Graphically

β=240−θr

Since rules is behind of ¨c¨ axis; then the angle is negative.

For phase ¨c¨ −( 240−θ r)

Ld+ Lq Ld−Lq
LC s= + cos 2 ( θ r−240 ) +¿
2 2
Ld+ Lq Ld−Lq
LC s= + cos ( 2θ r−480 ) +¿
2 2
Ld+ Lq Ld−Lq
LC s= + cos 2 ( θ r−120 ) +¿
2 2
The self-inductance of stator
Las , Lbs , Lcs ⇒the vary respect the position of therotor .
Las is maximum whenθ r=0; that means the rotor is aligned with ¨ a ¨ axis .

¿ minimumθ r=90.

The self-inductance of the rotor independent of rotor angle

Because the rotor always see the same as gap in each position of the rotor.
Lf =L Lf + Lmf

L Lf =leakage inductance .

Lmf =magnetizing inducatnce of the field .

Determining mutual inductance in the stator

We had solved the mutual inductance for two coils in the stator considering a separation of ¨S¨ degrees.
η=Ld∗cos ( θ r )∗cos ( δ−θ r )−Lq sin ( θ r )∗sin ( δ −θr )

Then for a 3 phase machine we have 3 mutual inductances for phases a-b.
Π ab=Π ba
Π bc=Π cb
Π ca=Π ac
Π ab ⇒ We have same expression since we had solved considering this .
Π ab ⇒ Ld∗cos ( θr )∗cos ( 120−θr )−Lq sin ( θr )∗sin ( 120−θr ) ;

cos ( a+b ) +cos (a−b)

cos a∗cos b=
2
 cos ( θr +120−θr ) + cos ( θr −120+θr ) cos ( θr −120+θr )−cos ( θr +120−θr )
Π ab ⇒ Ld [ 2 ] [ −Lq
2 ]
cos ( a−b )−cos (a+ b)
sin a∗sin b=
2
Ld Lq
Π ab= cos 120+cos ( 2 θr −120 ) ) − ( cos ( 2θ r−120 )−cos (120 ))
2 ( 2
−1
cos 120=
2
−Ld La Ld−Lq
Π ab= − + cos ( 2θ r−120 )
4 4 2
Ld−Lq Ld + Lq
Π ab= cos ( 2 θr −120 )−
2 4

Determining between a−c Π ab

The rotor position is in the same location, the we need to consider an angle  of 240

δ =240

Substituting the new value of 

Π ab ⇒ Ld∗cos ( θr )∗cos ( 240−θr )−Lq sin ( θr )∗sin ( 240−θr ) ;

The we have the same relation; then we have

Ld Lq
Π ab= ( cos 240+cos ( 2 θr −240 ) ) − ( cos ( 2 θr −240 )−cos 240 )
2 2
−1
cos 240=
2
−Ld Lq Ld−Lq
Π ab= − + cos ( 2 θr −240 )
4 4 2
Ld−Lq Ld + Lq
Π ab= cos ( 2 θr −240 ) −
2 4
For Phases Band C

Axis rotor is behind of b and c axis; then the angle will be negative.

S=120∘

θr =axis rotor∧¨ a ¨ axisnow , we are working as reference b ; thenthe space of θr is represented as 120 ∘−θr ; consider

Π=Ld∗cos ( θr )∗cos ( δ−θr )−Lq sin ( θr )∗sin ( δ−θr ) ;

Πbc=Ld∗cos ( θ r−120 )∗cos ( 120−θr +120 )−Lq sin ( θ r−120 )∗sin ( 120−θr +120 ) ;

Πbc=Ld ¿
Ld
¿ ¿
2
Ld
¿ ¿
2
1
cos 120= cos ( 2 θr −360 )=cos 2θ r
2
Ld −Lq Ld + Lq
¿ cos ( 2θr −360 ) −
2 4
Ld −Lq Ld+ Lq
¿ cos ( 2θr )−
2 4

Πaf
Inductance between stator∧rotor . Πbf
Πcf ( )
¿ 120−θ r

β=240−θr

We have a salient pole rotor

rotating
The field generated by the color is a DC field, which rotates witch the rotor he flux generated by the rotor will
be maximum the n is aligned with a; a medida que se mueve el flujo se reduce a; y asi susesivamente.

