III-AID-DynamicModells 191205

Automobile und industrielle elektrische Antriebssysteme
Automotive and industrial electric drives
Prof. Dr.-Ing. Peter Firsching – Industrial Drives
III – Dynamic models of electric machines

Rev. 05.12.2019
Synchronised drives for belt or foil production

[www.lenze.de]
Industrial Drives – Prof. Firsching 1

III. Dynamic models of electric machines
Content
1) Modeling of the dynamic behaviour of electric machines
2) Clarke-Park transformation
3) Dynamic model synchronous machines
4) Dynamic model asynchronous machines

Example: DC machine
N N
+ S + S
Theory of operation commutation Equivalent circuit diagram

DC machine

Example: DC machine
Equations
LA d 1
Armature circuit i A (t) + i A (t ) = [u A (t)−e A (t)]
R A dt RA
driving torque M M (t ) = k 2 ϕ(t ) i A (t )
Electromotive force e A (t ) = k 1 ϕ(t ) n(t )
Field excitation ϕ(t) = f (i e (t ))

Example: DC machine - Block diagram (dynamic modell)

ML(t) 1
k2
KA TA 2π J
uA(t) n(t)
iA(t) MM(t) MB(t)
eA(t)
(t)
KE TE k1
uE(t) ϕ= f (i E )

Model of the DC machine as MIMO system

ML(t)
uA(t) n(t)
uE(t) DCM
iA(t)
Generalisation for further machine models

●
Several input signals for electric control (voltage, current, frequency)
● Input signal load torque ML(t)
●
Output signal: speed n(t)

Additional topic – operational diagram (static operation limitation)
speed
Field
weakening
Normal operation
+ nN
M max = M N → P out ∼n
Generator Motor
Field weakening torque
1 Normal Mmin Mmax

P max = P N → M out ∼ operation
n Motor Generator
- nN
Field
weakening

Content

The use of space vectors
Current space vectors Transformation in ab Transformation in dq

coordinates coordinates
[ ]
2π 2π
2 j −j
i s (t) = iα (t ) + j iβ (t) i R = i S (t ) e
− j ϑ (t)
= [ i d + j iq ]
i s (t) = i u (t ) + i v (t ) e 3 + iw (t ) e 3
3
= ̂i e
j ωt

The use of space vectors
i S (t) = i α (t ) + j i β (t ) i R = i S (t ) e− j ϑ (t ) = [ i d + j i q ]
(ϑ (t ) = ω t + ϑ0 )
[ ][ ]
1 1
[ ] [ ][ ]
1 − − i u (t )
[ ]
i d (t) sin ω t i α (t)
i α (t )
=
2 2 2
i v (t) = cos ω t
iβ (t ) 3 1 1 i q (t ) −sin ω t cos ω t i β (t )
0
2
√ 3 − 2 √ 3 i w (t)
Transformation to ab coordinates Transformation to dq coordinates

→ CLARKE transformation → PARK transformation

The use of space vectors – Technical implementation
U U W
CLARKE PARK
transformation block transformation block
[ ]
1 1
1 − − id(t)
iU(t) iV(t) iW(t)

2
3
0
1
2
√
2
1
3 − √3
2
2
[
cos ω t sin ω t
−sin ω t cos ω t ] iq(t)
S
Speed sensor

The use of space vectors – Inverse transformations
Inverse transformation to ab coordinates Inverse transformation to phase current

→ Invese PARK transformation → Inverse CLARKE transformation
][ ]
[ ][ ]
1 0
[ ] [
i α (t )
i β (t)
=
cos ω t −sin ω t i d (t )
sin ω t cos ω t i q (t )
i u (t )
−
i v (t ) = 2
1 √3
2 [ ]
i α (t )
i β (t)
i w (t )
−
1
−
√3
2 2
T= [
cos ω t sin ω t
−sin ω t cos ω t ] → T
−1
=T
T
(Pseudo Inverse of CLARKE

transformation matrix)

