PROBLEMS 115

REFERENCES

[1] R.H. Park, “Two-Reaction Theory of Synchronous Machines—Generalized Method of

Analysis—Part I,” AIEE Trans., Vol. 48, July 1929, pp. 716–727.
[2] H.C. Stanley, “An Analysis of the Induction Motor,” AIEE Trans., Vol. 57 (Suppl), 1938,
pp. 751–755.
[3] G. Kron, Equivalent Circuits of Electric Machinery, John Wiley & Sons, New York, 1951.
[4] D.S. Brereton, D.G. Lewis, and C.G. Young, “Representation of Induction Motor Loads
During Power System Stability Studies,” AIEE Trans., Vol. 76, August 1957, pp. 451–461.
[5] P.C. Krause and C.H. Thomas, “Simulation of Symmetrical Induction Machinery,” IEEE
Trans. Power Apparatus Syst., Vol. 84, November 1965, pp. 1038–1053.
[6] P.C. Krause, F. Nozari, T.L. Skvarenina, and D.W. Olive, “The Theory of Neglecting Stator
Transients,” IEEE Trans. Power Apparatus Syst., Vol. 98, January/February 1979, pp. 141–
148.
[7] E. Clarke, Circuit Analysis of A-C Power Systems, Vol. I—Symmetrical and Related Com-
ponents, John Wiley & Sons., New York, 1943.
[8] C.L. Fortescue, “Method of Symmetrical Co-ordinates Applied to the Solution of Polyphase
Networks,” AIEE Trans., Vol. 37, 1918, pp. 1027–1115.
[9] W.V. Lyon, Transient Analysis of Alternating-Current Machinery, The Technology Press of
Massachusetts Institute of Technology and John Wiley & Sons, New York, 1954.
[10] D.C. White and H.H. Woodson, Electromechanical Energy Conversion, John Wiley & Sons,
New York, 1959, pp. 316–317.
[11] D.W. Novotny and T.A. Lipo, Vector Control and Dynamics of AC Drives, Oxford Univer-
sity Press, New York, 1997.
[12] R.D. Lorenz, T.A. Lipo, and D.W. Novotny, “Motion Control with Induction Motors,” Proc.
IEEE, Vol. 82, No. 8, August 1994, pp. 1215–1240.
[13] P. Vas, Sensorless Vector and Direct Torque Control, Oxford University Press, Oxford; New
York; Tokyo, 1998.
[14] C.P. Steinmetz, Theory and Calculation of Alternating Current Phenomena, W.J. Johnston,
New York, 1897.

PROBLEMS

1. The transformation for a two-phase set to the arbitrary reference frame is

fqds = K s fabs

where

( fqds )T = [ fqs fds ]

( fabs )T = [ fas fbs ]
⎡cos θ sin θ ⎤
Ks = ⎢
⎣ sin θ − cos θ ⎥⎦
116 REFERENCE-FRAME THEORY

where θ is defined by (3.3-5).

(a) Determine (Ks)−1.
(b) Depict the transformation similar to that shown in Figure 3.3-1.
2. Using the transformation given in Problem 1, express the voltage and flux linkage
equations in the arbitrary reference frame for a system

vas = ra ias + pλ as
vbs = rbibs + pλbs
λ as = La ias
λbs = Lbibs

where ra = rb = rs and La = Lb = Ls. Then express the voltage and flux linkage equa-
tions for the case in which ra ≠ rb and La ≠ Lb.
3. Using the transformation given in Problem 1, express the current equations in the
arbitrary reference frame for a two-phase capacitive circuit that is described by

vas
Cs pvas + = ias
rs
v
Cs pvbs + bs = ibs
rs

4. The phases of a three-phase circuit consist of equal resistances, equal inductances,

and equal capacitances connected in series. The phases are not coupled. Write the
voltage equations in the arbitrary reference frame and draw the equivalent circuit.
5. Repeat Problem 4 for the circuit elements in each phase connected in parallel.
6. In a reference frame x, the q- and d-axis voltages of a wye-connected RL circuit
may be expressed as

vqsx = 0.1iqsx − 100idsx + 5 piqsx

vdsx = 0.1idsx + 100iqsx + 5 pidsx

Determine the resistance and inductance of the circuit, as well as the speed of the
reference frame.
7. Show that for a two-phase set

fas2 + fbs2 = fqs2 + fds2

8. Clarke’s transformation may be written as

fαβ 0 = Cfabcs

where
PROBLEMS 117

( fαβ 0 )T = [ fα fβ f0 ]

