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Lecture 4

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• Inverse of matrix A is given by

• 𝐴 = [transpose of co-factor matrix]

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• Power invariance: •
• For two phase machine, • 𝑖 𝐴 𝐴 𝑣 = 𝑖 𝑣
• 𝑃 = 𝑖 𝑣 •For the power to be invariant
• 𝑖 = 𝐴 𝑖 • 𝐴 𝐴 =𝑈
• 𝑣 = 𝐴 𝑣 •Here U is the unit matrix with 1’s in the
• Taking the transpose, principle diagonal and zeroes in every
other position,
• 𝑖 = 𝑖 𝐴
• Or 𝐴 = 𝐴
• By substitutions
• Thus it is seen that if the transpose of
• 𝑃 = 𝑖 𝐴 𝐴 𝑣 the transformation matrix (here At)
• 𝑃 = 𝑖 𝑣 equals the inverse of the transformation
matrix (A-1), the power is invariant or
• 𝑃 = 𝑃 (power invariance)
constant.
• 
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• In the present case of transformation from three phases to two phases,

it is observed that
• 𝐴 = 𝐴
Transformation from Rotating axes (𝛂, 𝛃, 0) to Stationary axes (d, q, 0)
• The axis of phase (α) is taken to coincide with the axis of phase (A).
• Since the two rotors rotate at the same angular velocity and in the same direction,

• When the transformation is carried out from rotating to stationary

axes, the relative position of rotating axes varies with respect to
stationary or fixed axes.
• The matrix giving the transformation from rotating to stationary axes
or vice-versa, must contain coefficients which are functions of the
relative position of the moving (α, β) and fixed (d, q) axes.
• The transformation from rotating to stationary axes results in
replacing the moving coils by pseudo-stationary coils.
• Zero sequence quantities are not transformed and thus the required
transformation is only from α-β to d-q axes.

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• The two windings α and β on the rotor are shown inside the circle in
Figure (a).

• As the rotor moves, the α-𝛽 axes (i.e.

α, β windings) also revolve along
with it.
• By stationary axes on the rotor, it is
understood that these axes are fixed
with respect to the stator, (pseudo-
stationary coil-axes).
• In the present case, rotating and
stationary axes refer to the rotor and
are described with respect to the
stator.

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• In Figure (a), angle θ is such that at time t = 0, θ = 0.

• In other words, rotating axes α and β are aligned along d and q axes
respectively at t=0.
• At any time t, θ=ωrt, where ωr is the angular velocity in radians per
second.
• Phases α and β of the rotating winding are shown making an angle θ
with the stationary d-q axes windings respectively.
• At this instant, mmf space phasors Fα, Fβ for α, β windings and Fd, Fq.
for d, q windings are shown in Figure.
• Assuming that the effective of turns in α, β and d-q windings is same,
m.m.fs Fα and Fβ can be resolved along the d and q-axes, giving the
relationship,
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• 𝐹𝑑 = 𝐹𝛼 cos 𝜃 + 𝐹𝛽 sin 𝜃
• 𝑁𝑖𝑑 = 𝑁𝑖𝛼 cos 𝜃 + 𝑁𝑖𝛽 sin 𝜃
• 𝑖𝑑 = 𝑖𝛼 cos 𝜃 + 𝑖𝛽 sin 𝜃
• 𝑖𝑞 = −𝑖𝛼 sin 𝜃 + 𝑖𝛽 cos 𝜃 (Similarly)

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• 𝐶 = cos 2𝜃 + sin2 𝜃 = 1

• As C-1=Ct, the matrix is orthogonal and the voltage and current have identical
transformations.

• Let the currents in d-q axes windings be functions of time and be given by
• 𝑖𝑑 = 𝐼𝑚 sin 𝑤𝑡 + ∅
• 𝑖𝑞 = 𝐼𝑚 cos 𝑤𝑡 + ∅
• where ∅ is a constant arbitrary phase-angle.

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• The equivalent currents iα and iβ can now be obtained where θ is taken

equal to wt.
• 𝑖𝛼 = 𝐼𝑚 sin ∅
• 𝑖𝛽 = 𝐼𝑚 cos ∅
• Thus time varying currents in stationary d-q coils result in m.m.f.
• Which is identical with the m.m.f. produced by constant (or d.c.)
currents in rotating α, β coils.
• If coils α, β are stationary, d.c. currents in them would set up
stationary m.m.f.
• Now if these coils are made to rotate at a certain constant speed, their
m.m.f. will also-rotate at the same speed and in the same direction.

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In the transformation from α-β to d-q axes, zero sequence current is not
transformed. But if it exists, it can taken into account in matrix C, by an additional
row and an additional column, containing a unity as their common element. Thus,

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The transformation from three phases a, b, c to

stationary axes d, q, 0 can be deduced as follows,

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• Thus the new currents (or fictitious currents) id, iq and io can be
expressed in terms of actual three-phase currents ia, ib, ic,

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• The equations of the inverse transformation giving the actual currents

ia, ib, ic in terms of the currents id, iq, i0 can obtained.
• In order to include zero sequence current, an additional row and an
additional column containing unity, has been added to the
transformation matrix, as illustrated below.

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• It can observed that inverse of transformation matrix = transpose of

transformation matrix.
• So the axes voltages vd, vq and v0 are related to the armature phase voltages
of two or three phase systems by expressions of identical form.
• For example, for α-β to d-q transformation or vice versa,
• Voltages can be substituted for currents.

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Three-phase variables ia, ib, ic or va, vb, vc are related to d-q variables id,
iq or vd, vq.
These two sets of relations in between the 3-phase variables and d-q
variables are called Park's transformations.
• It must be emphasized again that the rotating three phase axes a, b, c
and two phase axes, α, β are the actual phase winding axes on the
rotor and rotate with it.
• When these moving axes are transformed to stationary axes (at rest
relative to the stator),
• Note that these axes are pseudo-stationary axes (d, q) and the
transformation matrix elements are functions of the variable angle θ.

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