Application of space vectors – Technical implementation inverse tranformation

3~
Inverse PARK Inverse CLARKE
transformation block transformation block
Power Supply
[ ]
1 0
Drive
Control
System
[ cos ωt −sin ωt
sin ω t cos ω t ] −
1
2
√3
2
Inverter
control
−
1
−
√3 Inverter
2 2
d/q coordinates ab coordinates UVW components
drive speed M

Representation of the Clarke and Park transformation by signals in time domain
3~ AC system

 - transformation

0 = 0° 0 = 90°
0 = 60° dq – transformation
0 = 30°
with different angles
0

Application of space vectors – Exercise 1
The figure on the right shows a current space

vector i t = ̂i e j ω t in αβ coordinates.
a) Determine absolute value and phase angle of i(t).
b) Determine i and i at the depicted time point
c) Add a dq coordinate system for id = 0 and another

one for id = 1 A.

Application of space vectors – Exercise 2
A permanently excited synchronous machine is operated at a 60 Hz three phase power

supply. The line currents are measured at time point t1. The values are:
iU(t1) = 8 A, iV(t1) = 1,2 A, iW(t1) = -9,2 A.
a) Depict a sketch of the phasor iS(t1).
b) Find the values of the currents i(t1) and i(t1) by applying the Clarke
transformation.
c) Determine the absolute value of the rotating current space vector iS(t1).
d) Show by calculation that i(t1) and i(t1) can be found correctly also if the
measurement of iW fails.
(solution at the end of the document)

Interpretation of iq and id with regard to AC machines
DC machine AC machine
Pointer of the main air Fixed position of the
gap flux => excitation magnetic exciter system
current vector
Fixed position S
of armature x
x x
current x
x
x
x x
dq transformation => two perpenticular

pointers (id and iq) represent the rotating
N
current pointer iR(t)
armature
current vector CONCLUSION
=> torque Interpretation of id: excitation current
Interpretation of iq: „armature current“ => torque

Content

3) Dynamic modell synchronous machines
3.1 Synchronous machine – basics
Stator: three-phase winding connected to a three-phase power supply system
Rotor: Electrically ecxited Salient pole rotor

Next slide
Non Salient pole rotor
(Turbo rotor)
Permanent Magnet Surface mounted
Burried magnets

3) Synchronous machines
Electrically excited Electrically excited

Construction of Stator salient pole machine Non salient pole machine
(Vtu learning -Design of Synchronous Machines) (Wikipedia) (Vtu learning -Design of Synchronous Machine)

„Theory of operation“ of a synchronous machine
Stator:
3~ electric supply of the stator coils causes a rotating
magnetic excitation in the air gap of the synchronous
machine
Rotor:
a constant magnetic excitation (e. g. Permanent magnet)
interacts with the electrically controlled rotating rotor
magnet.
Influence of a mechanic load torque

Between stator and rotor magnet a load dependend
twisting angle occurs. This angle is called load angle δ.

The steady operation of a synchronous machine will be described by an

equivalent circuit diagram and a corresponding phasor diagram.
Example: synchronous motor R1 I1
j XD I1
I1 R1 X1 Xh
U1 
I1
U1 EP EP
U 1 = R1 I 1 + jX D I 1 + E P U1 EP 1
MM =3 sin (δ)
X D 2 π nS
X D = X 1σ + X h

I1 R1 X1 Xh Summary:
●
Equivalent circuit diagram only valid
U1 EP for one phase coil.
●
Phasors only describe time
dependent relations between voltage
R1 I1 and current values in one phase coil.
j XD I1
●
The whole model is only valid in a
steady state.
U1 
I1 Transformation of this model to