Por lo tanto, la inductancia mutual es máxima mientras el rotor se alinea con una fase del estator, a medida
que rota va cambiando el flujo; por tanto, la inductancia, teniendo este comportamiento Π sr∗cos θ r

Then we have
Π af =Π sr∗cos θr

Π bc=Π sr∗cos (120−θ r)

Π ca=Π cf∗cos (240−θr )

Lecture 32: Modelling of salient pole synchro nouns machine.

We have some deductions for inductance in synchro nouns machine

We are following the motor convention, where the wrent

rents to the machine las is entering
Stator
U as=rs∗las+ ρ∗ψ as

U bs=rs∗lbs+ ρ∗ψ bs

U cs =rs∗lcs+ ρ∗ψ cs

Rotor
We have a one winding, which is called field winding; and it is along the rotor axis.
f f f
V =V f ∗l + p ψ

Motor Convention

Current is entering to the stator 3 phase winding

In both convention field current is entering to the field winding

If we want to analyze as generator we need to use Inis

Generator Convention
Current is going out from the stator.
U as=rs∗las+ ρ∗ψ as U as=−rs∗las+ ρ∗ψ as
U bs=rs∗lbs+ ρ∗ψ bs U bs=−rs∗lbs+ ρ∗ψ bs
U cs =rs∗lcs+ ρ∗ψ cs U cs =−rs∗lcs+ ρ∗ψ cs
V f =V f ∗l f + p ψ f V f =V f ∗l f + p ψ f

Normally the analysis is done and motor convention axis

Damper bars; cuando la maquina sale de sincronismo se induce un voltaje en las barras; se induce únicamente
cuando las barras rota ≠ Ws, este voltaje permite la circulación de corriente en las barras causando a mmF.

Then we need to model this effect in the synchronous machine considering that there are two coil, one in the
¨d axis¨, but they are shorted, since the damper bars are shorted.
Winding which is shorted
If we want to have a more accurate description, we should add more shorted winding.
Sufficient with 1one coil in ¨d¨ and ¨q¨ axis.
At steady state, rotor is rotating at ws; and there is not induced voltage in the damper bars.
For our analysis, we will neglect these coils, then we don’t consider the damper bars. In the description of the
synchronous machine.
Then, the electrical equation for synchronous machine without considering the dampers bars.
Natural reference frame.

U as Vs 0 0 0 l as l as

[ ][
U bs = 0 V s
U cs
Uf

Matrix L
0 0
0 0
0 0
Vs 0
0 Vf
][ ] []
= l bs + p [ ¿ ]
l cs
lf
l bs
l cs
lf

Ld + Lq Ld−Lq ϕ 1=2 ϕr −120 ϕ 2=2 ϕr −240

LA= Lb =
2 2

−L A −L A

[ ]
L f + L A + L B cos 2θr + Lb cos θ 1 + Lbcos θ 2 Π sr cos θr
2 2
−L A −L A
+ Lb cos θ 1 L f + L A + LB cos θ 2 + Lb cos 2 θr Π sr cos (120−θr )
L= 2 2
−L A −L A
+ Lb cos θ 2 + Lb cos 2 θr Lf + L A + L B cos θ 1 Π sr cos (240−θr )
2 2
Π sr cos θr Π sr cos(120−θr) Π sr cos( 240−θr ) Lf + Lmf

The matrix L is result of the above solved equations

Ld+ Lq Ld−Lq
Las = + cos 2θr + L 1=L A + L B cos 2θr + L 1
2 2
 Ld+ Lq Ld−Lq
Lbs = + cos(2 θr−240)+ L1=L A + LB cos θ 2+ L 1
2 2
Ld + Lq Ld−Lq
Lcs = + cos (2θr −120)+ L 1=L A + L B cos θ 1+ L 1
2 2

