Energy Conversion Lab

SYMMETRICAL COMPONENTS
Symmetrical components allow phase quantities
of voltage and current to be replaced by three
separated balanced symmetrical components
Consider three phase balanced components
where
o o o
a
o
a c
a
o
a b
a
o
a a
a a a where
aI I I
I a I I
I I I
360 1 , 240 1 , 120 1
120
240
0
3 2
1 1 1
1 2 1 1
1 1 1
= = =
= =
= =
= =
I
a
1
I
b
1
I
c
1
I
a
2
I
c
2
I
b
2
I
a
0
I
b
0
I
c
0
Energy Conversion Lab
SYMMETRICAL COMPONENTS
Define the operator a
1+a+a
2
= 0 where a=1120
o
The order of phasor
abc: positive phase sequence
acb: negative phase sequence
abc (positive) sequence acb (negative) sequence
zero sequence
2 2 2 2
2 2 2
2 2 2
240
120
0
a
o
a c
a
o
a b
a
o
a a
I a I I
aI I I
I I I
= =
= =
= =
1 1 1
1 2 1 1
1 1 1
120
240
0
a
o
a c
a
o
a b
a
o
a a
aI I I
I a I I
I I I
= =
= =
= =
0 0 0
c b a
I I I = =
Energy Conversion Lab
SYMMETRICAL COMPONENTS
Consider three phase unbalanced currents I
a
, I
b
, I
c
the symmetrical component of the currents
the matrix form of the abc currents in term of
symmetrical component
the symmetrical component in term of the three phase
current
2 2 1 0 2 1 0
2 1 2 0 2 1 0
2 1 0
a a a c c c c
a a a b b b b
a a a a
I a aI I I I I I
aI I a I I I I I
I I I I
+ + = + + =
+ + = + + =
+ + =
012
2
1
0
2
2
1
1
1 1 1
a
abc
a
a
a
c
b
a
AI I
I
I
I
a a
a a
I
I
I
= ==>
(
(
(

(
(
(

=
(
(
(

* 1 1 012
3
1
A A where I A I
abc
a
= =

Energy Conversion Lab
SYMMETRICAL COMPONENTS
Consider three phase unbalanced currents I
a
, I
b
, I
c
the symmetrical component in term of the three phase
current
Zero sequence current
one-third of the sum of the phase currents
in a three phase system with ungrounded neutral, the
zero sequence current cant exist (KCL)
if neutral is grounded, zero-sequence current flow
between neutral and ground
( )
( )
( )
c b a a
c b a a
c b a a
aI I a I I
I a aI I I
I I I I
+ + =
+ + =
+ + =
2 2
2 1
0
3
1
3
1
3
1
Energy Conversion Lab
SYMMETRICAL COMPONENTS
Consider three phase unbalanced voltages V
a
, V
b
, V
c
the symmetrical component of the currents
the matrix form of the abc currents in term of
symmetrical component
the symmetrical component in term of the three phase
current
2 2 1 0 2 1 0
2 1 2 0 2 1 0
2 1 0
a a a c c c c
a a a b b b b
a a a a
V a aV V V V V V
aV V a V V V V V
V V V V
+ + = + + =
+ + = + + =
+ + =
012
2
1
0
2
2
1
1
1 1 1
a
abc
a
a
a
c
b
a
AV V
V
V
V
a a
a a
V
V
V
= ==>
(
(
(

(
(
(

=
(
(
(

* 1 1 012
3
1
A A where V A V
abc
a
= =

Three Phase Transformations
Transformation is used to decouple variables
with time-varying coefficients and refer all
variables to a common reference frame
Transformation to decouple abc phase
variables
[f
012
]=[T
012
][f
abc
]

where
The symmetrical transformation is applicable
to steady-state vectors or instantaneous
quantities
| |
(
(
(