⎡ 1 1⎤
⎢1 − − ⎥
2 2
⎢ ⎥
2⎢ 3 3⎥
C = ⎢0 −
3 2 2 ⎥
⎢ ⎥
⎢1 1 1 ⎥
⎢2
⎣ 2 2 ⎥⎦

Relate fqss, fdss, and f0s to fa, fβ, and f0, respectively.
9. A transformation that is sometimes used in the case of synchronous machines is
one where fds leads fqs in Figure 3.3-1 by 90° with ω = ωr.
(a) Express the transformation.
(b) Using this transformation, write the voltage equations for a three-phase inductive circuit.
10. The inductance matrix that describes the self- and mutual inductances between the
stator windings of a salient-pole synchronous machine with mutual leakage terms
neglected is given in the following equation:

⎡ 1 ⎛ π⎞ 1 ⎛ π⎞ ⎤
⎢ Lls + L A − LB cos 2θ r − L A − LB cos 2 ⎜ θ r − ⎟
2 ⎝ 3⎠
− L A − LB cos 2 ⎜ θ r + ⎟ ⎥
2 ⎝ 3⎠
⎢ ⎥
⎢ 1 ⎛ π⎞ ⎛ 2π⎞ 1 ⎥
L s = ⎢ − L A − LB cos 2 ⎜ θ r − ⎟ Lls + L A − LB cos 2 ⎜ θ r − ⎟ − L A − LB cos 2(θ r + π ) ⎥
2 ⎝ 3⎠ ⎝ 3⎠ 2
⎢ ⎥
⎢ 1 ⎛ π⎞ 1 ⎛ 2π ⎞ ⎥
⎢⎣ − 2 L A − LB cos 2 ⎜⎝ θ r + 3 ⎟⎠ − L A − LB cos 2(θ r + π )
2
Lls + L A − LB cos2 ⎜ θ r +
⎝ ⎟
3 ⎠ ⎥⎦

Evaluate K rs L s (K rs )−1 for this case. Repeat the evaluation for the case in which
mutual leakage terms (refer to Chapter 2) are included.
11. If A is one reference frame and B another, show that (AKB)−1 = BKA.
12. Equations (3.7-1)–(3.7-3) form an abc sequence. Express an acb sequence and
transform this set to the arbitrary reference frame using (3.3-1). Express fqde 0 s (ω = ω e )
and fqd− e0 s (ω = −ω e ).
13. Devise a transformation which yields only constants when ω = ωe for a balanced
three-phase set with a phase sequence of acb.
14. Relate Fbs and Fcs to Fqs and Fds for a balanced three-phase set with a time sequence
of abc.
15. For steady-state balanced conditions, the total three-phase power and reactive
power may be expressed

P = 3Vs I s cos[θ ev (0) − θ ei (0)]

Q = 3Vs I s sin[θ ev (0) − θ ei (0)]

Show that the following expressions are equal to those given above.
118 REFERENCE-FRAME THEORY

3
P= (Vqs I qs + Vds I ds )
2
3
Q= (Vqs I ds − Vds I qs )
2

16. Write the expressions for the currents in Figure 3.9-1 and Figure 3.9-2.
17. Assume the steady-state abc variables are of the form

Fas = 2 Fa cos ω e t
⎛ 2π ⎞
Fbs = 2 Fb cos ⎜ ω e t − ⎟
⎝ 3⎠
⎛ 2π ⎞
Fcs = 2 Fc cos ⎜ ω e t + ⎟
⎝ 3⎠

where Fa, Fb, and Fc are unequal constants. Show that this unbalanced set of abc
variables forms two-phase balanced sets of qs and ds variables in the arbitrary
reference frame with the arguments of (ωet−θ) and (ωet + θ). Note the form of the
qs and ds variables when ω = ωe and ω = −ωe.
18. Repeat Problem 17 with

Fas = 2 Fs cos(ω e t + φa )
Fbs = 2 Fs cos(ω e t + φb )
Fcs = 2 Fs cos(ω e t + φc )

where φa, φb, and φc are unequal constants.

19. It is often suggested that Ks should be changed so that (Ks)T = (Ks)−1. For
example, if

⎡ ⎛ 2π ⎞ ⎛ 2π ⎞ ⎤
⎢cos θ cos ⎜ θ − ⎟
⎝ 3⎠
cos ⎜ θ + ⎟ ⎥
⎝ 3⎠
⎢ ⎥
2⎢ ⎛ 2π ⎞ ⎛ 2π ⎞ ⎥
Ks = sin θ sin ⎜ θ − ⎟ sin ⎜ θ + ⎟ ⎥
3⎢ ⎝ 3⎠ ⎝ 3⎠
⎢ ⎥
⎢ 1 1 1 ⎥
⎢⎣ 2 2 2 ⎥⎦

then (Ks)T = (Ks)−1. Show that this is true. Also, show that in this case

fas2 + fbs2 + fcs2 = fqs2 + fds2 + f02s

20. A system is described by the following equations:

PROBLEMS 119

vbs vcs
pvas − − + vas = ias
2 2
v v
pvbs − as − cs + vbs = ibs
2 2
vbs vas
pvcs − − + vcs = ics
2 2