EP space vectors

3.2 Modeling of the synchronous machine in rotor coordinates
The space vector description of the synchronous

machine is based on the following assumptions:
a) no eddy currents in the rotor, no damping cage

b) a permanent excited machine (PMSM),
approximately comparable with a salient pole
machine.
c) all inut voltages and currents are sinusoidal
d) induced voltage are free from harmonic
components
The a axis of the ab coordinate system is linked to

the main flux direction of the „u“ coil.
The d axis of the dq coordinate system is linked to

Stator and rotor coordinate system the main flux direction of the rotor excitation.
of a synchronous machine

Current space vector in stator coordinates

2π 2π
j −j
3 3
i s (t ) = i u (t) + i v (t) e + i w (t) e
Voltage space vector in stator coordinates

2π 2π
j −j
3 3
u s (t ) = u u (t ) + u v (t) e + u w (t) e
Voltage space vector related to current space vector

and the space vector of the air gap flux
d
u s (t ) = ⋯ = i s (t) R1 + ψ (t)
Stator and rotor coordinate system dt s
of a synchronous machine (s(t): rotating linked flux vector in stator coordinates)


Also in rotor coordinates the voltage space vector (now uR(t)) can be determined.
Therefore the variation of the air gap flux R(t) must be calculated.
The amplitude of as well as the position of R(t) in relation to the rotor coordinates might
change. Thus the product rule must be applied.
− j ωst d
u R (t) = u S (t ) e = i R (t) R1 + ψ R (t) + j ω s ψ R (t)
dt
Voltage, current and flux phasor can be decomposed in rotor coordinates d and q.
u R (t ) = u d + j u q i R (t ) = i d + j i q ψ R (t ) = ψd + j ψq
Thus two seperate differential equation can be determined
d d
u d = R1 i d + ψd − ω s ψq u q = R1 i q + ψ q + ω s ψd
dt dt
d d
ψd = u d − R 1 i d + ω s ψ q (Eq. 1) ψq = u q − R 1 i q − ω s ψd (Eq. 2)
dt dt

A linked flux can be expressed by the product of an inductance with the current
through the inductance --> ψ= L i
Thus the flux component q depends on the current iq and an inductance Lq on the q-
axis.
ψq = L q i q (Eq. 3)
For a PMSM the flux component d also depends on the current id and an inductance
Ld on the d-axis and additionaly a remanent flux PM of a permanent magnet in the
rotor.
ψd = Ld i d + ψ PM (Eq. 4)

Eq. 1 – 4 can be depicted as two electric equivalent circuit diagrams, comparable to a

DC machine
R1 Ld R1 Lq
ud(t) −ω s Lq i q uq(t) ω s (L d i d + ψ PM )
ω s = ω mech Z p
d d
ud = R1 i d + L d i − ω s Lq i q uq = R 1 i q + L q i + ω s ( L d id + ψ PM )
dt d dt q
excitation Torque producing

current

Finally the mechanical behaviour of the PMSM can be determined by a generalised torque
3
equation Mm= (ψdq x i dq )
2
3
Mm = Z P (ψd i q − ψ q i d ) (Eq. 5)
2
and the calculation of the output speed.
d d ωel (t) 1
d 1 ω mech (t ) = = (M M − M L )
n(t ) = (M M − M L ) (Eq. 6) dt dt Z P J
dt 2π J
With eq. 3 and 4 eq. 5 (MM) can be modified as follows
3 3
Mm= Z P [( Ld i d + Ψ PM ) i q − Lq i q i d ] = ⋯ = Z P [ Ψ PM i q + ( L d − Lq ) i q i d ]
2 2
Reluctant torque → can increase or decrease motor
torque with respect to Ld and Lq

ψd = Ld i d + ψ PM
id > 0 ==> possibly saturation id = 0 ==> normal operation id < 0 ==> field weakening

Final block diagram structure of a PMSM based on eq. 1 - 6
R1
yPM
yd(t) id(t)
1/Ld
ud(t) ML(t)
1
2π J
n(t)
ws 3/2 ZP
MM(t)
yq(t) iq(t)
1/Lq
uq(t)
R1


