M A T H E M A T I C A L M O D E L S F O R I N D U C T I O N

MACHINES
P. Pillay, Senior Member, IEEE, and V. Levin

Department of Electrical Engineering

University of New Orleans
New Orleans, LA 7 0 1 4 8
Ph: ( 5 0 4 ) 2 8 6 - 7 1 6 1 ; Fax: ( 5 0 4 ) 2 8 6 - 3 9 5 0
Abstract-Different mathematical models have been used 21 22
over the years t o examine different problems associated w i t h
induction motors. These range from the simple equivalent circuit
models t o more complex d,q models and abc models which allow
the inclusion of various forms of impedance and/or voltage
unbalance. Recently, hybrid models have been developed which
allow the inclusion of supply side unbalance but with the
computational economy of the d,q models. This paper presents
I
these models with typical results and provides guidelines for their
frequency f frequency sf
use. (0)

I.INTRODUCTION.

The well k n o w n equivalent circuit model of the induction

motor [11 has been widely used over the years t o examine the
steady state behavior of induction motor. Both ABC and various frequency f (b) frequency s f
forms of d,q models have been used t o study transient behavior [21.
Lately, several hybrid models have also been developed for the
modeling of machines for particular motor drive or transient
operation [31. This is a review paper, w i t h the aim of presenting Fig.1. The conventional (a) and transformer type (b) equivalent
these models together w i t h results and guidelines for their use. The circuits of the induction motor.
paper is organized as follows: Section II presents the transformer
type equivalent circuit model. Section 111 presents the ABC model.
Section I V presents the d,q models. Sections V and VI present
ABC/dq and DQ/abc models. Section VI1 has the conclusions.

II.CONVENT1 ON A L AND TRANS FORMER TYPE

EQUIVALENT CIRCUITS OF THE INDUCTION MOTOR.
The conventional equivalent circuit (EC) for an induction
motor is s h o w n i n Fig.la. This circuit has been widely used for
studying the steady state operation of induction motors. It can give
erroneous results when either the stator or rotor circuits have power
electronic devices connected t o them, if the machine itself has any
phase unbalance or during severe transients created during starting
or autoreclosing.
The transformer type EC [4,51, a variation of the
conventional circuit (Fig.lb), can be used w i t h fair accuracy for
rectifier calculations, while including the effect of source impedance
induced overlap. Parameters of the transformer type EC are related
t o those of the conventional EC in the following way:
- -- - - - - -- -
z,=Q+s; q,=q+z;, k=nz,,J(z,+z,);
where the symbols have their usual meanings.
From Fig.1 b the motor equations for the steady state mode
of operation w i t h sinusoidal currents are as follows:
- - _ _
Z, =Z,,+k Z2
The application of the conventional EC in a wide variety of
applications is well k n o w n and not included here. A s an example of
the use of the transformer type model, its application t o a slip
energy recovery induction motor drive w i t h a step-down chopper
between the rotor rectifier and inverter is given in Fig.2 [41. Fig.2
shows the predicted stator, supply and rotor current waveforms of
a 4-pole, slip- energy recovery induction motor drive together w i t h
their measured counterparts at a speed 1300 rpm. The results
indicate that the drive performance can be fairly accurately
calculated with the EC circuit. This model does not w o r k well a t a
slip of 116 where a peculiar harmonic effect takes place. A more
detailed model is needed for this purpose which is discussed later.
Both the transformer type model and conventional
equivalent circuit of the induction motor neglect mutual inductance
effects and therefore cannot be applied for an accurate prediction of
the transients in the motor. Hence more rigorous models should be
used for the analysis of the motor, particularly when driven b y
variable speed drives, when the machine has impedance unbalance
or subjected to certain forms of supply unbalance.

0-7803-3008-0195$4.00 0 1995 IEEE 606

 Measured
io e-

C
a,
L

Time (ins)

--a
;?

a
3
CO

t
-10

t
-I5
P Time (ms)

Fig.2. Measured and calculated waveforms at speed 1300 rpm.

