~ AND Drive SYSTEMS SECOND EDITION Paul C. Krause Oleg Wasynczuk Scott D. SudhoffANALYSIS OF ELECTRIC MACHINERY AND DRIVE SYSTEMS oadIEEE Press 4445 Hoes Lane, PO. Box 1331 Piscataway, NJ O8855-1331 ‘Stamatios V. Kartalopoulos, Edluor in Chief M. Akay M. Eden M. Padgett, J.B. Anderson ME. Elllawary M.S, Newman RJ. Baker RJ. Herrick W.D. Reeve LE, Brewer RF Hoyt G. Zobrist D. Kirk Kenneth Moore, Director of IEEE Press Catherine Faduska, Senior Acquisitions Editor John Grftin, Acquisitions Eaitor Anthony VenGraitis, Project Editor IEEE Power Engineering Society, Sponsor PE-S Liaison to IEEE Press, Chanan Singh Cover Design: William 7; Donnelly, WT Design BOOKS IN THE IEEE PRESS SERIES ON POWER ENGINEERING Analysis of Faulted Power Systems P.M. Anderson 1995 Hardcover $36pp——_(0-7803-1145-0 Power System Protection P.M. Anderson 1999 Hardcover 1344pp—0-7803-3427-2 Power and Communication Cables: Theory and Applications Edited by R. Bartnikas and K. D. Srivastava 2000 Handover -896pp—_0-7803-1196-5, Understanding Power Quality Problems: Vollage Sags and Interruptions Math HI. Bollen 2000 Hardcover S76pp——-7803-4713-7 Electric Power Applications of Fuzzy Systems Edited by M.E. El-Hawary 1998 Hardcover 384pp_——_(0-7803-1197-3ANALYSIS OF ELECTRIC MACHINERY AND DRIVE SYSTEMS Second Edition PAUL C. KRAUSE OLEG WASYNCZUK SCOTT D. SUDHOFF —“| Purdue University, wer Engineering Society, Sponsor MG IEEE Power Engineering Society, Sponsor peg EXSRERING IEEE Press Power Engineering Series Mohamed E. ElHawary, Series Editor Ieee PRESS wom LEY- INTERSCIENCE ‘A JOHN WILEY & SONS, INC. PUBLICATION‘This oak i primed a ace paper Copyright 2002 by The nite of Fler and Electonics Engin, In. Al sighs eee, [No prt of hi publication may be repradoed, sre ina eteva sono anid in any form orby any meas, else, mechanical phtoeopying, recording, samsing or there eicept pei under Seton 17 o 108 of the 197 Unit Stats Copycat At, wien ‘iter th prior writen prison of he Pike ot atharicaton ough payment ofthe npoprit per-copy fet the Copyright Claaoce Cente, 22 Rosod Dive, Daven MA (01928 078)750.8400, fax (978)750474. Rees othe Pblsher for permission sold be ales othe Permissions Deparment, fn Wey & Sons, I, lS Tid Avenue, New Yok, ANY 101580012 (212)90-0t fax (212880 608 E Mai: PERMREQS WILEY.COM, For ering and cestom servic, cll SO0-CALL WILEY. {Library of Congress Cataloging Publication avaiable, ISBN 0471-18326 ‘ited in he Unie Snes of Ameri, woaTesTo our familiesCONTENTS PREFACE x Chapter 1 BASIC PRINCIPLES FOR ELECTRIC MACHINE ANALYSIS 1 LAL Introduction / 1 1.2 Magnetically Coupled Circuits / 1 1.3, Electromechanical Energy Conversion J U1 14 Machine Windings and Air-Gap MMP / 35 LS Winding Inductances and Voltage Equations / 47 References / $8 Problems / 58 Chapter 2 DIRECT-CURRENT MACHINES 67 2. Introduetion £67 2.2 Elementary Direct-Current Machine / 68 2.3. Voltage and Torque Equations / 76 24 Basie Types of Direct-Current Machines / 78 2.5. Dynamic Characteristics of Permanent-Magnet and Shunt de Motors / 88 2.6 Time-Domain Block Diagrams and State Equations / 92 2.7 Solution of Dynamic Characteristics by Laplace Transformation / 98 References J 104 Problems / 105vili contents Chapter 3 REFERENCE-FRAME THEORY 109 3.1 Introduction / 109 32. Background / 109 3.3 Equations of Transformation: Changes of Variables J 111 34 Stationary Circuit Variables Transformed to the Arbitrary Reference Frame / 115 35 Commonly Used Reference Frames / 123 3.6 Transformation Between Reference Frames J. 124 3.7 Transformation of a Balanced Set / 126 38 Balanced Steady-State Phasor Relationships 127 39 Balanced Steady-State Voltage Equations / 130 3.10. Vatiables Observed from Several Frames of Reference J 133 References J 137 Problems / 138 Chapter 4 SYMMETRICAL INDUCTION MACHINES 1 4.1 Introduction / 141 42 Voltage Equations in Machine Variables / 142 43° Torque Equation in Machine Variables / 146 44 Equations of Transformation for Rotor Circuits / 147 4.5 Voltage Equations in Arbitrary Reference-Frame Variables / 149 46 Torque Equation in Arbitrary Reference-Frame Variables / 153 47 Commonly Used Reference Frames / 154 48 Per Unit System / 155 49 Analysis of Steady-State Operation J 157 4.10 Free Acceleration Characteristics / 165 4.11 Free Acceleration Characteristics Viewed from Various Reference Frames / 172 4.12 Dynamic Performance During