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D-Q Transformation: J. Mccalley
D-Q Transformation: J. Mccalley
J. McCalley
Machine model
Consider the DFIG as two sets of abc windings, one on the stator and one on the rotor.
2
Machine model d (t )
The voltage equation for each phase will have the form: v(t ) ri (t )
That is, we can write them all in the following form: dt
vas rs 0 0 0 0 0 ias as
v 0 rs 0 0 0 0 i
bs bs bs
vcs 0 0 rs 0 0 0 ics d cs
All rotor terms are given on the
var 0 0 0 rr 0 0 ar i dt ar rotor side in these equations.
vbr 0 0 0 0 rr 0 ibr br
v
cr 0 0 0 0 0 rr
cr
i
cr
We can write the flux terms as functions of the currents, via an equation for each flux of
the form =Lkik, where the summation is over all six winding currents. However, we
must take note that there are four kinds of terms in each summation.
3
Machine model
Stator-stator terms: These are terms which relate a stator winding flux to a stator
winding current. Because the positional relationship between any pair of stator
windings does not change with rotor position, these inductances are not a function of
rotor position; they are constants.
Rotor-rotor terms: These are terms which relate a rotor winding flux to a rotor winding
current. As in stator-stator-terms, these are constants.
Rotor-stator terms: These are terms which relate a rotor winding flux to a stator
winding current. As the rotor turns, the positional relationship between the rotor
winding and the stator winding will change, and so the inductance will change.
Therefore the inductance will be a function of rotor position, characterized by rotor
angle .
Stator-rotor terms: These are terms which relate a stator winding flux to a rotor
winding current. As described for the rotor-stator terms, the inductance will be a
function of rotor position, characterized by rotor angle .
4
Machine model
There are two more comments to make about the flux-current relations:
Because the rotor motion is periodic, the functional dependence of each rotor-stator or
stator-rotor inductance on is cosinusoidal.
Because changes with time as the rotor rotates, the inductances are functions of
time.
We may now write down the flux equations for the stator and the rotor windings.
as ias
i
bs bs Note here that all quantities are now referred to the
cs Ls L sr ics stator. The effect of referring is straight-forward,
given in the book by P. Krause, Analysis of Electric
ar L rs L r iar Machinery, 1995, IEEE Press, pp. 167-168. I will
br ibr not go through it here.
cr icr
Each of the submatrices in the inductance matrix is a 3x3, as given on the next slide
5
Machine model
1 1
Ls Lm Lm
2
Lm
2
Diagonal elements are the self-inductance of
1 each winding and include leakage plus mutual.
1
L s Lm Ls Lm Lm Off-diagonal elements are mutual inductances
2 2 between windings and are negative because
1L 1
Lm Ls Lm 120 axis offset between any pair of windings
2
m
2 results in flux contributed by one winding to
have negative component along the main axis
1 1 of another winding.
Lr Lm Lm
2
Lm
2
1 1
L r Lm Lr Lm Lm m
2 2 m
1L 1
Lm Lr Lm
2
m
2
cos m
cos m 120 cos m 120
L sr Lm cos m 120 cos m cos m 120
cos m 120 cos m 120 cos m
cos m cos m 120 cos m 120
L rs Lm cos m 120 cos m cos m 120 L sr
T
2
m
2 2
m
2
cos m 120 cos m 120 cos m
7
Machine model
Combining.
vas rs 0 0 0 0 0 ias ias
v 0 rs 0 0 0 0 i i
bs bs bs
vcs 0 0 rs 0 0 0 ics d Ls L sr ics
v
ar 0 0 0 rr 0 0 iar dt L rs L r iar
vbr 0 0 0 0 rr 0 ibr ibr
vcr 0 0 0 0 0 rr icr icr
It is here that we observe a difficulty that the stator-rotor and rotor-stator terms, L sr and
Lrs, because they are functions of r, and thus functions of time, will also need to be
d dL di
differentiated. Therefore differentiation of fluxes results in expressions like i L
dt dt dt
The differentiation with respect to L, dL/dt, will result in time-varying
coefficients on the currents. This will make our set of state equations difficult to solve.
cos m cos m 120 cos m 120
1 1 1 1
L sr Lm cos m 120 cos m cos m 120
Lr Lm Lm
2
Lm
2 Ls Lm Lm
2
Lm
2 cos m 120 cos m 120 cos m
1 1 1 1
L r Lm Lr Lm Lm L s Lm Ls Lm Lm
2 2 2 2 cos m cos m 120 cos m 120
1
L 1
1L 1
Lm Lr Lm Lm Ls Lm
L rs Lm cos m 120 cos m cos m 120 L sr
T
2
m
2 2
m
2
cos m 120 cos m 120 cos m
8
Transformation
This presents some significant difficulties, in terms of solution, that we would like to
avoid. We look for a different approach. The different approach is based on the
observation that our trouble comes from the inductances related to the stator-rotor
mutual inductances that have time-varying inductances.