111. THE ABCiabc MOTOR MODEL.

A . Basic ABC/abc model.

All motor models for the transient analysis of an induction

motor are based on the so-called ABC/abc model. The equations of
this model are derived under assumptions that the MMF in the air
gap of the motor is sinusoidal, there is negligible saturation and
negligible losses in the core o f the machine. Then the simplified
schematic of the stator and rotor windings in Fig.3 can be used to
obtain the electromagnetic equations.

Fig.3. The schematic diagram of a 3-phase induction motor for

ABC/abc model.

The most cieneral form of these equations i s as follows:

607
 i+
r-0 0 0 0 O i
O r , O 0 0 O i
0 0 r,, 0 0 0 i,
P iI1 +
0 0 O r , O Oi,
0 0 0 0 rrb 0 i,
0 0 0 0 0 r,ci

where
v,
.
,...,.v,, are applied phase voltages;
lea, ...,iIC are currents of each rotor and stator phase;
r, ...,r,, are resistances of each phase;
L,,,, ...,L,,, are the leakage inductances of each phase;
8 is electrical angle between the axis of stator phase A
and axis of rotor phase a;
MAA, ...,Mccare self inductances or mutual inductances
between each phase of the stator (rotor)and each of the other
stator or rotor phases when 8 = 0 ;
p i s the symbol for differentiation;
fAA(8),...,f C c Ware functions of 8;
f'm(8),...,f'cc(0) are derivatives of the above functions;
U, - is electrical angular speed of the motor
If both stator and rotor windings are electrically and
magnetically symmetrical, a more well k n o w n f o r m of equation 12)
results:

608
where M, - is mutual inductance between a stator phase and a rotor
phase when O = O ;
+
L', = LIS Ma,: L', = L,, Ms,: +
a, =cos@: b, =sin@;
+
a2= cos(@ 2n/3); b, = sin@ + 2n/3); 5.20 r

a3 =cos(@-2n/3); b3=sin(O-2n/3)
The expression for electromagnetic torque is as follows:

P
T,=--MJ(imim +iJJsin(e +2x/3) +
+iSbirb+i,i,)sin8 +(isairb+isbim
2

where P is the number of poles in the motor.

In the case of Y or A stator connected squirrel cage
induction motors,

b) Start up electric 'torque

and the parameters of the ABC/abc model are related t o the Fig.4. Start u p st,ator current and torque of a 22 k W induction
parameters of the EC of Fig.1a in the following simple way: motor (using ABC/abc model).

B. ABC/abc moldel without inversion of the inductance matrix

One straiightforward approach of avoiding the problem of

Thus the ABC/abc model allows the tracking of the
"natural" phase currents directly at any time of a transient. Also the
model of the f o r m in (2) is not limited b y conditions of symmetry of
either supply voltages or phase impedances. Therefore the ABC/abc
model, is suitable for a study of complex unbalance in the motor
(operation of the motor w i t h a nonuniform air gap, operation of the
motor under b o t h unbalanced voltages and unbalanced impedances,
etc.) when the simplifying assumptions of alternative models 161
render t h e m inapplicable. As an example of the application of the
ABC/abc model, transients during start up of a 2 2 K W induction
motor ( w i t h parameters given in the Appendix I) are presented in
Fig.4.
The inherent defect of the direct application of the
ABC/abc model for digital simulation of the motor transients is the
large computation time required for inversion of the time-varying
inductance matrix in (3) during each step of integration. Many other
models and approaches were developed t o avoid this time-
consuming operation.
the inversion of the variable inductance matrix, is t o invert the
inductance matrix analytically before numerical integration of the
equations. In general, such a procedure is extremely difficult. But i f
the phase impedances are symmetrical and conditions in (5)are
satisfied, then explicit expressions for derivatives of the currents can
be obtained relatively easily. N o w the ABClabc model has the
following form:
where [il is the column of stator and rotor phase currents; [VI is the
column of applied voltages: [AI, [Bl are 6 b y 6 and 6 b y 3 matrices
respectively
The entries of [ A I and CBI are given in Appendix II.
Equation (7) can be integrated m u c h faster than equation (3).In
Fig.5 the results of transient analysis of the same motor as in
preceding chapter b u t using (7) are shown. The current and torque
waveforms are identical w i t h those of Fig.4.
However one can see that this model still has 7 equations.
Reference frame theory allows the reduction f r o m six equations t o
four, w i t h a constant inductance matrix.

