Transforming voltage equations Term 3

30
4 4 4 3 4 4 4 2 1
&
&
3
0
0 0
0
0
0
0
Term
abcr
abcs
r
s
r qd
s qd
r
s
qdor
s qd
K
K
i
i
r
r
v
v
(
(

+
(

=
(

(
(

(
(

=
(
(

=
(
(

r qd r r
s qd s s
r qd
s qd
abcr r
abcs s
Term
abcr
abcs
r
s
K K
K K
K
K
K
K
0
1
0
1
0
0
3
0
0

&
&
&
&
&
&
4 4 4 3 4 4 4 2 1
&
&
(
(

(
(

+
(

=
(

r qd r r
s qd s s
r qd
s qd
r qd
s qd
r
s
qdor
s qd
K K
K K
i
i
r
r
v
v
0
1
0
1
0
0
0
0 0
0
0

&
&
&
&
Transforming voltage equations Term 3
31
Now lets express the fluxes in terms of currents by recalling that
(

=
(
(

abcr
abcs
r
s
r qd
s qd
K
K

0
0
0
0
(

=
(

(
(
(
(
(
(
(
(

=
(
(
(
(
(
(
(
(

abcr
abcs
r rs
sr s
abcr
abcs
cr
br
ar
cs
bs
as
r rs
sr s
cr
br
ar
cs
bs
as
i
i
L L
L L
i
i
i
i
i
i
L L
L L

and the flux-current relations:

Now write the abc currents in terms of the qd0 currents:
(

=
(

r qd
s qd
r
s
abcr
abcs
i
i
K
K
i
i
0
0
1
1
0
0
Substitute the third equation into the second:
(

=
(

r qd
s qd
r
s
r rs
sr s
abcr
abcs
i
i
K
K
L L
L L
0
0
1
1
0
0

Substitute the fourth equation into the first:

(

=
(
(

r qd
s qd
r
s
r rs
sr s
r
s
r qd
s qd
i
i
K
K
L L
L L
K
K
0
0
1
1
0
0
0
0
0
0

Transforming voltage equations Term 3

32
(

=
(
(

r qd
s qd
r
s
r rs
sr s
r
s
r qd
s qd
i
i
K
K
L L
L L
K
K
0
0
1
1
0
0
0
0
0
0

Perform the first matrix multiplication:

(

=
(
(

r qd
s qd
r
s
r r rs r
sr s s s
r qd
s qd
i
i
K
K
L K L K
L K L K
0
0
1
1
0
0
0
0

and the next matrix multiplication:

(

=
(
(

r qd
s qd
r r r s rs r
r sr s s s s
r qd
s qd
i
i
K L K K L K
K L K K L K
0
0
1 1
1 1
0
0

Transforming voltage equations Term 3

33
(

=
(
(

r qd
s qd
r r r s rs r
r sr s s s s
r qd
s qd
i
i
K L K K L K
K L K K L K
0
0
1 1
1 1
0
0

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):
0
1
0
1 1
0
1
0 0
0
2
3
0
0 0
2
3
0 0 0
0
2
3
0
0 0
2
3
0 0
0
2
3
0
0 0
2
3
rqd
r
m r
m r
r r r
mqd m
m
s rs r r sr s
sqd
s
m s
m s
s s s
L
L
L L
L L
K L K
L L
L
K L K K L K
L
L
L L
L L
K L K

(
(
(
(
(
(

+
+
=

(
(
(
(
(
(

= =

(
(
(
(
(
(

+
+
=

=
(
(

r qd
s qd
rqd mqd
mqd sqd
r qd
s qd
i
i
L L
L L
0
0
0 0
0 0
0
0

And since our inductance matrix is

constant, we can write:
(

=
(
(

r qd
s qd
rqd mqd
mqd sqd
r qd
s qd
i
i
L L
L L
0
0
0 0
0 0
0
0
&
&
&
&

Substitute the above expression for flux

derivatives into our voltage equation:
Transforming voltage equations Term 3
(

=
(
(

r qd
s qd
rqd mqd
mqd sqd
r qd
s qd
i
i
L L
L L
0
0
0 0
0 0
0
0
&
&
&
&

(
(

(
(

+
(

=
(

r qd r r
s qd s s
r qd
s qd
r qd
s qd
r
s
qdor
s qd
K K
K K
i
i
r
r
v
v
0
1
0
1
0
0
0
0 0
0
0

&
&
&
&
Substitute the above expressions for flux & flux derivatives into our voltage equation:
(
(

+
(

=
(

r qd r r
s qd s s
r qd
s qd
rqd mqd
mqd sqd
r qd
s qd
r
s
qdor
s qd
K K
K K
i
i
L L
L L
i
i
r
r
v
v
0
1
0
1
0
0
0 0
0 0
0
0 0
0
0

&
&
&
&
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.
2. Obtain and
1
s s
K K
&
1
r r
K K
&
34
Transforming voltage equations Term 3
1. Express individual q- and d- terms of
qd0s
and
qd0r
in terms of currents:
35
(

=
(
(

r qd
s qd
rqd mqd
mqd sqd
r qd
s qd
i
i
L L
L L
0
0
0 0
0 0
0
0

(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(
(
(
(

+
+
+
+
=
(
(
(
(
(
(
(
(

r
dr
qr
s
ds
qs
r
m r m
m r m
s
m m s
m m s
r
dr
qr
s
ds
qs
i
i
i
i
i
i
L
L L L
L L L
L
L L L
L L L
0
0
0
0
0 0 0 0 0
0
2
3
0 0
2
3
0
0 0
2
3
0 0
2
3
0 0 0 0 0
0
2
3
0 0
2
3
0
0 0
2
3
0 0
2
3

dr m r ds m dr dr m ds m s ds
qr m r qs m qr qr m qs m s qs
i L L i L i L i L L
i L L i L i L i L L
|

\
|
+ + = +
|

\
|
+ =
|

\
|
+ + = +
|

\
|
+ =
2
3
2
3
2
3
2
3
2
3
2
3
2
3
2
3




From the above, we observe: