Generalized Theory and Analysis of Electrical Machines

Generalized Theory and

Analysis of Electrical Machines

Ramtin Sadeghi
2020
Generalized Theory and Analysis of Electrical Machines

PART I

2) Reference frame theory

 Generalized Theory and Analysis of Electrical Machines

Reference frame theory: Background

• 1920s: R. H. Park introduces a new approach to change
the variables of a synchronous machine by replacing the
stator variables (voltage, current, flux) with:
FICTITIOUS windings rotating at the electrical angular
velocity of the rotor.

• All rotor position-dependent inductances from the voltage

equations caused by:
• electric circuits in relative motion
• electric circuits with varying magnetic reluctance
are ELIMINATED.
 Generalized Theory and Analysis of Electrical Machines

Reference frame theory: Background

• 1930s: H. C. Stanley employed a variable change for
induction machine analysis: by transforming the ROTOR
variables to:
FICTITIOUS stationary windings (fixed).
• All the varying mutual inductances in the voltage equations,
due to electric circuits in relative motion, are
ELIMINATED.

• G. Kron introduced a transformation for both rotor and stator

variables rotating in synchronism with the fundamental
angular velocity of the stator variables.
• D.S. Brereton applied the Park transform for induction
machine. Transforming the stator variables to a reference
frame rotating at the electrical angular velocity of the rotor.
 Generalized Theory and Analysis of Electrical Machines

Equations of transformation
Change Of Variables
• The early transformations were used to analyze the AC
machines; however, it can be used for other studies to
simplify the equations.
• Example:
• computer simulation tools used for transient and dynamic
stability studies of large power systems, the variables of all
power system components (except for the synchronous
machines) are represented in a reference frame rotating at
synchronous speed.
• All transformers, transmission lines, loads, capacitor banks, and
static VAR units variables are transformed to the synchronous
rotating reference.
 Generalized Theory and Analysis of Electrical Machines

Arbitrary reference frame

• A change of variables that formulates a transformation of
the three-phase variables of stationary circuit elements to
the arbitrary reference frame:
Ks: Transformation Matrix
f can be represent either Voltage (v),
Current (i) or linkage Flux (φ)
 Generalized Theory and Analysis of Electrical Machines

Arbitrary reference frame

• where the angular position and velocity of the arbitrary
reference frame are related as:

• It can be shown that the inverse transformation is:

 Generalized Theory and Analysis of Electrical Machines

Arbitrary reference frame

• f can represent either:
• Voltage
• Current
• flux linkage
• electric charge

• The superscript T denotes the transpose of a matrix

• The s subscript indicates the variables, parameters, and
transformation associated with stationary circuits.
• The frame of reference may rotate at any angular speed
(constant or varying), or it may remain stationary.
 Generalized Theory and Analysis of Electrical Machines

Arbitrary reference frame

• The transformation to the arbitrary reference frame is a
change of variables (FICTITIOUS) NOT a physical
connotation.
• Visualize the transformation
as trigonometric relationships
between variables:

The direction of fqs and fds can be

considered as the direction of the axes
of a NEW windings created by
the change of variables.
 Generalized Theory and Analysis of Electrical Machines

Arbitrary reference frame

• The equations of transformation may be thought of as if
the fqs and fds variables are “directed” along paths
orthogonal to each other and rotating at an angular
velocity of ω , whereupon fas , fbs , and fcs may be
considered as variables directed along stationary paths
each displaced by 120°.
• If fas , fbs , and fcs are resolved into fqs , the first row of Ks
is obtained, and if fas , fbs , and fcs are resolved into fds , the
second row is obtained.
• The f0s variables are not associated with the arbitrary
reference frame. They are related arithmetically to the
abc variables, independent of ω and θ .
 Generalized Theory and Analysis of Electrical Machines

Arbitrary reference frame: Power

• The total instantaneous power of a three-phase system
may be expressed in abc variables as:

• The total power expressed in the qd0 variables must equal

the total power expressed in the abc variables:

obtained using to replace actual currents and

voltages.
 Generalized Theory and Analysis of Electrical Machines

Arbitrary reference frame: Power

• Important observations:
1) The 3/2 factor comes about due to the choice of the
constant used in the transformation.
2) The waveforms of the qs and ds voltages, currents, flux
linkages, and electric charges are dependent upon the
angular velocity of the frame of reference.
3) The waveform of total power is independent of the
frame of reference.
4) In other words, the waveform of the total power is the
same regardless of the reference frame in which it is
evaluated.
 Generalized Theory and Analysis of Electrical Machines

Stationary circuit variables

transformed to
the arbitrary reference frame

1) Resistive elements
2) Inductive elements
3) Capacitive elements
 Generalized Theory and Analysis of Electrical Machines

Resistive Elements
• A three-phase resistive circuit:

• Using the arbitrary transformation:

• the resistance matrix rs should be diagonal and the

nonzero elements should be equal.
(means that the resistance of all three phase windings
should be symmetrical.)
 Generalized Theory and Analysis of Electrical Machines

Resistive Elements
• All stator phase windings of either a synchronous or a
symmetrical induction machine are designed to have the
same resistance.
• Similarly, transformers, capacitor banks, transmission
lines and, in fact, all power-system components are
designed so that all phases have equal or near-equal
resistances.
• Even power-system loads are distributed between phases
so that all phases are loaded nearly equal.
 Generalized Theory and Analysis of Electrical Machines