0.g IV. D-Q MODELS OF THE INDUCTION MOTOR.

8.3
u.7 A. The theory of d-q models.
2
3
5.0
v
c 3.4 Park's transformation can be applied t o the ABC/abc
E 1.a model of any symmetrical induction machine. In the general case,
2
L 0.2
s such a transformation leads t o the dqO reference frame L6.71 which
g-1'4 can be used for studying certain types of unbalanced operation of
-3.1
the motor as well as for stability analysis and controller design.
-4.7
Fig.7 shows a schematic of a 3-phase induction motor
"-0
-fi 7
25 50 75 100 125 150 175 200 225 250 with the q,d axes superimposed. The d axis lags the q axis b y 90"
Time (ms)
(electrical). Coils QS, DS, qr, dr replace the real phase coils AS, BS,
CS, ar, br, or. d,q variables are obtained f r o m abc variables b y
application of the Park transformation below:

(a) Start up stator current

609
 5 2
90
a3
67
4.5 Fn
?
7 50
a
I
Y 3.4
5 1.8
; 0.2
Y
S -1.4
-3.1
-4.7
-201 ' v ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' '
-6 .-7 a w 50 75 100 125 150 175 zoa 225 250
0 25 50 75 100 125 150 175 2W 225 250 Time(ms)
Time (ms)

(a) Start up stator current (b) Start up torque

Fig.5. Stator transients of the motor using the transformed ABC/abc model.

+q oxis
#

and

Fig.6. The schematic diagram of a 3-phase induction motor for d-q

model. where Wqs, W',,, Wq,, W,, denote flux linkages of the coils i n the d-q
frame; Os, p are the angles between the q axis and stator phase A
se cos(e-y) cos(e+y) and rotor phase A respectively; L, is the same as in ( 6 ) (apparent
mutual inductance of the motor); L=L,,+L,=L',+(1/2)M,, is the
apparent self inductance of a stator phase; L, =L,, + L,= L', + ( 1 /2)M,,
is the apparent self inductance of a rotor phase.
The choice of the angle 8, and hence the speed of the
rotation of the d-q frame, defines the type of the d-q model. The
where y=2rr/3, while abc variables are obtained b y the inverse Park expression for electromagnetic torque however does not depend on
transform: the particular reference frame and has the following general form:

The general f o r m o f the voltage balance equations for the In this case O,=O and the q,d axes are stationary. Hence
d-q model is as follows: the equations are as follows:

610
 PSpice implementation and studying electromechanical transients.

!
In Fig.8 the PSpice d-q equivalent circuits based on the stationary
reference frame and the torque equivalent circuit are also given.
. (13) Rs

where [RI ~ I S 4 b y 4 matrix of stator resistances rm and rotor

resistances r,; v, = V,,cos(w,t);v,, =-V,,sin(w,t); V
,, - is the peak
(3"'
value of the stator voltage; U, - is electrical synchronous speed of ~ RE v3 H2
the motor -- -1ds + -idr
The expressions for vqr and v, depend on the frequency
and the phase of the voltage applied to the rotor. Usually for most
'L Vds + v4
practical applications of the stationary frame, v, =vd, =O.
Fig.7 shows the results of the computer simulation of start
up currents of the 22 k W induction motor in the stationary reference
frame. The q-axis stator variables of the stationary reference frame
behave in the same way as do the physical stator variables. In
particular, the iqD current coincides with the actual stator phase A
current (Fig.7).
Therefore this model is advantageous when only transients
in the stator are of interest as in the case of sttidying stator
7
transients of squirrel cage induction motors connected to the bus,
or stator fed variable-speed induction motor drives.
Fig.8. PSpice equivalent circuits.
1 0 . ~ PHASE A STATOR CURRENT
4- In Fig.8, V1 through V5 are d u m m y (zero) voltage sources to
measure stator and irotor currents. H 1 and HZ are Current Controlled
Voltage Sources (CCVS) where