Sudden Changes in Load Torque 174 4.13 Dynamie Performance During a 3-Phase Fault atthe ‘Machine Terminals J. 181 4.14 Computer Simulation in the Arbitrary Reference Frame / 184 References / 187 Problems / 188 Chapter 5 SYNCHRONOUS MACHINES 191 5.1 Introduction / 191 5.2 Voltage Equations in Machine Variables / 192 53. Torque Equation in Machine Variables / 197cconrents ix 5A Stator Voltage Equations in Arbitrary Reference-Frame Variables / 198 55 Voltage Equations in Rotor Reference-Frame Variables: Park's Equations 7 200 5.6 Torque Equations in Substitute Variables / 206 5.7 Rotor Angle and Angle Between Rotors / 207 5.8 Per Unit System / 209 59 Analysis of Steady-State Operation / 210 5.10 Dynamie Performance During a Sudden Change in Input Torque / 219 5.11 Dynamie Performance Dusing a 3-Phase Fault at the Machine Terminals / 225 5.12 Approximate Transient Torque Versus Rotor Angle Characteristics / 229 5.13 Comparison of Actual and Approximate Transient Torgue-Angle Characteristies During a Sudden Change in Input Torque: First Swing Transient Stability Limit / 232 5.14 Comparison of Actual and Approximate Transient Torque-Angle (Charactristies During a 3-Phase Fault atthe Terminals: Critical Clearing Time / 239 5.15 Equal-Area Criterion / 242 5.16 Computer Simulation / 246 References / 255 Problems / 256 Chapter 6 THEORY OF BRUSHLESS de MACHINES 261 6.1 Introduction / 261 62 Voltage and Torque Equations in Machine Variables / 261 63 Voltage and Torque Equations in Rotor Reference-Frame Variables / 264 64 Analysis of Steady-State Operation / 266 65 Dynamic Performance / 274 References / 281 Problems / 281 Chapter 7 MACHINE EQUATIONS IN OPERATIONAL aM 72 13 14 15 16 IMPEDANCES AND TIME CONSTANTS 283 Iniroduetion / 283 Park's Equations in Operational Form / 284 Operational Impedances and G(p) for a Synchronous Machine with Four Rotor Windings / 284 Standard Synchronous Machine Reactances / 288 Standard Synchronous Machine Time Constants 290 Derived Synchronous Machine Time Constants / 291x contents 7.7 Parameters from Shor-Circuit Characteristics / 294 7.8 Parameters from Frequency-Response Characteristics / 301 References J 307 Problems / 308 Chapter 8 LINEARIZED MACHINE EQUATIONS ai 8.1 Inoduetion / 311 8.2 Machine Equations to Be Linearized / 312 83. Linearization of Machine Equations / 313 84 Small-Displacement Stability: Eigenvalues / 323, 8.5 Eigenvalues of Typical Induction Machines / 324 8.6 Eigenvalues of Typical Synchronous Machines 327 8.7 Transfer Function Formulation / 330 References J 335 Problems / 335, Chapter 9 REDUCED-ORDER MACHINE EQUATIONS. 337 9.1 Introduction / 337 9.2 Reduced-Order Equations / 338 9.3 Induction Machine Large-Excursion Behavior Predicted by Reduced-Onder Equations / 343, 94 Synchronous Machine Large-Excursion Behavior Predicted by Retuced-Order Equations / 350 95 Linearized Reduced-Order Equations / 354 9.6 Eigenvalues Predicted by Linearized Reduced-Onder Equations / 354 9.7 Simulation of Reduced-Order Models / 355 9.8 Closing Comments and Guidelines / 358 References / 358 Problems / 359 Chapter 10. SYMMETRICAL AND UNSYMMETRICAL 2-PHASE INDUCTION MACHINES. 361 10.1 Introduction / 361 10.2 Analysis of Symmetrical 2-Phase Induction Machines / 362 10.3 Voltage and Torque Equations in Machine Variables for Unsymmetrical 2-Phase Induction Machines / 371 10.4 Voltage and Torque Equations in Stationary Reference-Frame Variables for Unsymmetrical 2-Phase Induction Machines / 373contents xi 10.5 Analysis of Steady-State Operation of Unsymmetrical 2-Phase Induction Machines 377 10.6 Single-Phase Induction Machines / 383 References / 393 Problems / 393 Chapter 11 SEMICONTROLLED BRIDGE CONVERTERS, 305 11.1 Introduction / 395 11.2. Single-Phase Load Commutated Converter / 395 11.3 3-Phase Load Commutated Converter / 406 References 1 42: Problems / 425 Chapter 12 dc MACHINE DRIVES ar 12.1 Introduction / 427 12.2 Solid-State Converters for de Drive Systems 427 123 Steady-State and Dynamic Characteristics of aclde Converter Drives / 431 124 One-Quadrant defde Converter Drive / 443 125 Two-Quadrant de/de Converter Drive 460 126 Four-Quadrant defde Converter Drive / 463 12.7 Machine Control with Voltage-Controlled de/de Converter / 466 128 Machine Control with Current-Contolled de/de Converter / 468 References / 476 Problems / 476 Chapter 13. FULLY CONTROLLED 3-PHASE BRIDGE ‘CONVERTERS 