ECE 523: Session 27; Page 1/8

Symmetrical Components Fall 2019

ECE 523: Synchronous Machine Steady-state

Equivalent Circuit

If
If

Br

Bs
Rotor
Statorflux
fluxpulls the stator
"pulls" rotorflux
behind it:
in a generator, vice versa for a motor
τ = k  Bs  Br

Electric Circuit Equivalent:

d
va ( t) = ra ia ( t)  λa ra is the copper loss in the stator winding.
dt

  is called a flux linkage.

 If we ignore saturation then

λ = N ϕ
 Faraday's law, for a transformer:

d d
e= λ = N ϕ
dt dt
ECE 523: Session 27; Page 2/8
Symmetrical Components Fall 2019

 However, for a rotating machine, the number of turns coupled by the flux will also vary since the
windings are distributed.
 So the Faraday's Law equation becomes:
Rotor Axis
(Field Flux) Phase B
Stator Flux
d d d
e= λ = N ϕ ( t)  ϕ N ( t) ia A'
dt dt dt
B C

 The machine case is further ib if ic

complicated by the coupling
between phases, so a will be
Phase A
impacted by the currents in the Stator Flux
other phases and in the field circuit C' Rotor
if B'

 Recall that when we discussed ic ib

magnetic circuits, we defined a term
Stator ia
called "Reluctance"
A
2
N Phase C
L= Stator Flux
Rel

 We can use L to related the flux linkages to the currents in each coupled circuit

λa = Laa ia ( t)  Lab ib ( t)  Lac ic ( t)  LaF if

 Laa is the self inductance of phase A

 Lab is mutual inductance between phases A and B

 Lac is mutual inductance between phases A and C
 LaF is mutual inductance between phases A the field winding F
We will find later that each of these inductances each have a constant part and a part
that varies with time as the rotor turns

 As a first approximation, we can break the Laa into:

2
Ns Ns = Stator_turns
Laa = Laa0  Lal where: Laa0 =
2 Relag
Reluctance across the air gap

Lal = Leakage
ECE 523: Session 27; Page 3/8
Symmetrical Components Fall 2019

Lab = Laa0 cos ( 120deg)

Note that only the self term has leakage (leakage is not
Lac = Laa0 cos ( 120deg) part of the mutual inductance.

LaF = Lf  cos  θ0  ω t note that this varies with time.

Nf  Ns
Lf =
2Relag

Then we can rewrite the flux linkage equation as:

  ib ( t)   ic ( t) 
λa = Laa0 ia ( t)      Lal ia ( t)  LF if  cos  θ0  ω t
  2   2 

 Note impact of cos(+120) and cos(-120)

Assume balanced three phase circuit:

ia  ib  ic = 0 or: ia =  ib  ic

So we can rewrite the expression as:

3
λa =  Laa0 ia ( t)  Lal ia ( t)  LF if  cos  θ0  ω t
2
Then the voltage equation becomes:
d 3 d d
va ( t) = ra ia ( t)  λa = ra ia ( t)   Laa0 ia ( t)  Lal ia ( t)  ω LF if  sin  θ0  ω t
dt 2 dt dt
Note derivative of cosine term
Define:

 Voltage due to Br

ea ( t) = ω LF if  sin  θ0  ω t = ω LF if  cos 

π 
 θ0  ω t
2 
Define: π
δ=  θ0
2

Phasor form:  jδ

Ea = Ea  e
ECE 523: Session 27; Page 4/8
Symmetrical Components Fall 2019

 Voltage due to Bs (armature reaction)

3 d
 Laa0 ia ( t)
2 dt

Now define the direct axis synchronous reactance:

Xd = 2 π 60 Hz   Laa0  Lal
3  Dominated by Laa0 since leakage is small
2 
So the voltage equation becomes:
d
va ( t) = ra ia ( t)  Ls ia ( t)  ea ( t)
dt
Or in phasor form:
   
Va = ra Ia  j  Xs Ia  Ea

Think back to dc machine, this implies current entering machine (motor operation)
Generator equation:
   
Va = Ea  r Ia  j  Xs Ia

Per Phase Equivalent Circuit (assumes Y connected):

I a_generator
If I a_motor

Rf Xs Ra
Vf Nf Ea Va

Ea

 Generator Relation
Va

 For a large machine it is generally possible to neglect Ra

 Normally the X/R ratio is over 20
ECE 523: Session 27; Page 5/8
Symmetrical Components Fall 2019