In order to alleviate the trouble, we project the a-b-c currents onto a pair of axes which
we will call the d and q axes or d-q axes. In making these projections, we want to obtain
expressions for the components of the stator currents in phase with the and q axes,
respectively. Although we may specify the speed of these axes to be any speed that is
convenient for us, we will generally specify it to be synchronous speed, s.
One can visualize the projection by thinking of the a-b-c currents as having sinusoidal
variation IN TIME along their respective axes (a space vector!). The picture below
illustrates for the a-phase.
Decomposing the b-phase currents and the c-phase currents q-axis
d-axis
in the same way, and then adding them up, provides us with: ia
10
Transformation
iq k q cos k q cos( 120) k q cos( 120) ia
i k sin k d sin( 120) k d sin( 120) ib
d d
i0 k0 k0 k0 ic
A similar transformation resulted from the work done by Blondel (1923), Doherty and
Nickle (1926), and Robert Park (1929, 1933), which is referred to as Parks
transformation. In 2000, Parks 1929 paper was voted the second most important
paper of the last 100 years (behind Fortescues paper on symmertical components).
R, Park, Two reaction theory of synchronous machines, Transactions of the AIEE, v. 48, p. 716-730, 1929.
G. Heydt, S. Venkata, and N. Balijepalli, High impact papers in power engineering, 1900-1999, NAPS, 2000.
11
Transformation
iq k q cos k q cos( 120) k q cos( 120) ia
i k sin k d sin( 120) k d sin( 120) ib
d d
i0 k0 k0 k0 ic
Here, the angle is given by
t
( )d (0)
0
The constants k0, kq, and kd are chosen differently by different authors. One popular
choice is 1/3, 2/3, and 2/3, respectively, which causes the magnitude of the d-q
quantities to be equal to that of the three-phase quantities. However, it also causes a
3/2 multiplier in front of the power expression (Anderson & Fouad use k0=1/3,
kd=kq=(2/3) to get a power invariant expression). 12
Transformation
The constants k0, kq, and kd are chosen differently by different authors. One popular
choice is 1/3, 2/3, and 2/3, respectively, which causes the magnitude of the d-q
quantities to be equal to that of the three-phase quantities. PROOF (iq equation only):
iq k d ia cos ib cos( 120) ic cos( 120)
Let ia=Acos(t); ib=Acos(t-120); ic=Acos(t-240) and substitute into iq equation:
iq k d A cos t cos A cos(t 120) cos( 120) A cos(t 120) cos( 120)
k d A cos t cos cos(t 120) cos( 120) cos(t 120) cos( 120)
Now use trig identity: cos(u)cos(v)=(1/2)[ cos(u-v)+cos(u+v) ]
k A
iq d cos(t ) cos(t ) kd A
2 iq cos(t ) cos(t )
2
cos(t 120 120) cos(t 120 120)
cos(t ) cos(t 240)
cos(t 120 120) cos(t 120 120)
cos(t ) cos(t 240)
Now collect terms in t- and place brackets around what is left:
k A
iq d 3 cos(t ) cos(t ) cos(t 240) cos(t 240)
2
Observe that what is in the brackets is zero! Therefore:
k A 3k A
iq d 3 cos(t ) d 3 cos(t ) Observe that for 3kdA/2=A,
2 2 we must have k =2/3.
d
13
Transformation
Choosing constants k0, kq, and kd to be 1/3, 2/3, and 2/3, respectively, results in
iq cos cos( 120) cos( 120) ia
2
id sin sin( 120) sin( 120) i
b
3 1 1 1
i0 ic
2 2 2
The inverse transformation becomes:
ia cos sin 1 iq
i cos( 120) sin( 120) 1 i
b d
ic cos( 120) sin( 120) 1 i0
14
Example
Krause gives an insightful example in his book, where he specifies generic quantities
fas, fbs, fcs to be a-b-c quantities varying with time on the stator according to:
f as cos t
Note that these are not
t
f bs balanced quantities!
