DERIVATION OF INDUCTION MOTOR DYNAMIC EQUATIONS

1.

Transforming a vector from one co-ordinate frame to another

We shall study the transformation of ,say, a current vector i from its values in one frame to its values in another. We will
here call the two frames dq and DQ, but of course it doesnt matter what we call them.

is
q

iq

iD
Let

idq id jiq be the vector i measured in the dq frame

Let

i DQ i D jiQ be the vector i measured in the DQ frame

iQ

id

The relationship between i dq and i DQ depends on the angle

of the current vector

between the dq and DQ frame. Thus if we know the value

i in the dq frame (ie. the complex number idq id jiq ), we can find the value of i in the DQ

frame. In general, given the value of

i in one reference frame, we can find its value in any other providing we know the

angle between the two frames.

Given idq

id jiq , and , then i DQ i D jiQ can be found as follows:

i D id cos iq sin
iQ id sin iq cos
Study these equations. You can see that both i d and i q can be resolved on to the D axis to give the first equation, and then
on to the Q axis to give the second. Now multiply iQ by j to form i DQ

i D jiQ :

i DQ i D jiQ = id cos iq sin jid sin jiq cos

which can be manipulated to give:

i DQ i D jiQ (cos j sin )id (cos j sin ) jiq

i DQ i D jiQ (cos j sin )(id jiq ) e j (id jiq )
i DQ i D jiQ e j idq
The complex exponential form is very elegant. By a similar process, it can be shown that (try it for yourself):

idq id jiq e j i DQ
j

In fact, there is a simple rule for deciding whether the transformation from one frame to another is e
or e
.
Assume that the +ve angle is in the anticlockwise direction. Then to transform from frame 1 to frame 2 you multiply the
frame 1 vector by e

if frame 2 is leading frame 1, or e

if frame 2 lags frame 1.