Resistive Elements
• If the phase resistances are unequal (unbalanced or
unsymmetrical), then the resistance matrix associated
with the arbitrary reference-frame variables contains
sinusoidal functions of θ.
• The only exception is stationary frame, where Ks is
algebraic.
• In other words, if the phase resistances are unbalanced,
the transformation yields constant resistances only if the
reference frame is fixed where the unbalance physically
exists.
 Generalized Theory and Analysis of Electrical Machines

Resistive Elements
• If the phase resistances are unequal (unbalanced or
unsymmetrical), then the resistance matrix associated
with the arbitrary reference-frame variables contains
sinusoidal functions of θ.
• The only exception is stationary frame, where Ks is
algebraic.
• In other words, if the phase resistances are unbalanced,
the transformation yields constant resistances only if the
reference frame is fixed where the unbalance physically
exists.
 Generalized Theory and Analysis of Electrical Machines

Inductive Elements
• For a three-phase inductive circuit, we have:

where p is the operator d / dt.

• The arbitrary transformation will be:

which can be written as:

 Generalized Theory and Analysis of Electrical Machines

Inductive Elements
• Further development results in:

Therefore:
HM1:
Prove this
? Matrix equation
 Generalized Theory and Analysis of Electrical Machines

Inductive Elements
• Using the previous matrix forms, the voltage equation

or:

• can be re-written as:

where:
 Generalized Theory and Analysis of Electrical Machines

Inductive Elements
• The expanded form is more common to use:

• Speed Voltage: which depends on the angular velocity of

the arbitrary reference frame.
• The speed voltage terms are zero if ω is zero.
(stationary reference frame)
• If the stationary reference frame is fixed where the circuit
physically exists, then, the voltage equations become the
time rate of change of flux linkages.
 Generalized Theory and Analysis of Electrical Machines

Inductive Elements
• Previous analysis is valid in general, regardless if the
system is magnetically linear or nonlinear and regardless
of the form of the inductance matrix if the system is
magnetically linear.

• For a linear system, the flux linkages are:

• Whereupon, in the arbitrary reference frame:

 Generalized Theory and Analysis of Electrical Machines

Inductive Elements
• If, for example, Ls is a diagonal matrix with all nonzero
terms equal:

• A matrix of this form could describe the inductance of a

balanced three-phase inductive load, a three-phase set of
line reactors used in high-voltage transmission systems or
any symmetrical three-phase inductive network without
coupling between phases.
 Generalized Theory and Analysis of Electrical Machines

Inductive Elements
• An inductance matrix that is common is of the form:

where:
• Ls is: self inductance
• M is: mutual inductance
• This form can be used to describe the
induction/synchronous machine windings OR
a symmetrical transmission line
 Generalized Theory and Analysis of Electrical Machines

Inductive Elements
• Three-phase RL circuit: Symmetrical transmission line
 Generalized Theory and Analysis of Electrical Machines

Inductive Elements
• Three-phase RL circuit: Y connection
 Generalized Theory and Analysis of Electrical Machines

Inductive Elements
• For the Ls in form of:

HM2:
Show that:
?
 Generalized Theory and Analysis of Electrical Machines

Inductive Elements: Conclusion

• Linear 3-phase coupled systems are magnetically
symmetrical if the diagonal elements are equal and off-
diagonal elements of the inductance matrix are also equal.

• For a symmetrical system, yields:

a diagonal matrix that, in effect, magnetically decouples the
substitute variables in all reference frames.
 Generalized Theory and Analysis of Electrical Machines

Inductive Elements: Conclusion

Three phase system Transformed dq0 system

coupled de-coupled
 Generalized Theory and Analysis of Electrical Machines

Capacitive Elements
• For a three-phase inductive circuit, we have:

• The arbitrary transformation will be:

which can be written as:

 Generalized Theory and Analysis of Electrical Machines

Capacitive Elements
• Similar to inductive elements:

where:

• The expanded from is:

Speed Currents
 Generalized Theory and Analysis of Electrical Machines

Capacitive Elements
• For a linear capacitive system:

• Which in arbitrary frame can be written as:

• A diagonal capacitance matrix with equal nonzero

elements describes, for example, a three-phase capacitor
bank used for power factor correction and the series
capacitance used for transmission line compensation or
any three-phase electrostatic system without coupling
between phases
 Generalized Theory and Analysis of Electrical Machines

Example:
• The arbitrary transformation of a three-phase RL circuit
defined by:

Mutual-inductance (M) is equal to:

-1/2 of magnetizing inductance

Self-inductance (Ls) is broken into:

leakage (Lls) and
magnetizing inductance (Lms)
 Generalized Theory and Analysis of Electrical Machines

Example:
• The expanded form of voltage equations in the arbitrary
reference frame can be written as:

• The inductance matrix can be transformed similar to

HM2:
 Generalized Theory and Analysis of Electrical Machines

Example:

• Thus, the flux equations are in expanded form:

 Generalized Theory and Analysis of Electrical Machines

Example:
• Arbitrary reference-frame equivalent circuits:
 Generalized Theory and Analysis of Electrical Machines

COMMONLY USED REFERENCE

FRAMES