2
f cs sin t
The objective is to transform them into 0-d-q quantities, which he denotes as fqs, fds, f0s.
f qs cos cos( 120) cos( 120) f as
f 2 sin sin( 120) sin( 120) f
ds 3 1 bs
f 0 s 1 1 f cs
2 2 2
cos cos( 120) cos( 120) cos t
2 t/2
sin sin( 120) sin( 120)
3 1 1 1
sin t
2 2 2
15
Example
This results in
Now assume that (0)=-/12 and =1 rad/sec. Evaluate the above for t= /3 seconds.
First, we need to obtain the angle corresponding to this time. We do that as follows:
t /3
( )d (0) 1d ( )
0 0 12 3 12 4
Now we can evaluate the above equations 3A-1, 3A-2, and 3A-3, as follows:
16
This results in
Example
17
Example
f qs cos cos( 120) cos( 120) cos t
f 2 sin sin( 120) sin( 120) t/2
ds 3 1
f 0 s 1 1 sin t
2 2 2
Composite
of other 3
figures
Resolution of fcs=-sint into directions
of fqs and fds for t=/3 (=/4). 18
Inverse transformation
The d-q transformation and its inverse transformation is given below.
iq cos cos( 120 ) cos( 120 ) ia ia cos sin 1 iq
i 2 sin sin( 120) sin( 120) i i cos( 120) sin( 120)
d 3 1 b b 1 i
d
i0 1 1 ic ic cos( 120) sin( 120) 1 i0
2 2 2
Ks K s 1
cos cos( 120) cos( 120) cos sin 1
2
Ks sin sin( 120) sin( 120) K s cos( 120) sin( 120) 1
1
3 1 1 1
cos( 120) sin( 120) 1
2 2 2
It should be the case that Ks Ks-1=I, where I is the 3x3 identity matrix, i.e.,
cos cos( 120) cos( 120) cos sin 1 1 0 0
2
sin sin( 120) sin( 120) cos( 120) sin( 120) 1 0 1 0
3 1 1 1
cos( 120) sin( 120) 1 0 0 1
2 2 2
19
Balanced conditions
Under balanced conditions, i0 is zero, and therefore it produces no flux at all. Under
these conditions, we may write the d-q transformation as
ia cos sin 1 iq
iq cos cos( 120) cos( 120) ia
i cos( 120) sin( 120) 1 i
2
i sin
d sin( 120) sin( 120) ib b d
3 1
i0 1 1 ic ic cos( 120) sin( 120) 1 i0
2 2 2
ia cos sin
ia iq
iq 2 cos cos( 120) cos( 120) i i cos( 120) sin( 120)
i b i
d 3 sin sin( 120) sin( 120) b
ic cos( 120) sin( 120) d
ic
20
Rotor circuit transformation
cos cos( 120) cos( 120)
2
Our d-q transformation is as follows: Ks sin sin( 120) sin( 120)
3 1 1 1
But, what, exactly, is ? 2 2 2
can be observed in the below figure as the angle between the rotating d-q reference
frame and the a-axis, where the a-axis is fixed on the stator frame and is defined by the
location of the phase-a winding. We
t
expressed this angle analytically using
( )d (0)
0
where is the rotational speed of the d-q coordinate axes (and in our case, is
synchronous speed). This transformation will allow us to operate on the stator circuit
voltage equation and transform it to the q-d-0 coordinates.
We now need to apply our transformation to the rotor a-b-c windings in order to obtain
the rotor circuit voltage equation in q-d-0 coordinates. However, we must notice one
thing: whereas the stator phase-a winding (and thus its a-axis) is fixed, the rotor
phase-a winding (and thus its a-axis) rotates. If we apply the same transformation to
the rotor, we will not account for its rotation, i.e., we will be treating it as if it were fixed.
21
Rotor circuit transformation
To understand how to handle this, consider the below figure where we show our familiar
, the angle between the stator a-axis and the q-axis of the synchronously rotating
reference frame. We have also shown
m, which is the angle between
m d-axis the stator a-axis and the rotor a-
q-axis m
axis, and
i a , which is the angle between
the rotor a-axis and the q-axis of
the synchronously rotating
a
i q i d
a' reference frame.
The stator a-axis is stationary,
the q-d axis rotates at , and the
rotor a-axis rotates at m.
Consider the iar space vector, in blue,
which is coincident with the rotor a-axis.