Additional remarks about id = 0 (!) ==> ψd = ψPM
this part of the block diagram is omitted
-yPM ML(t)
1
ws 2π J
n(t)
3/2 ZP
MM(t)
yq(t) iq(t)
1/Lq
uq(t)
R1

Simplified block diagram for id = 0 (s = 2 Zp n, Ld = Lq = L1)
2 Zp
L1 L1 yPM 1
ML(t)
R1 R 1 y (t)
iq(t) 2π J
q
1/Lq 3/2 Zp
uq(t)
MM(t) n(t)


How to determine Ld and Lq?
d
Case 1: Motor is running with constant speed (ψ r = const → ψ = 0)
dt r
Measurement of id, iq, ud and uq ==>
d ωel !
From eq. 1 ψd = u d − R 1 i d + ω s ψ q = ud − R1 i d + Lq i q = 0
dt ZP
R i − ud
Lq = 1 d
i q ωel / Z P
d ω !
From eq. 2 ψq = uq − R 1 i q − ωs ψd = u q − R1 i q − el ( L d i d + ψPM ) = 0
dt ZP
uq − R1 i q − ψPM ω el / Z P
Ld =
i d ωel / Z P


Case 2: Blocked rotor is aligned with d- or q-axis to one stator phase (*)
(*) Bobek V.: PMSM Electrical parameter measurement, Freescale Semiconductor Application Note 4680


Case 2: Blocked rotor is aligned with d- or q-axis to one stator phase (*)
Ld and Lq can be determined from the current step response function of the phase current.
(*) Bobek V.: PMSM Electrical parameter measurement, Freescale Semiconductor Application Note 4680

Content

4) Induction machines – Asynchronous machine (ASM)
4.1 Theory of operation (review)
Slip ring rotor (wound rotor)
Squirrel cage motor [ABB] The rotor windings are connected through slip
rings to external terminals. Usually the
The solid core of the rotor is built with stacks of windings are short-circuited.
electrical steel laminations. Internally it contains
longitudinal conductive bars (usually made of
aluminum or copper) set into grooves and
connected at both ends by shorting rings forming a
cage-like shape.

The rotor of the ASM is

„slipping“ with respect to the
rotating flux. The so called slip is
defined as relation
ns − n
s=
ns
with: ns synchronous speed
n rotor speed

Equivalent circuit of a slip ring induction motor, comparable to a three-phase tranformer
R1, R2 Coil resistance stator /

rotor
X1, X2 Leakage reactances
X1h, X2h Main reactances
h Air gap main flux
Stator Rotor with short cut at
slip rings
Operating frequencies: Operating frequencies:

- f1 frequency of electric supply - f2 slip frequency of the rotor
- ns synchronous speed -n rotor speed
f1 f2=s f1 n = (1 − s) n s
ns =
ZP

Dependency between stator frequency, rotor frequency and rotor speed
From the two equations on slide 40 it can be calculated
s f1 f f
n = (1 − s) n s = n s − s n s = ns − = 1− 2
ZP ZP Z P
This equation multiplied by 2ϖ Zp yields:
2π ZP n = 2 π f 1 − 2π f 2
ω L = ω1 − ω2 ωL Electrical rotor speed
Based on this equation the necessary coordinate systems for dynamic model of the ASM can
be determined.