=
a a
a a T
1
1
1 1 1
3
1
2
2
012
o
j
e a 120 1
3
2
= =

Energy Conversion Lab
SYMMETRICAL COMPONENTS
Consider three phase unbalanced currents V
a
, V
b
, V
c
the symmetrical component in term of the three phase
current
Three phase complex power in terms of symmetrical
components
S
3
= V
abc
T
I
abc
*
= (AV
a
012
)
T
(AI
a
012
)
*
since A
T
=A, A
T
A
*
=3
S
3
= 3(V
a
012
)
T
(I
a
012
)
*
= 3 V
a
0
I
a
0*
+ 3 V
a
1
I
a
1*
+ 3 V
a
2
I
a
2*
total unbalanced power can be obtained from the sumof
the symmetrical component powers
( )
( )
( )
c b a a
c b a a
c b a a
aV V a V V
V a aV V V
V V V V
+ + =
+ + =
+ + =
2 2
2 1
0
3
1
3
1
3
1
Sequence Impedances of Y-connected Loads
Consider a three phase balanced load with self and
mutual elements (Fig. 10.4 PSA-Saddat)
a s n m n m n a
b m n s n m n b
m n m n s n c c
V Z Z Z Z Z Z I
V Z Z Z Z Z Z I
Z Z Z Z Z Z I V
+ + + ( ( (
( ( (
= + + +
( ( (
( ( ( + + +

s n m n m n
abc
m n s n m n
m n m n s n
Z Z Z Z Z Z
Z Z Z Z Z Z Z
Z Z Z Z Z Z
+ + +
(
(
= + + +
(
( + + +

V
abc
= Z
abc
I
abc
Z
abc
A
a a
a a =
(
(
(

2
2
1
1
1 1 1
Sequence Impedances of Y-connected Loads
Consider a three phase balanced load with self
and mutual elements in the above figure
voltage equation: V
abc
= Z
abc
I
abc
use transformation: AV
a
012
=Z
abc
AI
a
012
V
a
012
=Z
012
I
a
012
, where Z
012
= A
-1
Z
abc
A
Z
012
in case of the above figure
impedances of nonzero terms appears in principle
diagonal
for a balanced load, three sequence impedances are
independent
current of each phase sequence produces voltage
drops of the same phase sequence only
(
(
(

+ +
=
m s
m s
m n s
Z Z
Z Z
Z Z Z
Z
0 0
0 0
0 0 2 3
012
A
a a
a a =
(
(
(

2
2
1
1
1 1 1
Park Transformation
Park transformation to decouple
three-phase quantities into two-
phase variables (generator notation)
[f
dq0
]=[T
dq0
(
d
)][f
abc
]
generator notation,
q
=
d
+ /2

relationship between qd and abc

quantities,
positive d-axis is along with magnetic
field winding axis
positive q-axis is along with internal
voltage L
af
i
f
internal voltage leads magnetic field by
90 degree (generating)
| |
(
(
(
(
(
(
(

|
.
|

\
|
+
|
.
|

\
|

|
.
|

\
|
+
|
.
|

\
|

=
2
1

2
1

2
1

3
2
in -
3
2
in - sin
3
2
cos
3
2
cos cos
3
2
) (
0

d d d
d d d
d dq
s s T
c

d
q
d
a
b
=
s
=0
| |
(
(
(
(
(
(
(

|
.
|

\
|
+
|
.
|

\
|
+
|
.
|

\
|

|
.
|

\
|
=

1
3
2
in -
3
2
cos
1
3
2
in -
3
2
cos
1 sin - cos
) (
1
0

d d
d d
d d
d dq
s
s T
Park Transformation
Park transformation (motor notation)
[f
dq0
]=[T
dq0
(
d
)][f
abc
]
motor notation,
q
=
d
- /2

relationship between qd and abc

quantities,
positive d-axis is along with magnetic
field winding axis
positive q-axis is along with negative of
the internal voltage L
af
i
f
(induced
voltage motoring)
d-axis is referred from a-axis
| |
(
(
(
(
(
(
(

|
.
|

\
|
+
|
.
|

\
|

|
.
|

\
|
+
|
.
|

\
|

=
2
1

2
1

2
1

3
2
in
3
2
in sin
3
2
cos
3
2
cos cos
3
2
) (
0

d d d
d d d
d dq
s s T

d
d
q
a
b
c
=
s
=0
Park Transformation
Park transformation to decouple
abc phase variables
[f
qd0
]=[T
qd0
(
q
)][f
abc
]
generator notation,
q
=
d
+ /2