H T e l and HTe2 are also CCVS t o represent the electromagnetic

torque:

HTel =(--)l($Lmirqird;
I' 3 P 3
HTe2=(--)(-)LmiJ, (15)
2 2
R,, and Lj are the friction coefficient and the inertia of the motor
respectively. Parameters ,L, L, L, are the same as in (6)and as in
-10.4 I. the conventional equivalent circuit. The starting u p torque o f the
am 56.m 100.00 150.00 200.00 25800 2 2 k W motor obtained b y the PSpice circuits simulation is given in
TIME (a) mi 1 1 i-SEC Fig.9.

D l l l l l l l c mn: C l l V l V S 14:S1:111
- (a) c:\inimmrsn.nr
3 .................................................................................................
d

c
zW
(L
rr
3
U 1 I
-10.a.
0. 00 50.00 100.00 150.00 200.00 250. 00
...........
"l .,..............
k th tk bU
D 1l11.1l
TIME (b) mi 1 1 i-SEC 11-

011.: *, 11. O V 5 p v 3 11": 1272:15

Fig.7. Start up stator current using the stationary frame.
The d-q stati-'iary reference frame enables o n e t o obtain
relatively simple but accurate equivalent circuits o f the motor for Fig.9. Start UP torque of the motor (using PSpice).

611
 C. Rotor reference frame.

I
N o w Oq = 8 = w,dt and the q,d axes rotate at rotor speed
and the q-axis position coincident with the rotor phase A axis.
Hence f r o m Fig.6, the equations of the model have the following
form:

where [RI and [L] coincide w i t h the corresponding matrices of

equation (1 3); vq,=V,,cos(w,t-8); v,,=-V,,sin(w,t-O); 8 is the angle
between stator and rotor phase A axes
Since i n this model the rotor q-axis variables are a t slip where v,=V,: v,=O In this model, the stator d-q voltages and
frequency, they behave i n the same w a y as the rotor phase A currents are DC quantities (Fig.1 1 ) i n the steady state.
variables (Fig.10). Hence the rotor reference frame is convenient for
studying transient phenomena i n the rotor. PHASE A STATOR CURRENT
10.0%.
PHASE A ROTOR CURRENT
t

-1 0. 00.
a00 5800 im.00 1~0.00 ~00.00 ZSI 00
-10. 0d0. 40 50.00 100.00 150.00 200.00
1
250.00
TIME (a) m i I 1 I-SEC

TIME a) m i 111-SEC Q -AXIS STATOR CURRENT

*
Q-AXIS ROTOR CURRENT : :
10-OBt
I
-- : YI

- 1 a 001
a 00 50.00 100.00 150.00 200.00
1
250.00

-10. .GI!
TIME (bl m i 1 1 i-SEC
0. 0 0 50.00 180.00 150.00 200.00 --&. 00
TIME bl mi 1 1 1-SEC Fig.1 1 . Start up stator current using synchronously rotating
reference frame
Fig.10. Start u p rotor current using rotor reference frame
It is thus possible t o use a larger step length i n the digital
D. Synchronously rotating reference frame. integration routine to obtain a reduced computation time when using
this frame. This frame is also often used for stability analysis and
In this case the q,d axes rotate at synchrondus speed and controller design, because o f the ability t o linearize the d,q variables.
O,=w,t. The equations o f the model are as follows: One important area o f application o f rotating d-q reference frame

612
theory i s in the field oriented control of A C motor drives.
While d-q reference frames have a very wide area of
application, they are not appropriate for studying unbalanced
operation of the motor especially when conditions (5) are not met.
One particular example is the case of motor operation during
unbalanced phase faults or autoreclosing operation when the
tracking of individual phase currents is necessary t o simulate circuit
breaker performance. This leads t o the ABC/dq model of the next
section.
M
a / . ABC/dq MOTOR MODEL.