Steady-State Equivalent circuit (T-equivalent circuit)
Pull-out torque
rated torque
This kind of equivalent circuit simplifies the electric behaviour of the ASM rotor. It´s the
basis for the calculation of a static torque-speed characteristic. („Formel von Kloss“)
2
ZP Xh R2 ´ s 2 MM 2
MM =⋯=3 U =
2 π f 1 X 1 2 R 2 ´ 2 + (σ X 2 ´ s)2 1 MK s sK
+
sK s

4.2 Stator and Rotor Flux oriented Description of the Induction Motor [G1]
Based on an asynchronous motor with a wound rotor a

model of the dynamic behaviour can be derived.
The initial equation for the model are the differential

equations for stator and rotor voltages
S L
S S d Ψ1 L d Ψ2
L
U = I R1 +
1 1 U = I R2 +
2 2
dt dt
j βL
Ψ 1S = L1 I 1S + M e I 2L
Flux linkage:
− j βL
Ψ 2L = L 2 I 2L + M e I 1S
Slip ring motor with open Mechanical / electrical d βL

Ωm = 2 π n ; Ω L = Z P ΩM =
rotor windings [G1] rotor speed dt
Synchronous speed Ω el = 2 π n s = Ω K
1, 2 Stator resp. Rotor variables
S, L Stator resp. Rotor coordinates Ω 2 = ΩK − Ω L (See also slide 41)

4.2 Stator and Rotor Flux oriented Description of the Induction Motor
By using a rotational transformation and separation of

the space vectors in the so called A- and B-coordinates
of a new rotating coordinate system a signal flow chart
can be derived.
The embedding of
this signal flow
chart into the real
stator and rotor
phase voltages is Slide
shown in the figure 45
beside [G1]:
Wound rotor motor with open

rotor windings [G1]

4.2 Stator and Rotor Flux oriented Des-

cription of the Induction Motor
Final signal flow

chart [G1]

rotor windings [G1]

4.2 Stator and Rotor Flux oriented Des-

cription of the Induction Motor
Final conclusions:
➔Separate description of stator and rotor
➔No unique field orientation
This model is not suitable for a field

oriented description on the ASM
compared to the SM. We need another
coordinate system which can be used
as dq system.

rotor windings [G1]

4.3 Rotor Flux oriented Description of the Induction Motor
Animation dq coordinates induction machine

http://www.servotechnik.de/fachwissen/regelung/f_beitr_00_606.htm

The basic equations for a rotor flux oriented Modeling of the induction motor are: [G6]
d Ψ I (t )
Voltage space vector stator u I (t ) = i I (t ) R1 + + j ωμ Ψ I (t )
dt
d Ψ II (t )
Voltage space vector rotor u II (t ) = i II (t ) R 2 + + j (ωμ − ω m ) Ψ II (t )
dt
Linked stator flux Ψ I (t ) = L1 i I (t ) + L1h i II (t )
Linked rotor flux Ψ II (t ) = L 2 i II (t ) + L1h i I (t )
 rotor flux speed m mechanical speed

R slip frequency speed
it is  = m + R
All space vectors are transformed into a rotor flux oriented rotating coordinate system!

The decomposition of the space

vectors into d- and q-
components yields the equations
for the signal flow chart.

The motor model can be simplified when the phase currents are directly controlled by the
inverter
TL
IE
TM
KT X Kn
IA n
For comparison: DC machine
Current controlled motor model [G6]

Step response of speed and excitation – current controlled Induction Machine

[G6]

i u (t 1) + i v (t 1) + i w (t 1)
jb
-9,2 A
„v“
Solution Exercise Slide 15 (a)
6A
A permanently excited synchronous ma-
chine is operated at a 60 Hz three phase
2
power supply. The line currents are measu- i s (t 1) = (i (t ) + i v (t 1) + i w (t 1))
red at time point t1. The values are: 3 u 1
1,2 A
iU(t1) = 8 A, iV(t1) = 1,2 A, iW(t1) = -9,2 A. , „u“
8A
a) Depict a sketch of the phasor iS(t1).
b) Find the values of the currents i(t1) and

i(t1) by the use of the Clarke transform.
c) Determine the absolute value of the „w“

rotating current space vector iS(t1).
[ ][ ]
1 1
(b) 1 − − 8 A
d) Show by calculation that i(t1) and i(t1)
can be found correctly also if the
measurement of iW fails.
[ ]
i α (t)
i β (t )
=
2
3
0
1
√
2
1
2
1.2 A = ⋯≈
3 − √ 3 −9.2 A
8 A
6 A [ ]
2 2
(c) ∣i (t 1)s ∣ = √ 8 2 + 6 2 A = 10 A
(d) Symmetric load ==> i u (t ) + i v (t) + i w (t ) = 0 → i w (t) = −i u (t ) − −i v (t)