relationship between qd and abc

quantities,
q-axis is along with internal voltage
d-axis is along with the magnetic
field
q-axis is referred from a-axis
| |
(
(
(
(
(
(
(

|
.
|

\
|
+
|
.
|

\
|

|
.
|

\
|
+
|
.
|

\
|

=
2
1

2
1

2
1

3
2
in
3
2
in sin
3
2
cos
3
2
cos cos
3
2
) (
0

q q q
q q q
q qd
s s T

q
d
q
a
b
c
=
s
=0
| |
(
(
(
(
(
(
(

|
.
|

\
|
+
|
.
|

\
|
+
|
.
|

\
|

|
.
|

\
|
=

1
3
2
in
3
2
cos
1
3
2
in
3
2
cos
1 sin - cos
) (
1
0

q q
q q
q q
q qd
s
s T
Transformation Between abc and qd0
Starting from positive sequence vector

Let , the second row can be cancelled, the above

matrix can be reformed in terms of real part and imaginary part
(
(
(

(
(
(
(
(

=
(
(
(

c
b
a
i
i
i
a a
a a
i
i
i

3
1

3
1

3
1
1
1
2
2
0
2
1
( )
(
(
(

(
(
(
(
(

=
(
(
(
(

c
b
a
i
i
i
a a
a a
i
i
i

2
1

2
1

2
1
1
1
3
2
2
2
0
*
( ) ( )
* *
1 2
2
3
i i i = =
s
d
s
q
ji i i =
(
(
(

(
(
(
(
(

=
(
(
(
(

c
b
a
s
d
s
q
i
i
i
a a
a R
i
i
i

2
1

2
1

2
1
) I( - ) I( - 1
) R( (a) 1
3
2
2
2
0
(
(
(

(
(
(
(
(
(
(

=
(
(
(
(

c
b
a
s
d
s
q
i
i
i
i
i
i

2
1

2
1

2
1

2
3
-
2
3
- 1
2
1
-
2
1
- 1
3
2
0
| | | || |
abc
s
qd
s
qd
i T i
0 0
=
Transformation Between abc and qd0
Balanced three-phase current in term of t

Using the qd0 transformation, i

qd0
becomes

Scaled current space vector

( ) )
3
4
cos( ),
3
2
cos( , cos

+ = + = + = t I i t I i t I i
e m c e m b e m a
0
)
2
cos( ) sin(
) cos(
0
=
+ + = + =
+ =
i
t I t I i
t I i
e m e m
s
d
e m
s
q

{ }
t j
a
t j j
m
t j
m
e e m
s
d
s
q
e e e
e I e e I e I
t j t I ji i i


~
2
) sin( ) cos(
) (
= = =
+ + + = =
+

quantity phasor the is which ,

2
1 ~

j
m a
e I I where =
Transformation Between abc and qd0
Scaled current space vector
clearly for balanced three-phase current, i
q
s
and i
d
s
are orthogonal and they have the same peak value
as the abc phase current
I
d
s
peaks 90
o
ahead of i
q
s
and the resultant current
I rotates counter-clockwise at a speed of
e
from
initial position of to the a phase axis at t=0
) ( +
= =
t j
m
s
d
s
q
e
e I ji i i

d
q
a
b
c
s
d
s
q
ji i i =

Transformation Between qd0 to arbitrary

reference frame
New rotating qd axes with stationery qd axes

qd component space vector form

the above equation implies rotating stationery qd components
backward by angle
synchronous rotating frame w.r.t. stationery frame
quantities in synchronous frame are constant
relationship between syn. frame and peak value phasor of a phase
current
syn. frame quantities and peak value phasor quantities of phase a
current are the same
( )
j
s
d
s
q d q
e ji i ji i