Observe that we may decompose it
in the q-d reference frame only by
using instead of .
Conclusion: Use the exact same transformation, except substitute for , and.
22 account for the fact that to the rotor windings, the q-d coordinate system appears to
be moving at -m
Rotor circuit transformation
We compare our two transformations below.
We now augment our notation to distinguish between q-d-0 quantities from the
stator and q-d-0 quantities from the rotor:
iqs cos cos( 120) cos( 120) ias iqr cos cos( 120) cos( 120) iar
i 2 sin sin( 120) sin( 120) ibs i 2 sin
ds 3 1 dr sin( 120) sin( 120) ibr
i0 s 1 1 ics 3 1 1 1
i0 r icr
2 2 2 2 2 2
23
Transforming voltage equations
Recall our voltage equations:
sa isa
vas rs 0 0 0 0 0 ias as i
v 0 0 i sb sb
bs rs 0 0 0 bs bs sc L s L sr isc
vcs 0 0 rs 0 0 0 ics cs
ra L rs L r ira
v
ar 0 0 0 rr 0 0 iar ar
vbr 0 0 0 0 rr 0 ibr br rb irb
vcr 0 0 0 0 0 rr
icr cr rc irc
1 1 1 1 cos m cos m 120 cos m 120
Lr Lm Lm
2
Lm
2 Ls Lm Lm
2
Lm
2
L sr Lm cos m 120 cos m cos m 120
1 1 1 1
L r Lm Lr Lm Lm L s Lm Ls Lm Lm cos m 120 cos m 120 cos m
2 2 2 2
1L 1 1L 1
Ls Lm
Lm Lr Lm
Lm
cos m cos m 120 cos m 120
m 2
m
2
2 2 L rs Lm cos m 120 cos m cos m 120 L sr
T
24
Transforming voltage equations
vas rs 0 0 0 0 0 ias as
v 0
bs rs 0 0 0 0 ibs bs
vcs 0 0 rs 0 0 0 ics cs
var 0 0 0 rr 0 0 iar ar
vbr 0 0 0 0 rr 0 ibr br
cr 0
v 0 0 0 0 rr icr cr
25
Transforming voltage equations
Term 1
K s 0 v abcs K s v abcs v qd 0 s
0 K v K v v
r abcr r abcr qdor
Term 1
v qd 0 s K s 0 r s 0 i abcs K s 0 abcs
v
0 K 0 r i 0 K
qdor r r abcr r abcr
Term 2 Term 3
26
Transforming voltage equations
Term 2
K s 0 r s 0 i abcs K s r s 0 i abcs
0 K 0 r i 0 K r r r i
r r abcr abcr
Term 2
v qd 0 s r s 0 i qd 0 s K s 0 abcs
v i
qdor 0 r r 0 K
qd 0 r r
abcr
Term 3
28
Transforming voltage equations
v r
Term
0 i K
3
qd 0 s 0 qd 0 s
s s abcs
v i
qdor 0 r r qd 0 r 0 K r
abcr
K s 0 abcs K s abcs
Term 3
Term 3 is: 0 K
r K
abcr r abcr
Term 3
v qd 0 s r s 0 i qd 0 s qd 0 s K s K s 1 qd 0 s
v i
qdor 0 r r K K
1
qd 0 r qd 0 r r r qd 0 r
30
Transforming voltage equations
Term 3
Now lets express the fluxes in terms of currents by recalling that
qd 0 s Ks 0 abcs
qd 0 r 0 K r abcr as ias
i
and the flux-current relations: bs bs
cs L s L sr ics abcs L s L sr i abcs
ar L rs
L r iar abcr L rs L r i abcr
br ibr
cr icr
i abcs K s 1 0 i qd 0 s
Now write the abc currents in terms of the qd0 currents:
i 1 i
abcr 0 Kr qd 0 r
abcs L s L sr K s 1 0 i qd 0 s
Substitute the third equation into the second: L
L r 0 1
abcr rs K r i qd 0 r
32
Transforming voltage equations
Term 3
qd 0 s K s L s K s 1 K s L sr K r i qd 0 s
1
1
qd 0 r
1
K r L rs K s i
K r L r K r qd 0 r
Now we need to go through each of these four matrix multiplications. I will here omit
the details and just give the results (note also in what follows the definition of
