Beruflich Dokumente
Kultur Dokumente
+ =
(1)
r
r e
r
r r
j
dt
d
i R e e +
+ = ) ( 0
(2)
r m s s
s
i L i L + =
(3)
s m r r
r
i L i L + =
(4)
L e
r
T T
dt
d
J =
e
(5)
) (
2
3
sd sq sq sd e
i i p T =
(6)
where:
u
s
the stator voltage space vector,
sq sd s
ju u u + =
i
s
, i
r
the stator and rotor current space vectors,
sq sd s
ji i i + =
rq rd r
ji i i + =
s
,
r
the stator and rotor flux space vectors,
sq sd
s
j + =
rq rd
r
j + =
R
s
, R
r
, the stator and rotor resistance,
L
m
the magnetizing inductance,
L
s
, L
r
the stator and rotor inductances
o
+ =
s m s
L L L
o
+ =
r m r
L L L
e
e
the reference frame speed (arbitrary),
e
r
the rotor speed,
T
e
the electromagnetic torque,
T
L
the load torque,
J the rotor inertia
p the number of pole pairs,
Electromagnetic torque
) Im(
2
3
*
s
s e
i p T =
(7)
) (
2
3
sd sq sq sd e
i i p T =
(7a)
) Im(
2
3
*
r
r e
i p T =
(8)
) (
2
3
rq rd rd rq e
i i p T =
(8a)
) Im(
2
3
*
r s m e
i i pL T =
(9)
) (
2
3
rq sd rd sq m e
i i i i pL T =
(9a)
) Im(
2
3
*
r
s
r
m
e
i
L
L
p T =
(10)
) (
2
3
sd rq sq rd
r
m
e
i i
L
L
p T =
(10a)
) Im(
2
3
*
s
r
s
m
e
i
L
L
p T =
(11)
) (
2
3
rq sd rd sq
s
m
e
i i
L
L
p T =
(11a)
) Im(
2
3
*
s r
r s
m
e
L L
L
p T
o
=
(12)
) (
2
3
rq sd rd sq
r s
m
e
L L
L
p T
o
=
(12a)
Input apparent power
jQ P i u S
s s
+ = =
*
2
3
(13)
Input active power
sc sc sb sb sa sa
i u i u i u P + + =
(14)
) (
2
3
) Re(
2
3
*
sq sq sd sd s s
i u i u i u P + = =
(15)
Input reactive power
) (
2
3
) Im(
2
3
*
sq sd sd sq s s
i u i u i u Q = =
(16)
Electromagnetic power
) Im(
2
3
*
r s m r em
i i L p P e =
(17)
The induction machine space vector diagram.
The particular reference frames
a. The stationary reference frame (stator reference frame) e
e
=0
the d and q axes are stationary:
dt
d
i R u
s
s s s
+ =
(1a)
r
r
r
r r
j
dt
d
i R e
+ = 0
(2a)
r m s s
s
i L i L + =
(3a)
s m r r
r
i L i L + =
(4a)
b. The rotor flux reference frame e
e
=e
r
(the rotor flux speed),
the d and q axes rotate with the rotor flux speed:
s
r
s
s s s
j
dt
d
i R u e +
+ =
(1b)
r
r r
r
r r
j
dt
d
i R e e +
+ =
) ( 0
(2b)
r m s s
s
i L i L + =
(3b)
s m r r
r
i L i L + =
(4b)
c. The rotor reference frame e
e
=e
r
(the rotor speed),
the d and q axes rotate with the rotor speed:
s
r
s
s s s
j
dt
d
i R u e +
+ =
(1c)
dt
d
i R
r
r r
+ = 0
(2c)
r m s s
s
i L i L + =
(3c)
s m r r
r
i L i L + =
(4c)
Space vector equivalent circuits
The arbitrary reference frame
The stationary reference frame (stator reference frame) e
e
=0
The rotor reference frame e
e
=e
r
The state space model
The induction motor state space model is:
Bu Ax sx + = (18)
Cx y =
where: u the input vector, x the state vector, y the output vector and s
the Laplace derivative operator.