481 13.1 Inoduction / 481 132 ‘The 3-Phase Bridge Converter / 481 133 180° Voltage Source Operation / 487 1344 Pulse-Width Modulation / 494 135 Sine-Triangle Modulation / 499 136 Thied-Harmonie Injection / 503 13.7 Space-Vector Modulation J 506 138 Hysteresis Modulation / $10 139 Delta Modulation / 512 13.10. Open-Loop Voltage and Current Control J $13 13.11 Closed-Loop Voltage and Current Controls / 516xii contents, References / 520 Problems / $21 Chapter 14 INDUCTION MOTOR DRIVES 525 14.1 Introduction / 525 14.2 Volts-Per-Hertz Control / 143 Constant Slip Current Control / 332 144 Field-Oriented Control 540 14.5 Direct Rotor-Oriented Field-Oriented Control / $4 14.6 Robust Direct Field-Oriented Control / 546 14.7 Indirect Rotor Field-Oriented Control / 550 148 Conclusions / 554 References / 554 Problems / $55 Chapter 15 BRUSHLESS de MOTOR DRIVES 587 15.1 Introduction / 537 15.2 Voltage-Source Inverter Drives / $58 153, Equivalence of VSI Schemes to Kalized Source 1 560 154 Average-Value Analysis of VSI Drives / 568 15.5 Steady-State Performance of VSI Drives / 571 186 Transient and Dynamic Performance of VSI Drives / S74 15.7 Consideration of Steady-State Harmonies / 578 158 Case Study: Voltage-Source Inverter-Based Speed Control / 582 159 Current-Regulated Inverter Drives / 586 15.10 Voltage Limitations of Current-Souree Inverter Drives / 590 15.11 Current Command Synthesis / 591 15.12. Average-Value Modeling of Current-Regulated Inverter Drives / 595 15.13 Case Study: Current-Regulated Inverter-Based Speed Controller / $97 References / 600 Problems / 600 ‘Appendix A Trigonometric Relations, Constants and Conversion Factors, and Abbreviations 603, INDEX 605PREFACE ‘The first edition of this book was written by Paul C. Krause and published in 1986 by ‘MeGraw-Hil. Eight years later the same book was republished by IEEE Press with (leg Wasynczuk and Scott D. Sudhoff added as co-authors, The focus of the first dition was the analysis of electric machines using reference frame theory, wherein the concept of the arbitrary reference frame was emphasized. Not only has this approach been embraced by the vast majority of electric machine analyst, it has also become the approach used in the analysis of electric drive systems. The use of reference-frame theory o analyze the complete drive system (machine, converter, and contro) was not emphasized inthe frst edition. The goal ofthis edition i to fill this void and thereby meet the need of engineers whose job itis to analyze and design the complete drive system, For this reason the words “and Drive Systems” have been added to the tite [Although some of the material has been rearranged or revised, and in some eases «eliminated, such as 3-phase symmetrical components, most ofthe material presented inthe fist ten chapters were taken from the original edition. For the most part, the ‘material in Chapters 11-15 on electric drive systems is new. In particular, the an lysis of converters used in electric drive systems is presented in Chapters 11 and 13, hile d, induction, and brushless de motor drives are analyzed in Chapters 12, 14, and 15, respectively Central to the analysis used inthis text isthe transformation to the arbitrary refer cence frame. All eal and complex transformations used in machine and drive ana lyses can be shown to be special cases ofthis general transformation. The modern electric machine and drive analyst must understand reference frame theory. For this reason, the complete performance ofall electric machines and drives considered are illustrated by computer traces wherein variables are often portrayed in differentframes of reference so that the student is able to appreciate the advantages and sig- nificance of the transformation used, ‘The material presented inthis text can be used most beneficially if the student has had an introductory course in eleciic machines. However, a senior Would be com= fortable using this textbook as a first course. For this purpose, considerable time should be devoted to the basic principles discussed in Chapter I, perhaps some of ‘Chapter 2 covering basic de machines, most of Chapter 3 covering reference frame theory, andthe beginning sections of Chapters 4, 5, and 6 covering induction, syn- cthronous, and brushless de machines. ‘Some of the material that would be of interest only tothe electric power engineer has