additional nomenclature for each of the four submatrices):
3
L s Lm 0 0
2
1
3
K s Ls K 0 Ls Lm 0 L sqd 0
s
2 qd 0 s L sqd 0 L mqd 0 i qd 0 s
0 0 Ls
i
qd 0 r L mqd 0 L rqd 0 qd 0 r
3
2 Lm 0 0
And since our inductance matrix is
1 1
3
K s L sr K r K r L rs K s 0 Lm 0 L mqd 0 constant, we can write:
2
0 0 0
qd 0 s L sqd 0 L mqd 0 i qd 0 s
3 qd 0 r L mqd 0
L rqd 0 i qd 0 r
Lr Lm 0 0
2
1
3
K r Lr K 0 Lr Lm 0 L rqd 0
r
2 Substitute the above expression for flux
0 0 Lr derivatives into our voltage equation:
33
Transforming voltage equations
Term
L
3
L i qd 0 s sqd 0 mqd 0 qd 0 s
qd 0 r L mqd 0 L rqd 0 i qd 0 r
Substitute the above expressions for flux & flux derivatives into our voltage equation:
v qd 0 s r s 0 i qd 0 s qd 0 s K s K s 1 qd 0 s
v i
qdor 0 r r K K
1
qd 0 r qd 0 r r r qd 0 r
v qd 0 s r s 0 i qd 0 s L sqd 0 L mqd 0 i qd 0 s K s K s 1 qd 0 s
v i L L rqd 0
qdor 0 r r qd 0 r mqd 0 i K K
1
qd 0 r r r qd 0 r
We still have the last term to obtain. To get this, we need to do two things.
1.Express individual q- and d- terms of qd0s and qd0r in terms of currents.
1
2.Obtain K s K s and K r K r
1
34
Transforming voltage equations
Term
1. Express individual q- and d- terms of
3
and in terms of currents: qd0s qd0r
qd 0 s L sqd 0 L mqd 0 i qd 0 s
i
qd 0 r L mqd 0 L rqd 0 qd 0 r
3 3
L
s 2 Lm 0 0 Lm 0 0
qs
2
iqs
3 3
0 Ls Lm 0 0 Lm 0 ids
ds 2 2
0 s 0 0 Ls 0 0 0 i0 s
3 3 iqr
qr Lm 0 0 Lr Lm 0 0
dr 2 2 idr
3 3
0 r 0 Lm 0 0 Lr Lm 0 i0 r
2 2
0 0 0 0 0 Lr
From the above, we observe:
3 3 3 3
qs Ls Lm iqs Lmiqr qr Lmiqs Lr Lm iqr
2 2 2 2
3 3 3 3
ds Ls Lm ids Lmidr dr Lmids Lr Lm idr
2 2 2 2
35
Transforming voltage equations
Term 3
2. Obtain 1
KsKs and K r K r 1
To get K s , we must consider:
cos cos( 120) cos( 120) t
2
K s sin sin( 120) sin( 120) (t ) ( )d (0) (t )
3 1 1 1
Therefore:
0
2 2 2 sin sin( 120) sin( 120)
2
cos sin 1 K s cos cos( 120) cos( 120)
3
K s cos( 120) sin( 120) 1
1
0 0 0
cos( 120) sin( 120) 1 Likewise, to get K ,r we must consider:
t
( ) m ( )d (0) m (0) (t ) m
0
cos cos( 120) cos( 120) r (0)
2
Kr sin sin( 120) sin( 120)
3 1 Therefore:
1 1
2 2 2 sin sin( 120) sin( 120)
2
cos sin 1 K r m cos cos( 120) cos( 120)
3
K r cos( 120) sin( 120) 1
1 0 0 0
36
Transforming voltage equations
K K
Term 3 1
2. Obtain s s
3
0 0 0 cos( 120) sin( 120) 1
3
0 0
2 0 0
2 3
0 0 0 0
3 2
0 0 0 0 0 0
1
Obtain K r K r
3
0 0 0 cos( 120) sin( 120) 1
0 ( m ) 0
m 0 0
0 0 0 Substitute into voltage equations
37
Transforming voltage equations
Term 3
Substitute into voltage equations
0 0
K s K s 0 0
1
0 0 0 v
rs 0 i qd 0 s L sqd 0 L mqd 0 i qd 0 s K s K s 1 qd 0 s
qd 0 s
v i L
0 ( m ) 0 qdor 0 r r qd 0 r mqd 0 L rqd 0 i qd 0 r K K
1
r r qd 0 r
K r K
1
m 0 0
r
0 0 0
These speed voltages represent the fact that a rotating flux wave will create
voltages in windings that are stationary relative to that flux wave.