=
(
(

=
(

s
d
s
q
d
q
i
i
i
i


cos sin
sin cos

+ =
t
dt t t
0
) 0 ( ) ( ) (
( )
)) 0 ( sin( )) 0 ( cos(
)) 0 ( (
e m e m
t j s
d
s
q
e
d
e
q
jI I
e ji i ji i
e e


+ =
=
+
( )
( )
a
e
d
e
q
t j
a
t j e
d
e
q
s
d
s
q
I ji i
e I e ji i ji i i
e e
~
2
~
2
=
= = =

Transformation Between abc and qd0
Full transformation from stationery qd frame to
arbitrary qd rotating frame
full transformation form
In matrix notation, [i
qd0
] in terms of original abc currents [i
abc
]
Total instantaneous power into three phase circuit in
arbitrary qd0 frame

no restriction on abc currents, could be balanced or

unbalanced
(
(
(
(

(
(
(

=
(
(
(

0 0
1 0 0
0 cos sin
0 sin cos
i
i
i
i
i
i
s
d
s
q
d
q


( )
0 0
3
1
2
3
i v i v i v i v i v i v P
d d q q c c b b a a abc
+ + = + + =
] ][ [ ] ][ ][ [ ] ][ [ ] [
0 0 0 0 abc qd abc
s
qd
s
qd qd
i T i T T i T i = = =

Project 4-1
Complex quantities in transformation
Transform the instantaneous three-phase ac
current to space vectors in positive and
negative-sequence in the spatial domain
The abc currents are of the form
i
a
=10cos(2t)
i
b
=10cos(2t-2/3)
i
c
=10cos(2t+2/3)
Using the following dq0 transformation matrix
| |
(
(
(
(
(
(
(

|
.
|

\
|
+
|
.
|

\
|

|
.
|

\
|
+
|
.
|

\
|

=
2
1

2
1

2
1

3
2
in -
3
2
in - sin
3
2
cos
3
2
cos cos
3
2
) (
0

d d d
d d d
d dq
s s T
Project 4-1
Complex quantities in transformation
Showthe two rotating space vectors i
d
and i
q
components corresponding to sinusoidal and
complex phase currents
run the dq0 sequence component in
stationary frame
e
=0 frame
rotating frame
e
-
e
frame
2
e
frame
5
e
frame
Sequence Current Space Vector
Sequence space vector

Balanced three-phase current in term of t

Sequence current space vector

Resultant airgap mmf

for balanced 3 phase currents, F

s
is a rotating space
vector which has a sinusoidal spatial distribution
around the airgap with speed of
e
( ) )
3
4
cos( ),
3
2
cos( , cos

= = = t I i t I i t I i
e m c e m b e m a
( )
*
1
2
2
2
1
2
3
2
3
i e I ai i a i i
e I i a ai i i
t j
m c b a
t j
m c b a
e
e
= = + + =
= + + =

( ) ( ) t I
N
e i e i
N
F
e a m
j j
s
a a

|
.
|

\
|
|
.
|

\
|
= + =

cos
2
3
2 4
sin
1 2
sin
* ) (
2 1
i i =
(
(
(

(
(
(
(
(

=
(
(
(

c
b
a
i
i
i
a a
a a
i
i
i

3
1

3
1

3
1
1
1
2
2
0
2
1
Relation Between Space Vector And
Phase Quantity
Current space vector and phase currents
current space vector
peak value of phase current
relations between current space vector and phase expression
Balanced sequence current space vector

( ) ( ) i i i i
2
3
or
3
2
1 1
= =
t j
m
e
e I i

2
3
1
=
t j
m
e
e I i

=
( )
( ) 0 0
3
1
3
1
2
3
2
3
0
*
1
2
2
2
1
= = + + =
= = + + =
= + + =

m c b a
t j
m c b a
t j
m c b a
I i i i i
i e I ai i a i i
e I i a ai i i
e
e

qd0 Transformation to Series RL

Consider a three phase balanced RL transmission line
with self and mutual elements
] ][ [ ] ][ [ ] [ ] [ i L p i R V V
R s
+ =
Where
(
(
(