Preliminary:
From (3) and (4) the stator and rotor fluxes are:
s
r
m r s
r
r
m
s
i
L
L L L
L
L
2
+ =
(19)
s
m
m r s
s
m
r
r
i
L
L L L
L
L
2
=
(20)
From (3) and (4) the stator and rotor currents are:
2
m r s
r
m
s
r
s
L L L
L L
i
=
(21)
2
m r s
s
m
r
s
r
L L L
L L
i
=
(22)
Notations:
L L
L L L
r s
m r s
2
= o
R
L
T
r
r
r
=
the rotor time constant,
R
L
T
s
s
s
=
the stator time constant
The rotor flux model
Input: u =u
s
State: x =[i
s
,
r
]
T
Ouput: y =x
1
=i
s
The arbitrary reference frame
s
s
r
r
r r s
m
s e
r s
s
u
L
j
T L L
L
i j
T T
i s
o
+ e
o
+ e +
o
o
+
o
=
1
)
1
( )
1 1
( (23)
r
r e
r
s
r
m
r
j
T
i
T
L
s e e + = )) (
1
( (24)
(
(
(
(
e e +
e
o
e +
o
o
+
o
=
)) (
1
(
)
1
( )
1 1
(
r e
r r
m
r
r r s
m
e
r s
j
T T
L
j
T L L
L
j
T T
A
(25)
| | 0 1 = C ,
T
s
L
B
(
o
= 0
1
(26)
a. The stationary reference frame (stator reference frame) e
e
=0
s
s
r
r
r r s
m
s
r r
m
s
s
s
u
L
j
T L L
L
i
T L
L
R
L
i s
o
+ e
o
+
o
=
1
)
1
( ) (
1
2
(23a)
r
r
r s
r
m
r
T
j i
T
L
s e + = )
1
( (24a)
c. The rotor reference frame e
e
=e
r
s
s
r
r
r r s
m
s r
r s
s
u
L
j
T L L
L
i j
T T
i s
o
+ e
o
+ e +
o
o
+
o
=
1
)
1
( )
1 1
( (23c)
r
r
s
r
m
r
T
i
T
L
s =
1
(24c)
Block diagram of the induction machine rotor flux model.
The stator flux model
Input: u =u
s
State: x =[i
s
,
s
]
T
Ouput: y =x
1
=i
s
The arbitrary reference frame
s
s
s
r
r s
s r e
r s
s
u
L
j
T L
i j
T T
i s
o
+ e
o
+ e e +
o
+
o
=
1
)
1
(
1
)) (
1 1
( (27)
s
s
e s s
s
u j i R s + e = (28)
(
(
e
e
o
e e +
o
+
o
=
e s
r
r s
r e
r s
j R
j
T L
j
T T
A
)
1
(
1
)) (
1 1
(
(29)
| | 0 1 = C ,
T
s
L
B
(
o
= 1
1
(30)
a. The stationary reference frame (the stator reference frame) e
e
=0
s
s
s
r
r s
s r
r s
s
u
L
j
T L
i j
T T
i s
o
+ e
o
+ e +
o
o
=
1
)
1
(
1
)
1 1
( (27a)
s s s
s
u i R s + = (28a)
c. The rotor reference frame e
e
=e
r
s
s
s
r
r s
s
r s
s
u
L
j
T L
i
T T
i s
o
+ e
o
+
o
+
o
=
1
)
1
(
1
)
1 1
( (27c)
s
s
r s s
s
u j i R s + e = (28c)
Block diagram of the induction machine stator flux model.
The flux model
Input: u =u
s
State: x =[
s
r
]
T
Ouput: y =i
s
The arbitrary reference frame
s
r
s r
m
s
e
s
s
u
T L
L
j
T
s +
o
+ e +
o
= )
1
( (31)
r
r e
r
s
r s
m
r
j
T T L
L
s e e +
o
o
= )) (
1
(
(32)
(
(
(
(
e e +
o
o
o
e +
o
=
)) (
1
(
)
1
(
r e
r r s
m
s r
m
e
s
j
T T L
L
T L
L
j
T
A
(33)
(
o
=
r s
m
s
L L
L
L
C
1
, | |
T
B 0 1 = (34)
a. The stationary reference frame (the stator reference frame) e
e
=0
s
r
s r
m
s
s
s
u
T L
L
T
s +
o
+
o
=
1
(31a)
r
r
r
s
r s
m
r
j
T T L
L
s e
o
o
= )
1
( (32a)
c. The rotor reference frame e
e
=e
r
s
r
s r
m
s
r
s
s
u
T L
L
j
T
s +
o
+ e +
o
= )
1
( (31c)
r
r
s
r s
m
r
T T L
L
s
o
o
=
1
(32c)
The output is
2
m r s
r
m
s
r
s
L L L
L L
i
=
(35)
Block diagram of the induction machine flux model.
Eigenvalues
0 ) det( = A sI (36)
Stationary reference frame
Synchronous reference frame