Speed voltages are so named to contrast them from what may be called
transformer voltages, which are induced as a result of a time varying magnetic field.
You may have run across the concept of speed voltages in Physics, where you
computed a voltage induced in a coil of wire as it moved through a static magnetic
field, in which case, you may have used the equation Blv where B is flux density, l is
conductor length, and v is the component of the velocity of the moving conductor (or
moving field) that is normal with respect to the field flux direction (or conductor).
The first speed voltage term, -ds, appears in the vqs equation. The second speed
voltage term, qs, appears in the vds equation. Thus, we see that the d-axis flux
causes a speed voltage in the q-axis winding, and the q-axis flux causes a speed
voltage in the d-axis winding. A similar thing is true for the rotor winding.
39
Transforming voltage equations
0 0
Term 3
K s K s 0
1
0
0 0 0 v qd 0 s r s 0 i qd 0 s L sqd 0 L mqd 0 i qd 0 s K s K s 1 qd 0 s
v i L L rqd 0
r r
0 ( m ) 0 1
qdor 0 qd 0 r mqd 0 i K K
qd 0 r r r qd 0 r
0
1
K r K r m 0
0 0 0
Substitute the matrices into voltage equation and then expand. This results in:
3 3
Ls 2 Lm 0 0 Lm 0 0
vqs rs 0 0 0 0 0 iqs 2
iqs 0
0 0 0 qs
0
3 3
v 0 rs 0 0 0 0 i 0 Ls Lm 0 0 Lm 0 ids
0 0 0 0
0
ds ds 2 2 ds
v0 s 0 0 rs 0 0 0 i0 s 0 0 Ls 0 0 0 i0 s 0 0 0 0 0 0 0 s
iqr 0
vqr 0 0 0 rr 0 0 iqr 3
Lm 0 0
3
Lr Lm 0 0 0 0 0 ( m ) 0 qr
vdr 0 0 0 0 rr 0 idr 2 2 i 0 0 0 m 0 0 dr
3 3 dr
v0 r 0 0 0 0 0 rr i0 r 0 Lm 0 0 Lr Lm 0 i0 r 0 0 0 0 0 0 0 r
2 2
0 0 0 0 0 Lr
40
Transforming voltage equations
Term 3 3
Ls 2 Lm 0 0
3
Lm 0 0
qs
iqs 0 0
vqs rs 0 0 0 0 0 iqs 2 0 0 0
3 3
v
ds
0
rs 0 0 0 0 ids 0 Ls Lm 0 0 Lm 0 ids
0 0 0 0 0
ds
2 2
v0 s 0 0 rs 0 0 0 i0 s 0 0 Ls 0 0 0 i0 s 0 0 0 0 0 0 0 s
iqr 0 0 0
vqr 0 0 0 rr 0 0 iqr 3
Lm 0 0
3
Lr Lm 0 0 0 ( m ) 0 qr
vdr 0 0 0 0 rr 0 idr 2 2 i 0 0 0 m 0 0 dr
3 3 dr
v0 r 0 0 0 0 0 rr i0 r 0 Lm 0 0
Lr Lm 0 i0 r 0 0 0 0 0 0 0 r
2 2
0 0 0 0 0 Lr
3 3
Ls 2 Lm 0 0
2
Lm 0 0
ds
iqs
vqs rs 0 0 0 0 0 iqs
3 3
Results v
ds
0
rs 0 0 0 0 i
ds
0 Ls Lm 0 0 Lm 0 ids
qs
2 2
In v0 s 0 0 rs 0 0 0 i0 s 0 0 Ls 0 0 0 i0 s 0
3 3
iqr ( m )dr
vqr 0 0 0 rr 0 0 iqr Lm 0 0 Lr Lm 0 0
vdr 0 0 0 0 rr 0 idr 2 2 i ( m )qr
3 3 dr
v0 r 0 0 0 0 0 rr i0 r 0 Lm 0 0 Lr Lm 0 i0 r 0
2 2
0 0 0 0 0 Lr
From slide 35,
3 3
qs Ls Lm iqs Lmiqr qr
3 3
Lmiqs Lr Lm iqr
And then substitute
we have the 2 2 2 2 these terms in:
fluxes expressed 3 3 3 3