In m a n y practical problems one faces the situation where

only variables of the stator (rotor) and electromagnetic torque are of
lo
interest while the variables of the rotor (stator) are of no significant
importance. The d-q model cannot be easily applied i f there is 0 0
complex unbalance of the stator (rotor) circuit. A typical example of 0 0
such a problem is bus transfer or autoreclosing operation of
induction motors. 0 0
When studying d r i v e h o t o r interactions during bus transfer
0 @M -@M 0 L,:
and autoreclose operations it is important t o consider the opening of 2 2
the breaker and overlap effects in the rectifier in detail [ 8 ] . In this
case the so-called hybrid ABC/dq reference frame can be used which
1
-M -M
2
1
-M
2
-E, 0 '
preserves the stator states in their original form, while only
transforming the rotor states t o d,q axis variables. A schematic of
the induction motor w i t h ABC/dq axes shown is in Fig.12. where

tq axis +d'

Expressions for vq, vd depend o n the frequency of applied

rotor voltage. If the frequency is equal t o the slip frequency then

where V, -is the peak rotor voltage;

s - is the slip of the motor
The expression for electromagnetic torque in the ABC/dq
model is as follows:

s t a t o r phase
c axis +'

Fig.12. Schematic diagram of a 3-phase induction motor for

ABC/dq model.

In the model, the d-axis coincides w i t h phase A of the

stator while the q-axis leads the d by 90" (electrical). The differential
equations of the ABC/dq model can be obtained b y applying t w o
transformations in cascade t o the ABC/abc impedance matrix. A t
first, the balanced three phase rotor winding is transformed t o a t w o
phase d'q' equivalent frame which is stationary relative t o the rotor
(axis d' coincides w i t h the rotor phase A axis). Then the d'q' frame
is transformed t o the d-q reference frame which is stationary relative
to the stator yielding the following equations:
Unlike the ABC/abc model, the inductance matrix of (1 8 )
is time invariant and does not need t o be inverted during each step
of integration. Therefore transients can be simulated much faster
w i t h the advantage that stator variables coincide w i t h physical
stator variables of the motor.
In Fig.13 an induction motor and induction motor drive
connected t o the sarne bus are shown, while Fig. 1 4 gives the result
of a simulation of .the system.

613
 Fig.13. The schematic of induction motor and induction motor drive.

MOTOR TORQUE MOTOR STATOR CURRENT

(MOTOR CONNECTED TU THE BUS DIRECTLY) (MorOR CONNECTEO 70 T H E aus DIRECTLY)

Fig.14. Current and torque of the motor connected t o the bus.

I n Fig.14 autoreclosing takes place at 1.5 sec. of the

transient. Thus the ABCidq model allows tracking of all stator f +q' axis +d axis#

variables of the motor and drive during opening and reclosing

operation of the breaker.

VI.DQ/abc MOTOR MODEL.

A similar idea can be applied for studying phenomena in

the rotor circuit. If for example, a detailed study of the slip energy
recovery induction motor drive of Fig.3, including the effect of
overlap in the rectifier [91 is carried out, a complex configuration in
the rotor circuit results while a detailed knowledge of the stator
variables m a y not be necessary. Hence the rotor variables should
be preserved in their natural form. A schematic diagram o f the
DQ/abc model is s h o w n in Fig.15 where the DQ/abc axes are
superimposed. rotor phase
In this model, the d axis coincides with phase A of the C oxi5
rotor, while the q-axis leads the d b y 90 (electrical). The equations
of the DQ/abc model can be obtained b y applying t w o
transformations in cascade. A t first, the three phase stator windings Fig.15. The schematic diagram of a 3-phase induction motor for
are transformed to a t w o phase d'q' system stationary relative to DQlabc model
the stator (axis d' coincides w i t h stator phase A axisi Then the d'q' stationary relative to the rotor. The result of the transformation is as
frame is transformed t o a d-q reference frame follows:

614
where M is the same as in ( 1 9); machines," Sir Isaac Pitman & Sons LTD, London, 1968.
2. P. Krause and C . Thomas,"Simulation of symmetrical induction
machinery," IffTrans. PAS-84, 1965, pp.1038-1053.
3 . J.E. Brown, W. Drury, B.L. Jones and P. Vas, "Analysis of the
periodic transient slate of a static Kramer drive," Proc lff, ~01.133,
Pt.B. no 1, Jan 1!386, pp.21-30.
The expression for electromagnetic torque has the 4. P. Pillay and IL. Refoufi, "Calculation of slip energy recovery
following form: induction motor drive behavior using the equivalent circuit," /ff
Trans. lnd. Appl., vo1.30, no. 1, Jan/Feb 1 9 9 4 , pp. 154-1 63.
6
T =-[P --Ml&,+-Mi&,+Mi
f i . 1 1
i --Miqirb--Miqim] (a) 5. D.G.O. Morris,"!;ome tests of an exact practical theory of the
'2 2 2 qra 2 2 induction motor," F'roc. Iff, vol. 97, Pt.11, pp. 7 6 7 - 7 7 8 .
6. P. Krause, "Analysis of electric machinery," McGraw-Hi//, 1 9 8 6 .
7 . R. Lee, P. Pillay and R. Harley, "D,Q reference frames for the
simulation of induction motors," f P S R Journal, vo1.8. October
Like the ABC/dq model, the inductance matrix of the 1984, pp. 15-25.
DQlabc model is time invariant. Hence its inversion during each 8 . T. Higgins, P. Young, W. Snider, H. Holley, "Report on bus
step of integration is avoided while the rotor states are retained in transfer studies,'"lEff Trans. Energy Conversion, vo1.5, no.3,
their original form. September 1990, pp. 470-484.
Fig.16 shows the stator, supply and rotor current 9 . E. Akpinar, P. Pillay, "Modeling and performance of slip energy
waveforms of the slip energy recovery drive a t a speed of 1 2 5 0 rpm recovery induction motor drives," IffTrans. Energy Conversion,
(slip = 1/ 6 ) predicted w i t h DQ/abc model. The waveforms of vol. 5, no. 1, March 1990, pp. 203-210.
measured and predicted rotor current in Fig.16 are almost identical.
Indeed the DQ/abc model enables one t o consider the overlap effect
in detail and gives the correct value of the overlap angle. The
simple equivalent circuit is unable t o predict this result, particularly APPENDIX I.
at this slip of 1 / 6 .
2 2 kW Induction motor parameters

VII. CONCLUSIONS.
Base power 27.91 8 k V a
Base stator voltage 2 2 0 V (phase)
This paper has reviewed and presented the details of Base stator current 42.3A (phase)
several different types of mathematical models suitable for the Base stator impedance 5.21 O h m
induction motors and drives. Guidelines for the use of each model Base torque 177.8"
has been provided. Number of poles 4
Stator resistance 0.021p.u.
Rotor resistance 0.057p.u.
ACKNOWLEDGMENT. Stator leakage reactance 0.049p.u.
Rotor leakage reactance 0.132p.u.at 50 Hz
Magnetizing reactanlce 3.038p.u.
The authors acknowledge EPRl and Entergy Corporation for Moment of inertia 0.29kg m2
financial support.

REFERENCES.

1. M. G. Say,"The performance and design of alternating current

615
 Predicted Measured
A
. . .. ... . . .. . ......... ..... ................... ..,................................... ........................
U
c
4
01
t 4 "
CI
1
0 '

jut v v v v v v v v v v v v
A.

ffi ;D.

