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Transformations
BPRA047, BPRA048
Content
1 Introduction
2 Clarkes Transformation
3 Parks Transformation
4 Transformations Between Reference Frames
5 Field Oriented Control (FOC) Transformations
6 Implementing Clarkes and Parks Transformations
7 Conclusion
8 Reading Materials
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 2
Introduction
The performance of three-phase AC machines are described
by their voltage equations and inductances.
It is well known that some machine inductances are functions of
rotor speed.
vs1
(VS ) = vs 2
vs 3
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 3
Introduction
A change of variables is often used to reduce the complexity
of these differential equations.
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 4
Clarkes Transformation
The transformation of stationary circuits to a stationary
reference frame was developed by E. Clarke.
The stationary two-phase variables of Clarkes transformation
are denoted as and , -axis and -axis are orthogonal.
v = va
2vb + va
v =
3
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 5
Clarkes Transformation
In order for the transformation to be invertible, a third variable,
known as the zero-sequence component, is added.
The resulting transformation is
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 6
Inverse Clarkes Transformation
The inverse transformation is given by
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 7
Clarkes Transformation
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 8
Parks Transformation
In the late 1920s, R.H. Park introduced a new approach to electric
machine analysis.
He formulated a change of variables associated with fictitious
windings rotating with the rotor.
He referred the stator and rotor variables to a reference frame fixed
on the rotor.
From the rotor point of view, all the variables can be observed as
constant values.
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 9
Parks Transformation
Parks transformation is a well-known three-phase to two-phase
transformation in synchronous machine analysis.
cos S sin S 1
vsa vsd
v = cos( 2 ) sin( 2 )
1 vSq
sb S
3
S
3
vsc
4 4 vSo
cos( S ) sin( S ) 1
3 3
vsa vsd vsd vs1
v = [P ( )].v and v = [P( )]1 v
sb S sq Sq S S2
vsc v v vS 3
so So
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 10
Parks Transformation
The Parks transformation equation is of the form
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 11
Inverse Parks Transformation
It can be shown that for the inverse transformation we can
write
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 12
Parks Transformation
The angular displacement must be continuous, but the angular
velocity associated with the change of variables is unspecified.
The frame of reference may rotate at any constant, varying angular
velocity, or it may remain stationary.
The angular velocity of the transformation can be chosen arbitrarily
to best fit the system equation solution or to satisfy the system
constraints.
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 13
Parks Transformation
Parks Transform is usually split into CLARKE transform and one
rotation;
CLARKE converts balanced three phase quantities into balanced
two phase orthogonal quantities;
CLARKE
v
v2 vd v = v1
2.v2 + v1
v =
S = St 3
vq
+
Rotation
v1= v
v cos( ) sin( ) v
d= S S
v sin( ) cos( ) v
q S S
v3 PARK TRANSFORM
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 14
Parks Transformation
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 15
Transform summary
v1 v Vd
v2 Clarke v Park
v3 Vq
Three phase rotating Stationary domain
domain
Two phase rotating
domain
is 3
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2008-9-28 College of Electrical Engineering, Zhejiang University 16
Transformations Between Reference Frames
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 17
Transformations Between Reference Frames
But we have
we get
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 18
Transformations Between Reference Frames
we obtain
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 19
Field Oriented Control (FOC) Transformations
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 20
Field Oriented Control (FOC) Transformations
These transformations are usually cascaded, the block diagram of
this procedure is shown:
v1 v Vd
v2 Clarke v Park
v3 Vq
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 21
Field Oriented Control (FOC) Transformations
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 22
Implementing Clarkes Transformation
Clarkes Transformation is to transfer the three-phase
stationary parameters from a-b-c system to the two-phase
stationary reference frame.
It is assumed that the system is balanced
we have
Then we get:
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 23
Clarkes Transformation in DSP
Clarkes Transformation Converts balanced three phase
quantities into balanced two phase quadrature quantities.
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 24
Clarkes Transformation in DSP
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 25
Clarkes Transformation in DSP
The instantaneous input and the output quantities are defined by
the following equations:
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 26
Clarkes Transformation in DSP
To enjoy better resolution of the variables in fixed point DSP,
we transfer all variables to the Q15-based format.
With this consideration, the maximum value of inputs and
outputs can be (215-1) or 7FFFh in hexadecimal.