ds Ls Lm ids Lmidr dr Lmids Lr Lm idr
as a function of 2 2 2 2
currents 3 3
3 3
Ls Lm ids Lm idr
Ls 2 Lm 0 0
2
Lm 0 0
2 2
iqs
vqs rs 0 0 0 0 0 iqs
3 3 3 3
v 0 rs 0 0 0 0 i 0 Ls Lm 0 0 Lm 0 ids Ls Lm iqs Lm iqr
ds ds 2 2 2 2
v0 s 0 0 rs 0 0 0 i0 s 0 0 Ls 0 0 0 i0 s 0
v 0 0 0 rr 0 0 iqr 3 3
Lr Lm 0 iqr
3 3
qr
Lm 0 0 0 ( m ) Lm ids Lr Lm idr
vdr 0 0 0 0 rr 0 idr 2 2 idr 2 2
3 3 3 3
v0 r 0 0 0 0 0 rr i0 r 0 Lm 0 0 Lr Lm 0 i0 r
( m ) Lmiqs Lr Lm iqr
2 2
0 0 0 0 0 Lr 2 2
0
41
Transforming voltage equations
Term 3 3 3
3
Ls Lm ids Lmidr
3
Ls 2 Lm 0 0
2
Lm 0 0
2 2
vqs rs 0 0 0 0 0 iqs 3 3 iqs 3 3
v 0 rs 0 0 0 0 ids 0 Ls Lm 0 0 Lm 0 ids Ls Lm iqs Lm iqr
ds 2 2 2 2
v0 s 0 0 rs 0 0 0 i0 s 0 0 Ls 0 0 0 i0 s 0
vqr 0 0 0 rr 0 0 iqr 3
Lm 0 0
3
Lr Lm 0 0 iqr ( m ) Lmids Lr Lm idr
3 3
vdr 0 0 0 0 rr 0 idr 2 2 idr 2 2
3 3
i0 r 0 Lm 0 0 Lr Lm 0 i0 r 3 3
v0 r 0 0 0 0 0 rr
2 2 ( m ) Lm iqs Lr Lm iqr
2 2
0 0 0 0 0 Lr
0
Observe that the four non-zero elements in the last vector are multiplied by two currents
from the current vector which multiplies the resistance matrix. So lets now expand back
out the last vector so that it is a product of a matrix and a current vector.
3 3
Ls 2 Lm 0 0
2
Lm 0 0
iqs
vqs rs 0 0 0 0 0 iqs
3 3
v 0 rs 0 0 0 0 i 0 Ls Lm 0 0 Lm 0 ids
ds ds 2 2
v0 s 0 0 rs 0 0 0 i0 s 0 i0 s
3
0 0 Ls 0
3
0
Now change the
vqr 0 0 0 rr 0 0 iqr Lm 0 0 Lr Lm 0 0 iqr
vdr 0 0 0 0 rr 0 idr 2 2 idr sign on the last
3 3
v0 r 0 0 0 0 0 rr i0 r 0 Lm 0 0 Lr Lm 0 i0 r matrix.
2 2
0 0 0 0 0 Lr
3 3
0 Ls Lm 0 0 Lm 0
2 2 iqs
L 3 L 3
0 0 Lm 0 0 ids
s 2 m 2
0 0 0 0 0 0 i0 s
3( m ) 3
0 Lm 0 0 ( m ) Lr Lm 0 iqr
2 2 idr
3( m ) 3
Lm 0 0 ( m ) Lr Lm 0 0 i0 r
2 2
0 0 0 0 0 0
42
Transforming voltage equations
Term 3 3 3
Ls 2 Lm 0 0
2
Lm 0 0
iqs
vqs rs 0 0 0 0 0 iqs
3 3
v 0 rs 0 0 0 0 ids 0 Ls Lm 0 0 Lm 0 ids
ds 2 2
v0 s 0 0 rs 0 0 0 i0 s 0 0 Ls 0 0 0 i0 s
iqr
vqr 0 0 0 rr 0 0 iqr 3
Lm 0 0
3
Lr Lm 0 0
vdr 0 0 0 0 rr 0 idr 2 2 idr
3 3
v0 r 0 0 0 0 0 rr i0 r 0 Lm 0 0 Lr Lm 0 i0 r
2 2
0 0 0 0 0 Lr
3 3
0 Ls Lm 0 0 Lm 0
2 2 iqs
L 3 L 3
0 0 Lm 0 0 ids
s m
2 2
0 0 0 0 0 0 i0 s
3( m ) 3
0 Lm 0 0 ( m ) Lr Lm 0 iqr
2 2 idr
3( m ) 3
Lm 0 0 ( m ) Lr Lm 0 0 i0 r
2 2
0 0 0 0 0 0
Notice that the resistance matrix and the last matrix multiply the same vector, therefore,
we can combine these two matrices. For example, element (1,2) in the
last matrix will go into element (1,2) of the resistance matrix, as shown. This results in
the expression on the next slide.
