator inductance
0
0
0
q
q s q q d
Q
Q Q Q
u R i s
s
R i s
s
| |
= + +
\ .
| |
= +
|
\ .
Laplace transformed
voltage and flux-linkage
equations for the q-axis
Quadrature-axis operator inductance II

| |
= + =
|
\ .
0 0
0 =>
Q Q Q Q
Q Q Q Q
R i
R i s
s s s
| | | |
| |
= + =
| |
|
+
\ .
\ . \ .
0 0
0
=>
q qQ q
Q
Q qQ q Q Q Q q
Q Q
i L s i
L i L i i i
s s R L s s
Voltage equation for the damper winding
Flux-linkage equation for the damper winding
| | | | | | | |
= + =
| | | |
+
\ . \ . \ . \ .
0 0 0 0 q q q qQ q
q q q qQ Q q q qQ q
Q Q
i i L s i
L i L i L i L i
s s s R L s s
=>
Flux-linkage equation for the stator winding
( )
| |
| | | |
= = |
| |
|
+
\ . \ .
\ .
2
0 0 0 q qQ q q
q q q q q
Q Q
L s i i
L i L s i
s R L s s s
Quadrature-axis subtransient inductance
( ) o

| |
= = = = |
|
+
\ .
2 2
''
lim lim
qQ qQ
q q q q qQ q
s s
Q Q Q
L s L
L L s L L L
R L s L
At the beginning of a transient process
o
o o
o
o
= + = +
+
+
''
1
1 1
Q mq
q s s
Q mq
Q mq
L L
L L L
L L
L L
L
q
is called quadrature-axis subtransient inductance
( ) =
+
2
qQ
q q
Q Q
L s
L s L
R L s
Quadrature-axis operational inductance
Quadrature-axis operator inductance III
( )
o
+
= = =
+
+ +
| |
| +
+
|
+
\ .
= = =
+
+ +
+
=
+
2 2
2
2
''
''
0
''
''
''
0
1 1
1
1

1
1 1
1

1
qQ qQ
Q Q
q q
qQ
Q Q Q Q
q q q
Q Q
Q Q
Q Q
qQ
Q
Q
q q
qQ
Q Q
q
Q
q q
Q Q
q
Q Q
q
q
q
L L
L L
s L L s s
L s
R R L R
L s L L
L L
R L s
s s
R R
L
L
L
L L s
s
L R
T s
R
L L
L L
T s
s s
R R
s
T
L
s
T
where
o = = = =
''
'' '' '' ''
0 0 0 0
;
q
Q
q Q q qQ Q Q
Q q
L
L
T T T T T
R L
open-circuit short-circuit
time constant time constant
Quadrature-axis operator inductance IV
( )
+
| |
= = + = + |
|
| | | | | |
\ .
+ + + | | |
| | |
\ . \ . \ .
''
0
'' ''
'' '' ''
1
1 1 1 1 1 1
1 1 1
q
q q q
q q
q q q
s
T
A B
sL s s sL L
L L
s s s s
T T T
An equation needed later for the inverse Laplace transformation
Short circuit at the terminals of a 1 MW
permanent-magnet motor
B
H
r
B
c
H
Magnetic characteristic
of the permanent magnets
Magnetization curve for a NdFeB material
Neorem Magnets Oy http://www.neorem.fi/
-1000
-800
-600
-400
-200
0
200
400
600
800
1000
0 50 100 150 200 250 300 350 400 450 500
Time [ms]
L
i
n
e

v
o
l
t
a
g
e
s

[
V
]

-15000
-10000
-5000
0
5000
10000
15000
0 50 100 150 200 250 300 350 400 450 500
Time [ms]
L
i
n
e

c
u
r
r
e
n
t
s

[
A
]

Line voltage and current in a 3-phase short circuit
-350000
-300000
-250000
-200000
-150000
-100000
-50000
0
50000
100000
0 50 100 150 200 250 300 350 400 450 500
Time [ms]
T
o
r
q
u
e

[
N
m
]

Torque and minimum flux density in permanent magnets
-1.20
-1.00
-0.80
-0.60
-0.40
-0.20
0.00
0.20
0.40
0.60
0 50 100 150 200 250 300 350 400 450 500
Time [ms]
M
i
n
i
m
u
m

f
l
u
x

d
e
n
s
i
t
y

[
T
]

-12000
-10000
-8000
-6000
-4000
-2000
0
2000
4000
6000
8000
10000
0 50 100 150 200 250 300 350 400 450 500
Time [ms]
L
i
n
e

c
u
r
r
e
n
t
s

[
A
]

-1000
-800
-600
-400
-200
0
200
400
600
800
1000
0 50 100 150 200 250 300 350 400 450 500
Time [ms]
L
i
n
e

v
o
l
t
a
g
e
s

[
V
]

Line voltage and current in a 2-phase short circuit
-0.80
-0.60
-0.40
-0.20
0.00
0.20
0.40
0.60
0 50 100 150 200 250 300 350 400 450 500
Time [ms]
M
i
n
i
m
u
m

f
l
u
x

d
e
n
s
i
t
y

[
T
]

-150000
-100000
-50000
0
50000
100000
150000
0 50 100 150 200 250 300 350 400 450 500
Time [ms]
T
o
r
q
u
e

[
N
m
]

Torque and minimum flux density in permanent magnets

Synchronous Machines: Two-Axis Model

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Synchronous Machines: Two-Axis Model

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SYNCHRONOUS MACHINES

Direct-axis equivalent circuit

More accurate equivalent circuit for direct axis

Quadrature-axis equivalent circuit

Notations and abbreviations

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