been reduced or eliminated from that given in the fist edition. However, the material found in the final sections in Chapters 4 and S on induction and synchronous ‘machines as weil as operational impedances (Chapter 7), and reduced-order model- ing (Chapter 9) provide an excellent background for the power utility engineer, ‘We would like t acknowledge the efforts and assistance of the reviewers, in par- ticular Mohamed E. El-Hawary, and the staff of IEEE Press and Jobn Wiley & Sons, Paut.C. Keaust cee Wasyncaux Scorr D. Suonore Wea Lafeene, tine November 200)ANALYSIS OF ELECTRIC MACHINERY AND DRIVE SYSTEMSChapter 1 BASIC PRINCIPLES FOR ELECTRIC MACHINE ANALYSIS 4.1 INTRODUCTION ‘There are several basic concepts that must be established before the analysis of elec- tic machines can begin. The principle of electromechanical energy conversion is perhaps the comerstone of machine analysis. This theory allows us to establish an ‘expression of electromagnetic torgue in terms of machine variables, generally the ‘currents and the displacement of the mechanical system. Other principles that must be established are (1) the derivation of equivalent circuit representations of ‘magnetically coupled circuits, (2) the concept ofa sinusoidally distibuted winding, (G) the concept ofa rotating airgap magnetomotive force (MME), and (4) the deri- vation of winding induetances. The above-mentioned basic principles are presented in this chapter, concluding with the voltage equations of a 3-phase synchronous ‘machine and a 3-phase induction machine. Ic is shown thatthe equations, which describe the behavior of altemating-current (ac) machines, contain time-varying coeflcients due to the fact that some of the machine inductances are functions of the rotor displacement. Tis establishes an awareness of the complexity ofthese vol- tage equations and sets the stage for the change of variables (Chapter 3), which reduces the complexity ofthe voltage equations by eliminating the time-dependent inductances, 1.2. MAGNETICALLY COUPLED CIRCUITS Magnetically coupled electric circuits are central to the operation of transformers ‘and electric machines. In the case of transformers, stationary cirewits are 12 BASIC PRINCIPLES FOR ELECTRIC MACHINE ANALYSIS Figure 1.21 Magnetically coupled circuits ‘magnetically coupled fr the purpose of changing the voltage and current level. In the case of electric machines, citcuits in relative motion are magnetically coupled for the purpose of wansfersing energy between mechanical and electrical systems Because magnetically coupled circuits play such an important role in power vans- mission and conversion, itis important to establish the equation that describe thet ‘behavior and to express these equations in a form convenient for analysis. These goals may be achieved hy starting with two stationary electric circuits that are mag ‘eially coupled as shown in Fig. 1.21. The two eols consis of turns Ny and N respectively, and they are wound ona common core that is general a ferromagnetic ‘material with permeability large celatve to that of ait. The permeability of fee space, , is $x % 10-7 Him. The permeability of other materials is expressed as A= pip wher pis the relative permeability. Inte ease of transformer stel the relative permeability may be as high 2000 to 4000, In general, the hx produced by each coil can be separated into two components 8 Teakage component denoted with an I subscript and a magnetizing component ‘denoted by an m subscript. Each ofthese components is depicted by asingle steamn- line withthe postive direction determined by applying the right-hand rule to the dlieetion of current flow inthe col. Often, in transformer analysis, fis elected positive out ofthe tp ofeol 2, and a dot is placed at that termina ‘The fs linking each coil may be expressed a8 Dy + Oy + Gao (124) 1D; = Op + yo + Bq (1.22) ‘The leakage Mux 4 is produced by current flowing in coil 1, and it Tinks only the ‘tums of col . Likewise, the leakage flux is produced by current lowing in coil 2, and it inks only the turns of coil 2. The magnetizing ux yy is produced by current owing in coil 1, and it links all rns of coils 1 and 2. Similarly, the magnetizing ffux da is produced by current flowing in coil 2, and it also Tinks ll tums of coils 1 nd 2, With the selected postive direction of current flow and the manner in which