43
Final Model
3 3
rs Ls Lm 0 0 Lm 0
2 2 iqs
vqs
L 3 L 3
v rs 0 Lm 0 0 ids
ds
s m
2 2
v0 s 0 0 rs 0 0 0 i0 s
vqr 3( m ) 3 i
0 Lm 0 rr ( m ) Lr Lm 0 qr
vdr 2 2 i
3( ) 3 dr
v0 r m
Lm 0 0 ( m ) Lr Lm rr 0 i0 r
2 2
0 0 0 0 0 rr
3 3
L
s 2 Lm 0 0 Lm 0 0
2 This is the complete
iqs
3 3
0 Ls Lm 0 0 Lm 0 ids transformed electric
2 2
0 0 Ls 0 0 0 i0 s machine state-space
3 3 iqr model in current form.
Lm 0 0 Lr Lm 0 0
2 2 idr
3 3
0 Lm 0 0 Lr Lm 0 i0 r
2 2
0 0 0 0 0 Lr
44
Some comments about the
transformation
ids and iqs are currents in a fictitious pair of windings fixed on a synchronously
rotating reference frame.
These currents produce the same flux as do the stator a,b,c currents.
For balanced steady-state operating conditions, we can use iqd0s = Ksiabcs to show
that the currents in the d and q windings are dc! The implication of this is that:
The a,b,c currents fixed in space (on the stator), varying in time produce the
same synchronously rotating magnetic field as
The ds,qs currents, varying in space at synchronous speed, fixed in time!
idr and iqr are currents in a fictitious pair of windings fixed on a synchronously
rotating reference frame.
These currents produce the same flux as do the rotor a,b,c currents.
For balanced steady-state operating conditions, we can use iqd0r = Kriabcr to show
that the currents in the d and q windings are dc! The implication of this is that:
The a,b,c currents varying in space at slip speed ss=(s- m) fixed on the
rotor, varying in time produce the same synchronously rotating magnetic
field as
The dr,qr currents, varying in space at synchronous speed, fixed in time!
45
Torque in abc quantities
The electromagnetic torque of the DFIG may be evaluated according to
Wc
Tem
m
where Wc is the co-energy of the coupling fields associated with the various windings.
We are not considering saturation here, assuming the flux-current relations are linear,
in which case the co-energy Wc of the coupling field equals its energy, Wf, so that:
W f
Tem
m
We use electric rad/sec by substituting m=m/p where p is the number of pole pairs.
W f
Tem p
m
The stored energy is the sum of
The self inductances (less leakage) of each winding times one-half the square of its
current and
All mutual inductances, each times the currents in the two windings coupled by the
mutual inductance
Observe that the energy stored in the leakage inductances is not a part of the
energy stored in the coupling field.
1 1 1 1 1 1
Tem pLm ias iar ibr icr ibs ibr iar icr ics icr ibr iar sin m
2 2 2 2 2 2
3
ias ibr icr ibs icr iar ics iar ibr cos m Negative value for
2 generation
To complete our abc model we relate torque to rotor speed according to:
Inertial Mech
torque torque (has
negative
value for
48 generation)
Torque in qd0 quantities
However, our real need is to express the torque in qd0 quantities so that we may
complete our qd0 model.
To this end, recall that we may write the abc quantities in terms of the qd0 quantities
using our inverse transformation, according to:
1
i abcs K s i qd 0 s
1
i abcr K r i qd 0 r
Tem pi
T
abcs
m
1
L sr i abcr p K s i qd 0 s T
m
1
L sr K r i qd 0 r
49
Torque in qd0 quantities
Tem p K i 1
s qd 0 s
T
m
1
L sr K r i qd 0 r
I will not go through this differentiation but instead provide the result:
p qr idr dr iqr
3
Tem
2
At the same time, we can also show that the stator reactive power Qs can be directly
controlled by the rotor direct-axis current idr.
This will provide us the necessary means to control the wind turbine.
51