=
csgs
bsgs
asgs
abc
S
v
v
v
V ] [
(
(
(

=
crgr
brgr
r
abc
R
v
v
v
V
arg
] [
(
(
(

+
+
+
=
g c g g
g g b g
g g g a
abc
r r r r
r r r r
r r r r
R ] [
(
(
(

+ + +
+ + +
+ + +
=
cg gg cc cg bg gg bc cg ag gg ac
bg cg gg bc bg gg bb bg ag gg ab
ag cg gg ac ag bg gg ab ag gg aa
abc
L L L L L L L L L L L
L L L L L L L L L L L
L L L L L L L L L L L
L
2 2
2
2
] [
qd0 Transformation to Series RL
Consider a three phase balanced line with self and mutual
elements in Fig. 5.17
voltage equation: [V
abc
]= [R
abc
][i
abc
]+p [L
abc
][i
abc
]
use transformation:
[T
qd0
()]
-1
V
a
qd0
= [R
abc
] [T
qd0
()]
-1
[i
qd0
]+ [L
abc
] p [T
qd0
()]
-1
[i
qd0
]
[T
qd0
()] [T
qd0
()]
-1
V
qd0
= [T
qd0
()] [R
abc
] [T
qd0
()]
-1
[i
qd0
]+ [T
qd0
()]
[L
abc
] p ( [T
qd0
()]
-1
[i
qd0
] )
V
qd0
= [R
qd0
] [i
qd0
]+ [L
qd0
] p[i
qd0
]+ [T
qd0
()] [L
abc
] [i
qd0
] p [T
qd0
()]
-1
[R
qd0
]=[T
qd0
()] [R
abc
] [T
qd0
()]
-1,
[L
qd0
]= [T
qd0
()] [L
abc
] [T
qd0
()]
-1
R
qd0
and L
qd0
in case of Fig. 5.17
impedances of nonzero terms appears in principle diagonal
(
(
(

=
m s
m s
m s
r r
r r
r r
R
qd
2 0 0
0 0
0 0
0
(
(
(

=
m s
m s
m s
L L
L L
L L
L
qd
2 0 0
0 0
0 0
0
qd0 Transformation to Series RL
Transform from abc to qd0 equivalent circuit
speed voltage
speed voltage
dt
di
L L i r r v
dt
d
i L L
dt
di
L L i r r v
dt
d
i L L
dt
di
L L i r r v
m s m s
q
q m s
d
m s d m s d
q
d m s
q
m s q m s q
0
0 0
) 2 ( ) 2 (
) ( ) ( ) (
) ( ) ( ) (
+ + + =
+ =
+ + =

Space Vector and Transformations

Air gap mmf due to current i
a
(t)
F
a1
=(N
sine
/2) i
a
(t) cos(
a
), F
a1
is centered about a-
phase winding axis
space vector notation
Resultant airgap mmf by currents flowing into
all three windings
a a a a a
t i i where i
N
F cos ) ( ,
2
sin
1
= =
( ) ( )
( ) ( ) { } ( )
a a a a
a a
j j
c b a
j
c b a
j
j
c
j
b a
j
j
c
j
b a
j
c c b b a a c b a
c b a s
e i e i
N
a i a i i e a i a i i e
N
e i e i i e e i e i i e
N
i i i
N
i i i
N
F F F F

+ = + + + + + =

|
|
.
|

\
|
+ + +
|
|
.
|

\
|
+ + =
+ + = + + =
+ + =
1 2
sin
2 2
sin
3
4
3
2
3
4
3
2
sin
sin sin
1 1 1
4 4
4
cos cos cos
2 2
2
cos
a a
j j
a
e e

+
=
(
(
(

(
(
(
(
(

=
(
(
(

c
b
a
i
i
i
a a
a a
i
i
i

3
1

3
1

3
1
1
1
2
2
0
2
1
Given a one-line diagram of a three-phase
system as shown below, sketch the input-
output relations between the qd0 component
generator is represented by an equivalent voltage
source E behind a source inductance L
g
since it is a three-wire system, no zero sequence
component. zero-sequence circuit is omitted
Project. 4-2 qd0 Transformation