If the currents are a balanced (abc) sequence with Ias = cos(t), determine
Vqse , Vas , and Vqss .
21. A system is described as

⎡ 1 1⎤
⎢ 1 − − ⎥
2 2
⎢ ⎥
− i abcs − ⎢ −
1 1⎥
0 = v abcs 1 − pi abcs − vCabcs
⎢ 2 2⎥
⎢ ⎥
⎢− 1 −
1
1 ⎥
⎢⎣ 2 2 ⎥⎦
pvCabcs = i abcs

Determine I qse , I ds , and, I as if Vas = cos10t. Assume balanced voltages.

22. A system is described by the following:

vas = ias + pλ as
vbs = ibs + pλbs
vcs = ics + pλcs
λ as = (0.1 + 1)ias − 0.5ibs − 0.5ics
λbs = −0.5ias + (0.1 + 1)ibs − 0.5ics
λcs = −0.5ias − 0.5ibs + (0.1 + 1)ics

If λ as = 1 − j, ω e = 10 rad/s, use reference-frame theory to determine Vas.

23. A system is described as

v abcs = rs i abcs + pl abcs

⎡ 1 ⎛ π⎞ 1 ⎛ π⎞ ⎤
⎢ 0.1 + 1 − 0.25 cos 2θ r − − 0.25 cos 2 ⎜ θ r − ⎟
2 ⎝ 3⎠
− − 0.25 cos 2 ⎜ θ r + ⎟ ⎥
2 ⎝ 3⎠
⎢ ⎥
⎢ 1 ⎛ π⎞ ⎛ 2π ⎞ 1 ⎥
l abcs = ⎢ − − 0.25 cos 2 ⎜ θ r − ⎟ 0.1 + 1 − 0.25 cos 2 ⎜ θ r − ⎟ − − 0.25 cos 2(θ r + π ) ⎥ i abcs
2 ⎝ 3⎠ ⎝ 3⎠ 2
⎢ ⎥
⎢ 1 ⎛ π⎞ 1 ⎛ 2π ⎞ ⎥
⎢⎣ − 2 − 0.25 cos 2 ⎜⎝ θ r + 3 ⎟⎠ − − 0.25 cos 2(θ r + π )
2
0.1 + 1 − 0.25 cos 2 ⎜ θ r + ⎟ ⎥
⎝ 3 ⎠⎦

If λqsr = λ dsr = 1 V ⋅ s, determine Ias .

120 REFERENCE-FRAME THEORY

24. A system is described as:

′ r = rr′i12
v12 ′ r + pl12
′r
⎡ cos(θ r ) − sin(θ r ) ⎤
′ r = Lm ⎢
l12 ⎥ i12 s
⎣ − sin(θ r ) − cos(θ r ) ⎦

Using the definitions

⎡ fqss ⎤ s ⎡ f1s ⎤ ⎡1 0 ⎤
⎢ f s ⎥ = K s ⎢ f ⎥ , where K s = ⎢0 −1⎥
s

⎣ ds ⎦ ⎣ 2s ⎦ ⎣ ⎦
⎡ fqr’s ⎤ ⎡ f ’
⎤ ⎡ − sin(θ r) − cos(θ r ) ⎤ dθ r
⎢ f ’s ⎥ = K r ⎢ f ’ ⎥ , where K r = ⎢ − cos(θ ) sin(θ ) ⎥ , ω r = dt
s 1r s

⎣ dr ⎦ ⎣ 2r ⎦ ⎣ r r ⎦

transform the voltage and flux linkage equations into the stationary reference
′ are balanced and have a frequency of
frame. Assuming the input voltages v12r
337 − ωr, determine the frequency of the currents, voltages, and flux linkages in
the stationary frame of reference.
25. A balanced three-phase system can be described in the stationary reference frame
as:

piqss + iqss = vqss

pidss + idss = vdss
pi0 s + i0 s = v0 s

If the system is operating with ωe = 1 rad/s, Vqse = 2 V, Vdse = − 2 V, use the

steady-state equations to determine Ias. In addition, express the physical abc
variables.
26. Consider a two-phase machine with the flux linkage equations:

⎡8 − 4 cos(2θ r ) −2 sin(2θ r ) ⎤
l abs = ⎢ ⎥ i abs
⎣ −2 sin(2θ r ) 2 + cos(2θ r ) ⎦

Where θr is the electrical rotor position. Determine a set of qd flux linkage equa-
tions that are rotor position invariant. To do this, you will need to establish a suit-
able reference-frame transformation.