−Ld + Lq Ld−Lq −L A
Π ab= + cos ( 2 θr−120 )= + LB cos θ 1
4 2 2

−Ld+ Lq Ld−Lq −L A
Π ac = + cos ( 2θr−24 0 )= + LB cos θ 2
4 2 2

−Ld+ Lq Ld−Lq −L A
Π bc = + cos 2θr= + LB cos 2 θ 2
4 2 2
Π af =Π sr cos θr

Π bf =Π sr cos(120−θr)

Π cf =Π sr cos ( 240−θr )

In oder to fact late calculation, we can transform in synchronous reference frame

Since the rotor is rotating at ws
We need to transform these equations
Transforming the 3 currents in 2 phase system and also

−1 −1

[ ][ ]
1
2 2
i ds cos θr sin θr 0 i

[][
i qs = −sin θr cos θr 0
i as ⏟ 0 0
Transforming
1
2
3
0
1
]√ √3
2
1
−√ 3 as
2
1
ibs stationary 2 phase reference frame ¿ ¿
i cs
¿synchronous √2 ⏟ √2 √2
reference frame
transfortmation ¿
¿

[ ldq 0 ]=[ C ] [ iabc ]

s

C= A∗B
We know that our system considers the field component when we can create a matrix

D= [ C0 01]
I ds I as

[] []
I qs
I as
I fs
=
C 0 I bs
[ ]
0 1 I cs
I fs
 dq 0

[ ] ∫ 1 = [ D ] [ if abc ]
dq 0

We know that the electrical equation are

[ V f abc ] =[ r ] [ if abc ] + p [ L ] [ if abc ]

Then transforming to dqo
dq0
f −1
[ i abc ]= D ∗ ∫ 1 dq 0 ,( Rotor ∧stator )¿ ¿
⏟ dq0
all istransformed ¿
¿

The same can be applied for voltage

dq 0

[V f
abc ] =D ∗
−1
[∫ ] ∫
dq 0
1 ; ¿V

Then for main equation 1

dq 0 dq 0 dq0
D
−1
[ ]
∫ 1 =[ r ]∗[ D ]∗
dq 0
−1
[ ]
∫ 1 + p [ L ]∗D ∗
dq 0
−1
[∫ ] ∫
dq0
1 ; ¿V

D−1=D T ⇒Ortogonal ¿
dq 0 dq 0 dq 0
D
T
[∫ ]
dq 0
1 =[ r ]∗[ D
−1
[ ] −1
]∗ ∫ 1 + p [ L ]∗D
dq 0
∗
[∫ ] ∫
dq 0
1 ; ¿V

We have solved these in other examples, then the solution is given by.

3 3 3
√
] [ ][√ ][ ][ ]
L fs + Ld 0 0 Π 0 − Lfs − Ld 0 0
U ds Vs 0 0 0 l ds 2 2 sr i ds 2

[ ][U qs = 0 V s
U as
Uf
0 0
0 0
0 0
Vs 0
0 Vf
l
= qs +
l as
lf 3
0
0
Π
2 sr
0
0
3
Lfs + Lq
2
0
Lfs 0
0

0 Lfs + l mf
P i qs + L fs + 3 Ld
i as
if
⏟
0
0
2
0 0
0 0
0 0
3

0
0
Π
2 sr √
ids

-
[]
Speed ¿ iqs ∗W s ¿
i as
if

Field coil is located in ¨d¨ axis.

3
Lfs + Ld ⟶ direct axis synchronouns inductance=Lds
2
⏟
mangnetizing

3
Lfs + Lq ⟶ quadrature axis synch inductance=Lqs
2
The torque is calculated G  speed matrix

T e =I T ∗GI

3
Solving we have ⟶ T =i ds∗i qs [ Lds−Lqs ] +i f ∗
√ 2
∗Π sr∗i qs

Solving

(−L − 32 L )∗L
[ ]
fs q qs

T e =[ Lds Lqs Lqs Lf ] L fs + 3 Ld∗i ds + √3 Π sr∗I f

2 2
0
0

3 3 3
T e =−Lfs − Lq Lds Lqs + Lfs + Ld Lds Lqs + √ Π sr ∗I f∗I qs
⏟ 2 ⏟ 2 2
3 L ds
L qs=L fs+ Lq
2