Salient Pole Machine Equations

Inductance Equations: Rotor Axis
(Field Flux) Phase B
Stator Flux
Direct axis inductance of phase "s" (round ia A'
rotor term)
B C

ib if ic

2 μ0  r leff  π
Lss = h k Ns k=
4 Phase A
Stator Flux
2 C' Rotor
Ns if B'
or we could say: Lss =
2 Relag ic ib
Saliency adjustment term: Stator ia
A
Δh 2
LΔ =  k Ns
2 Phase C
Stator Flux

Coupling to rotor:
3
Lsf =  h 
Δh  Lm =  Lss
  k Ns Nf 2
 2 

Self inductances:

Laa  θr =  Lss  Lls  LΔ cos  2 θr

2 π 
Lbb  θr =  Lss  Lls  LΔ cos 2  θr 
2π  
 =  Lss  Lls  LΔ cos  2 θr  
  3   3 

2 π 
Lcc  θr =  Lss  Lls  LΔ cos 2  θr 
2π  
 =  Lss  Lls  LΔ cos  2 θr  
  3   3 

Stator to stator mutual inductances

Lss 2 π  Lss 2 π 
Lab  θr =  LΔ cos  2 θr   Lac  θr =  LΔ cos  2 θr  
2  3  2  3 
Lss
Lbc  θr =  LΔ cos  2 θr all symmetric: Lab = Lba and so on.
2
ECE 523: Session 27; Page 6/8
Symmetrical Components Fall 2019

Stator to rotor mutual inductances

2 π 
Laf  θr = Lsf  sin  θr Lbf  θr = Lsf  sin  θr  
 3 

2 π 
Lcf  θr = Lsf  sin  θr  
 3 

Rotor inductance:

Lff  θr =  h 
Δh  2
  k Nf  Llf
 2 

Electric Circuit Equivalent (generator convention):

d
va ( t) = ra ia ( t)  λa
dt

λa ( t) = λaarm  λaf = Laa ia ( t)  Lab ib ( t)  Lac ic ( t)  LaF if

λa ( t) =   Lss  Lls  2 Is  cos  ωe t  θi   LΔ 2 Is  cos  ωe t  θi  Lsf  If  cos  ωe t  
3  3 π
2  2  2

Phasor form:
π
 If j  2  3  j  θi 3  j  θi
Λa = Lsf  e    Lss  Lls  Is e   LΔ Is  e
2 2  2

Salient pole
Field term Round rotor term
adjustment term

π
 If j  2
If = e "Phasor" for field current representing angle of rotor axis
2

 
Λaf = Lsf  If

 3   j  θi 3  j  θi
Λaarm =   Lss  Lls  Is e   LΔ Is  e
2  2
ECE 523: Session 27; Page 7/8
Symmetrical Components Fall 2019

 3  3
Λaarm =   Lss  Lls   cos  θi  j  sin  θi    LΔ Is   cos  θi  j  sin  θi 
2  2

 3
Λaarm =   Lss  Lls   LΔ  Is   cos  θi   j   Lss  Lls   LΔ  Is  sin  θi
3  3 3 
2 2  2 2 

Define quadrature and direct axis inductances:

3 3
Lq =  Lss  Lls   LΔ
2 2
Note the cause of the difference between Ld and Lq
3 3
Ld =  Lss  Lls   LΔ
2 2

Define quadrature and direct axis currents:


Iaq = Is  cos  θi e
j0

π
  j
Iad = j Is  sin  θi e = Is  sin  θi  e
j0 2

Therefore:
  
Λaarm = Lq  Iaq  Ld  Iad

    
Λa = Λaf  Λaq  Λad = Lsf  If  Lq Iaq  Ld Iad recall the angle of the field current

 
Λaq = Lq  Iaq

  
Λad = Lsf  If  Ld  Iad

Back to the voltage equation:

d
va ( t) = ra ia ( t)  λa
dt
ECE 523: Session 27; Page 8/8
Symmetrical Components Fall 2019

as a phasor equation:

     
Va = ra Ia  j  ωe Λa = ra Ia  j  ωe Λaq  j  ωe Λad

    
Va = ra Ia  j  ωe Lq Iaq  j  ωe Ld Iad  j  ωe Lsf  If

Xq = ωe Lq

Xd = ωe Ld

Xsf = ωe Lsf

π π
j   

Ea = ωe Lsf  If  e 
2 2 j 0
= Xsf  If  e Note that this is reference angle in this derivation

   
Va = Ea  ra Ia  j  Xq Iaq  j  Xd Iad