In this base, the variables can vary in the range 8000h-7FFFh.
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2008-9-28 College of Electrical Engineering, Zhejiang University 27
Clarkes Transformation in DSP
Clarkes transformation is implemented as follows:
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2008-9-28 College of Electrical Engineering, Zhejiang University 28
Implementing Inverse Clarkes Transformation
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 29
Implementing Inverse Clarkes Transformation
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 30
Implementing Inverse Clarkes Transformation
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 31
Calculation of Sine/Cosine
To implement the Park and the inverse Park transforms, the
sine and cosine functions need to be implemented.
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2008-9-28 College of Electrical Engineering, Zhejiang University 32
Calculation of Sine/Cosine
The first few rows of the look-up sine table are presented as
follows:
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2008-9-28 College of Electrical Engineering, Zhejiang University 33
Calculation of Sine/Cosine
The following assembly code is written to read values of sine
from the sine Table in Q15 format:
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 34
Calculation of Sine/Cosine
Note that 0 < theta_p < 7FFFh (i.e., equivalent to 0 < theta_p < 360
deg).
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2008-9-28 College of Electrical Engineering, Zhejiang University 35
Calculation of Sine/Cosine
To calculate the cosine values from the sine Table in Q15 format,
we write the following code:
LACC theta_p
ADD #8192 ;add 90 deg, cos(A)=sin(A+900)
AND #07FFFh ;Force positive wrap-around
SACL GPR0_park ;here 90 deg = 7FFFh/4
LACC GPR0_park,9
SACH t_ptr
LACC #SINTAB_360
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2008-9-28 College of Electrical Engineering, Zhejiang University 36
Implementation of Parks Transformation
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2008-9-28 College of Electrical Engineering, Zhejiang University 37
Implementation of Parks Transformation
a-b-c to qs-ds
This transformation transfers the three-phase stationary
parameters from an a-b-c system to a two-phase orthogonal
stationary reference frame.
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 38
Implementation of Parks Transformation
qs-ds to q-d
This transformation converts vectors in a balanced two-phase
orthogonal stationary system into an orthogonal rotary
reference frame.
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2008-9-28 College of Electrical Engineering, Zhejiang University 39
Implementation of Parks Transformation
qs-ds to q-d
All the input and outputs are in the Q15 format and in the
range of 8000h-7FFFh
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2008-9-28 College of Electrical Engineering, Zhejiang University 40
Implementation of Parks Transformation
qs-ds to q-d
The following code is written to implement Parks transformation:
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 41
Implementation of Parks Transformation
qs-ds to q-d
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 42
Implementation of Parks Transformation
q-d to qs-ds
This transformation projects vectors in an orthogonal rotating
reference frame into a two-phase orthogonal stationary frame.
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 43
Implementation of Parks Transformation
q-d to qs-ds
The following code is written to implement this transformation:
SPM 1 ;SPM set for Q15 multiplication
ZAC ;Reset accumulator
LT f_q ;TREG = fq
MPY cos_theta ;PREG = fq * cos(theta)
LTA f_d ;ACC=fq*cos(theta) and TREG =fd
MPY sin_theta ;PREG = fd * sin(theta)
MPYA sin_theta ;ACC=fq*cos(theta)+fd*sin(theta) and
;PREG=fd*sin(theta)
SACH f_q_s ;fd=fq*cos(theta)+fd*sin(theta)
LACC #0 ;Clear ACC
LT f_d ;TREG = fd
MPYS cos_theta ;ACC = -fd*sin_theta and PREG = fd*cos_theta
APAC
SACH f_d_s
SPM 0 ;SPM reset
RET
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2008-9-28 College of Electrical Engineering, Zhejiang University 44
Implementation of Parks Transformation
qs-ds to a-b-c
This transformation transforms the variables from the
stationary two-phase frame to the stationary a-b-c system.
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2008-9-28 College of Electrical Engineering, Zhejiang University 45
Conclusion
With FOC of synchronous and induction machines, it is
desirable to reduce the complexity of the electric machine
voltage equations.
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 46
Reading materials
Bpra047 - Sine, Cosine on the TMS320C2xx
SUN Dan
2008-9-28 College of Electrical Engineering, Zhejiang University 47