Synchronous Machine Equations in the

d-q-o frame
Stator Voltage Equations
dψd kq
− − ω ψq − Raid = vd
dt kd
dψq kd
− + ω ψd − Raiq = vq
dt kq
dψo
− − R a io = v o
dt
dθ
ω=
dt
Rotor Voltage Equations
dψf
+ R f if = v f
dt

dψh
+ R h ih = 0
dt

dψg
+ R g ig = 0
dt

dψk
+ R k ik = 0
dt
Current-Flux Relationship
    
0 L0
 dqo   ss sr   idqo 
ψ L
=
L0rs Lrr
  
ψr ir
  
 Ld 0 0 
0 
[Lss] = 

 0 Lq 0 

 
0 0 Lo
 
Maf M
ah
( k ) ( k ) 0 0 
 d d 
[L0sr ] =  0 Mag Mak 

0 ( ) ( ) 
 kq kq 
 
0 0 0 0
  
( 3M k ) 0 0
 2 af d
 3 
( M k ) 0 0
 2 ah d 
0
( 32 Mag kq )
 
[Lrs] = 
 0 0
 
 
 
 
0 ( 23 Mak kq ) 0
  
 Lf Lf h 0 0 
 
i L Lh 0 0 
 fh
h
=

Lrr  
0 0 Lg Lgk 
 
 
0 0 Lgk Lk
Expression for Electrical Torque
P 0
Te = Te
2
P 3
= kd kq [iq ψd − idψq ]
2 2
Choice of kd, kq and ko
q q q
With kd = 23 , kq = 23 and ko = 13 ,

1. [L0rs]T = [L0sr ]

2. [CP ]T = [CP ]−1 which also implies power

invariance (why ?)

3. Te = P2 [iq ψd − idψq ]