3
T e =Lds Lqs ( Lds−Lqs ) + √ Π sr∗I f ∗I qs
2
For fully cylindrical rotor we have Lds = Lqs

T e= L L ( L −L )
⏟ds qs ds qs
salieng torque
Thistorque is produced even without √ 3 Π ∗ I f ∗I
exhalation∈ field∧it occurs + sr qs ¿
2
⏟
at synchronous speed
Produced byfield current
¿ ¿exhalation current onthe stator
Thiscomponent isextremely higher ¿
than saliencytorque
¿

In conclusion comparing salient pole can generate more torque than cylindrical rotor due to its own saliency
torque, a salient rotor machine could lake more load.
Similar to the case of induction machine we could change the variables, and we will use flux linkage (s) this
is useful for control purposes.
We could define ds

ψ ds=Lds∗ids + Lmd∗i f ⟶ a 90° no hay flujo magnetico

f
ψ qs=Lqs∗i qs + L
⏟ md∗i ⟶ el devanado de campo soloesta en el ¨ d axis ¨
0
Analyzing the 3 phase system we have

−1 −1

[ ]
1
2 2
l ds cos θr sin θr 0

[] [
⏟l as ⏟ 0 0
he permits bechanged a ¿
1 ]
l qs = −sin θr cos θr 0 synchronous reference frame ¿ ¿
2
3
0
1
√ √3
2
1
√ 3 3 ∅ ¿ machine α , β machine ¿ ¿
2
1
Represent
2 ∅ phase
¿ √2 ⏟ √2 √2 Repre
ph
windings
It permits change ¿
¿

When we transform from 3 phase to 2 phase ,  the relation between winding is defined as

N 2 phase 3
N 3 phase
=
2 √
When we go from , , 0 to q, d, p; the relationship is the same. (the number of turns is the same).

3
The winding is
√ 2
the 3 ϕ phase winding

While in the rotor; we maintain the same number of turns in the winding.
However, we should refer the rotor turns to the stator since all variables are in the stator.
Referring the rotor turns in the synchronous reference frame seen by the stator.
f'
I
⏟ stator winding¿ ¿∗N r' =I f ∗N r
Variable refered the ¿
¿

Nr 3
N3ϕ
⏟
=
2
Refiriendose
√
alestator

3
I⏟f '
This preservthe
same mmf
∗
√ 2
∗N 3 ϕ =I f∗N r

3
If =
I f '∗
√
2
NR
∗N 3 ϕ

N r =Actual turns of the rotor aplingsfor voltages

Vf' Vf
=
Nr N r
'

Vf' Vf
=
3 Nr
√ 2
∗N 3 ϕ
' '

SubtituingV f ∧I f ⟶ we will find the behavior of the machine seen by the stator .

V f '∗N r 2
Vf=
N 3ϕ
∗
3 √
3
if =
√
i f '∗
2
Nr
∗N 3 ϕ

Then the equation can be defined as

3
√
][ ] [ ][
U ds l ds L ds 0 0 Π l ds 0 −

[ ][ ][
Vs 0 0 0 2 sr
U qs l qs l qs
Vs 0 0 0
U as = 0 = l as + Lqs 0 0 P l as + Lfs + 3 Ld
0 0 Vs 0 0 2
V f '∗N r f'
2 i ∗N 3 ϕ 3 0 Lfs 0 i f '∗N 3 ϕ 3
N3ϕ
∗
3 √
0 0 0 Vf
Nr √ √
∗
2
3
Π
2 sr
0 0 Lfs +l mf Nr √ ∗
2
⏟
0
0

-
[
Speed ¿
i
f

3
Solving this equations  multiplying the right side by √ 2
∗N 3 ϕ
Nr
of Vf we could reduce.

Lecture 33.- Modelling of salient Pole synchronous machine part

Historically the main field was related with at axis; and q axis is 90 degrees.
Electrical modelling equations: 1.- were used for control applications, 2.- induction machine.