If only two sensors for iu and iv are available another transformation matrix can be determined.
[ ][ ] [ ][
1 1
1 − − i u (t ) 1 0
[ ]
iα ( t )
i β (t )
=
2
3
0
1
2
√
2
1
3 − √3
2
2
i v (t )
−i u (t) − i v (t )
→
[ ]
i α (t )
i β (t )
= ⋯= 1
√(3)
2
√3
]
i u (t )
i v (t )

III-AID-DynamicModells 191205

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

III-AID-DynamicModells 191205

Uploaded by

Copyright:

Available Formats

Automobile und industrielle elektrische Antriebssysteme

Automotive and industrial electric drives

Prof. Dr.-Ing. Peter Firsching – Industrial Drives

III – Dynamic models of electric machines

Synchronised drives for belt or foil production

Industrial Drives – Prof. Firsching 1

1) Modeling of the dynamic behaviour of electric machines

3) Dynamic model synchronous machines

4) Dynamic model asynchronous machines

Industrial Drives – Prof. Firsching 2

1) Modeling of the dynamic behaviour of electric machines

Theory of operation commutation Equivalent circuit diagram

Industrial Drives – Prof. Firsching 3

1) Modeling of the dynamic behaviour of electric machines

Electromotive force e A (t ) = k 1 ϕ(t ) n(t )

Field excitation ϕ(t) = f (i e (t ))

Industrial Drives – Prof. Firsching 4

1) Modeling of the dynamic behaviour of electric machines

Example: DC machine - Block diagram (dynamic modell)

Industrial Drives – Prof. Firsching 5

1) Modeling of the dynamic behaviour of electric machines

Model of the DC machine as MIMO system

Generalisation for further machine models

Industrial Drives – Prof. Firsching 6

1) Modeling of the dynamic behaviour of electric machines

Additional topic – operational diagram (static operation limitation)

Field weakening torque

1 Normal Mmin Mmax

Industrial Drives – Prof. Firsching 7

1) Modeling of the dynamic behaviour of electric machines

3) Dynamic model synchronous machines

4) Dynamic model asynchronous machines

Industrial Drives – Prof. Firsching 8

The use of space vectors

Current space vectors Transformation in ab Transformation in dq

Industrial Drives – Prof. Firsching 9

The use of space vectors

Transformation to ab coordinates Transformation to dq coordinates

Industrial Drives – Prof. Firsching 10

The use of space vectors – Technical implementation

iU(t) iV(t) iW(t)

Industrial Drives – Prof. Firsching 11

The use of space vectors – Inverse transformations

Inverse transformation to ab coordinates Inverse transformation to phase current

(Pseudo Inverse of CLARKE

Industrial Drives – Prof. Firsching 12

Application of space vectors – Technical implementation inverse tranformation

d/q coordinates ab coordinates UVW components

Industrial Drives – Prof. Firsching 13

Representation of the Clarke and Park transformation by signals in time domain

Industrial Drives – Prof. Firsching 14

Application of space vectors – Exercise 1

The figure on the right shows a current space

a) Determine absolute value and phase angle of i(t).

b) Determine i and i at the depicted time point

c) Add a dq coordinate system for id = 0 and another

Industrial Drives – Prof. Firsching 15

Application of space vectors – Exercise 2

A permanently excited synchronous machine is operated at a 60 Hz three phase power

iU(t1) = 8 A, iV(t1) = 1,2 A, iW(t1) = -9,2 A.

a) Depict a sketch of the phasor iS(t1).

(solution at the end of the document)