Fig.16. Measured and calculated waveforms of the slip-energy recovery induction motor drive a t a speed 1 2 5 0 r p m (using DQ/abc
model)
APPENDIX II.
ABC/abc MOTOR MODEL WITHOUT INVERSION OF THE
I1 A12 A13 A14 A15 A
INDUCTANCE MATRIX.
The equation (7) has the following form:

where A53 =A42 A63 =A41 P1 =C12-C2'

A54=A46 A64 =A45 Q1 = C 2 ? - C l * C 2
A 1 1 =(P1 *r,)/det[cll A 5 5 =A 4 4 A 6 5 =A 4 6 det[C 1 1 = C 1 +
2 *C23-3 *C 1 *C2'
A 1 2 = ( Q 1 *r,+CS(Pl-Q ))/det[C11 A 5 6 =A 4 5 A66 =A44 C3 = (3Ms,'/2L,)-Lr
A 1 3 = ( Q l *r,+CS(Ql-P ) ) / d e t [ C I ] B1 1 = - P l / d e t [ C l ] C 4 =-3M,,'/4LS
A14=-(P1 *S1 +Ql(S2+S3))/det[Cl] + +
8 4 1 = ( P 2 * a l Q2(a2 a3))M,/(LSdet[C2I) KO1 =(M,,*al *r,/L,)+M,,*w,*bl
A 1 5 = - ( P 1 * S 3 + Q 1 (S1 +S2))/det[C11 B 1 2 =-Q1 /det[C11 R 0 2 = (Ms,* a3 * rJLJ M, * w e* b 3 +
A 1 6 = - ( P 1 * S 2 + Q l ( S l +S3))/det[C11 + +
B 4 2 = (P2*a3 Q 2 ( a l a2))M,,/(LSdet[C21) R 0 3 = (Ms,* a 2 * rJLJ M,, * w e *b 2 +
A21 =A13 A31 =A12 513 =B12 CR =-W3M,,2~,/4L,
A22=A11 A32 =A13 +
8 4 3 = ( P 2 * a 2 Q 2 ( a l +a3))M,,/(LSdet[C21) P2 = c 3 2 - c 4 2
A23 =A1 2 A33 =A1 1 8 2 1 =B13 B51 = B 4 3 0 2 = C4'-C3 * C 4
A24=A16 A34=A15 B22=B11 B 5 2 = 841 det[C2] =C33 + 2 * C 4 3 - 3 * C 3 * C 4 2
A25=A14 A35 =A1 6 B23=812 853 = 842 a1 =cos(@
A26 =A1 5 A 3 6 = A 14 B31 = B 1 3 861 = B 4 2 a 2 = cos(@ 2n/3) +
+
A41 = - ( P 2 * R 0 1 Q2(R02+R03))/det[C21 8 3 2 = B13 8 6 2 = B43 a3 = cos(&2n/3)
+
A 4 2 = - ( P 2 * R 0 2 + Q 2 ( R 0 1 R03))/det[C21 B33 =B11 8 6 3 = B41 b l =sin(@
+ +
A43 = - ( P 2 * R 0 3 Q2(R01 R02))/det[C21 C1 = (3M,,2/2L,)-L, b 2 =sin(@+ 2n/3)
A44=P2*r,/detlC21 C 2 =-3M,,2/4L, b 3 =sin(B-2n/3)
A 4 5 = (Q2*r, + CR(Q2-P2))/det[C2] S1 =(M,,*al *r,/Lr) +M,,w,bl L, = L,, + (3/2)M,,
+
A 4 6 = (Q2*r, CR(P2-Q2))/det[C2] +
S 2 =(MS,a3*r,/L,) M,,w,b3 L, = L,, + (3/2)M,,
A51 =A43 A61 = A 4 2 S3 =(M,,a2*r,/L,) + M,,w,b2
A52 =A41 A62 =A43 CS =-3d3M,,2~,/4L,

616