Transformation

10
We have transformed 3 variables i
a
, i
b
, and i
c
into two variables i
d
and i
q
, as we did in
the - transformation. This yields an undetermined system, meaning
We can uniquely transform i
a
, i
b
, and i
c
to i
d
and i
q
We cannot uniquely transform i
d
and i
q
to i
a
, i
b
, and i
c
.
We will use as a third current the zero-sequence current:
Recall our i
d
and i
q
equations:
c b a
i i i k i
0 0
We can write our transformation more compactly as
) 120 cos( ) 120 cos( cos
c b a d q
i i i k i
) 120 sin( ) 120 sin( sin
c b a q d
i i i k i
c
b
a
d d d
q q q
d
q
i
i
i
k k k
k k k
k k k
i
i
i
0 0 0 0
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
Transformation
11
c
b
a
d d d
q q q
d
q
i
i
i
k k k
k k k
k k k
i
i
i
0 0 0 0
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
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.
Robert H. Park,
1902-1994
See
http://www.nap.edu/openbook.php
?record_id=5427&page=175 for
an interesting biography on Park,
written by Charles Concordia.
Parks transformation uses a frame of
reference on the rotor. In Parks case,
he derived this for a synchronous
machine and so it is the same as a
synchronous frame of reference. For
induction motors, it is important to
distinguish between a synchronous
reference frame and a reference frame
on the rotor.
Transformation
12
Here, the angle is given by
) 0 ( ) (
0
t
d
where is a dummy variable of integration.
The constants k
0
, k
q
, and k
d
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 k
0
=1/3,
k
d
=k
q
=(2/3) to get a power invariant expression).
The angular velocity associated with the change of variables is unspecified. It
characterizes the frame of reference and may rotate at any constant or varying angular
velocity or it may remain stationary. You will often hear of the arbitrary reference
frame. The phrase arbitrary stems from the fact that the angular velocity of the
transformation is unspecified and can be selected arbitrarily to expedite the solution of
the equations or to satisfy the system constraints [Krause].
c
b
a
d d d
q q q
d
q
i
i
i
k k k
k k k
k k k
i
i
i
0 0 0 0
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
Transformation
13
The constants k
0
, k
q
, and k
d
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 (i
q
equation only):
) 120 cos( ) 120 cos( cos
c b a d q
i i i k i
Let i
a
=Acos(t); i
b
=Acos(t-120); i
c
=Acos(t-240) and substitute into i
q
equation:
) 120 cos( ) 120 cos( ) 120 cos( ) 120 cos( cos cos
) 120 cos( ) 120 cos( ) 120 cos( ) 120 cos( cos cos
t t t A k
t A t A t A k i
d
d q
Now use trig identity: cos(u)cos(v)=(1/2)[ cos(u-v)+cos(u+v) ]
) 120 120 cos( ) 120 120 cos(
) 120 120 cos( ) 120 120 cos(
) cos( ) cos(
2
t t
t t
t t
A k
i
d
q
) 240 cos( ) cos(
) 240 cos( ) cos(
) cos( ) cos(
2
t t
t t
t t
A k
i
d
q
Now collect terms in t- and place brackets around what is left:
) 240 cos( ) 240 cos( ) cos( ) cos( 3
2
t t t t
A k
i
d
q
Observe that what is in the brackets is zero! Therefore:
) cos( 3
2
3
) cos( 3
2
t
A k
t
A k
i
d d
q
Observe that for 3k
d
A/2=A,
we must have k
d
=2/3.
Transformation
14
Choosing constants k
0
, k
q
, and k
d
to be 1/3, 2/3, and 2/3, respectively, results in
The inverse transformation becomes:
0
1 ) 120 sin( ) 120 cos(
1 ) 120 sin( ) 120 cos(
1 sin cos
i
i
i
i
i
i
d
q
c
b
a
c
b
a
d
q
i
i
i
i
i
i
2
1
2
1
2
1
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
3
2
0
Example
15
Krause gives an insightful example in his book, where he specifies generic quantities
f
as
, f
bs
, f
cs
to be a-b-c quantities varying with time on the stator according to:
t f
t
f
t f
cs
bs
as
sin
2
cos
The objective is to transform them into 0-d-q quantities, which he denotes as f
qs
, f
ds
, f
0s
.
t
t
t
f
f
f
f
f
f
cs
bs
as
s
ds
qs
sin
2 /
cos
2
1
2
1
2
1
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
3
2
2
1
2
1
2
1
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
3
2
0
Note that these are not
balanced quantities!