teac y-; tate Lquivai ent Circuits or

achines
nduction ivua~~~~~.umuuu~~
Synchronousan Induction
ynchronous
S1 e

.1

The Primitive Machine at Rest

MEMBER AIEE

Synopsis: Equivalent circuits are developed

for the various types of salient-pole synchronous and asymmetrical induction ma-

When rotating machines are interconnected with each other or with transmission lines and other stationary struc-

measurement of power. The networks of

tures, additionalphysicalreferenceframes
must be resorted to. Such additional
frames are for instance

all types of machines are found as special

cases of that of the "primitive" machine.
All equivalent circuits along the physical
axes are derivable from those along the
hypothetical symmetrical component axes

fThe systematic treatment of the equivalent circuits of commutator machines

will be based upon the present study and

will
form the subject matter of a future
publication.

GABRIEL KRON

chines, expressed along the physical direct

and quadrature axes (cross-field theory).
The torques again are found by a direct

3. The axes rotate with a speed different

from that of the rotor.
4. The axes execute small oscillations
superimposed upon a steady rotation.

It will be assumed that the equations

and equivalent circuits of all machines
may be derived as special cases of those
of a "primitive" machine. In this

machine:

1. One member has a salient pole and

asymmetrical windings, the other member
is smooth and has symmetrical windings.
2. Depending whether the salient pole is

moving or stationary, two such "primitive"

machines will be distinguished (Figure 1),

namely, the "primitive synchronous" ma-

'*(revolving-field theory) by a real transf or-.

eation. Although the latter types of net- 5. There are angular displacements (con- chine and the "primitive induction" maworks have already been published pre- stant or variable) between the various axes chine. The equations and equivalent circuits of both types of primitive machines
com- of the same frame.
viously,
are reproduced
viously,they
they are
reproduced here for comare identical, differing only by the sign of
parison with the new networks and for a
With each of these physical axes hypo- the speed term v and of the torque T.
unified tensorial treatment of rotating mathetical symmetrical component axes 3. There exist two independent sets of
chines and their eqiiivalent circuits.
axes at right angles in space, one along the
may be associated.
salient
pole (direct axis d) and one at right
This paper restricts itself to the systematic development of the steady-state angles to it (quadrature axis q).
The Two Basic Reference Frames
equivalent circuits of single machines 4. Along each axis four windings are asN the theory of single, isolated rotating when their equations are expressed along twsr on the rotor.

the first two types of axes. While the

existence of equivalent circuits along the
hypothetical symmetrical component axes
are widely recognized, it is not so well
appreciated that equivalent circuits of
equal simplicity may be constructed for
any machine along the more physical
direct and quadrature axes.

machines possessing no commutators

two basic reference frames usually are

assutmed.

1. The axes are rigidly connected to the

salient-pole structure.
2. Hypothetical "syrmimetrical component"
axes are associated with the foregoing
physical axes.

PO
;?00,

CIA2d

i,d

Equations

Pe

[2dit :.
L
Sid

>

tive induction machine are (reference 1,

e-I
129) = Z where Z is given in

r uqpage

a r

'

a synchronous machine p0 has

~~~~~~~~~~For

X 1 1t
2 2 l2d

l
~~~~~~~~~~~oppositesigns, the subscript s becomes f
- -- ~~~~~~~~~~~Paper 48-27, recommended by the ATEE rotating
_ fXy { s t/ Areq
2machinery committee and approved by the AIEE
program committee for presentation at
~~~~~~~~~~~~~~technical
AIEE winter general meeting, Pittsburgh, Pa.,
~~~~~~~~~~~~~~~~~~~the

t7 , s
02q0uqxq
2iq / q

THE PRIMWITIVE

SYNCHRONOUS MJACHINE

1948, VOLUME 67

of the Primitive Machine

The transient equations of the primi-

Os

a)

When the machine is at rest, each axis

may be represented by an arrangement of
inductive coils representing the magnetic
structure (Figure 2e). See also reference
4 for greater detail. The electrical structure is represented by the resistances and
impressed voltages in series.

" %
//_ _Z////
_
/ / /t

b)

THE PRIMITIVE

INDUCTION MACHINE

January 26-30, 1948. Manuscript submitted

September 5, i947; made available for prinlting
December 24, i947.

Figure 1. The primiGA.BRIEL KRON is consulting engineer, General

tive rotating machine ..Electric Company, Schenectady, N. Y.

Kron- Synchronous and Indluction Machines

175

2I

.2334.4
| Xg p/r, p/r3 |p/r4
~~~~~~~~~~~~~~~~~~~~~~~p/rl

|-

X 2

9'Is~~~~~~XI4-- X3sX4
2s

jjf~~~~~~~~~i~~~~~2
~ L ~~~~~~~

'P Is

b)
I

-S<P2s

(/35
d) ELECTRIC CIRCUIT REPRESENTATION OF fLUX-PATHS
r
(4sp
X2gt32

de) ELECTICNAL'DUIT'

SLOTS

~Figure 2.

______________

AldiiP

______________

d81l

M8sp

drl

TORQUET REAL OF it
rdKARMATURE
ixoI
jxoa

*fo!

ifag0
fir eE t 1fajj fe

BF

jxdfg

If ITOQ

(xoq-xad)l

AIR

ebo2seda2-Jeqa2~T'b

jXl

jx02
_________

)Xr2

j(Xoq.Xod)I

ROTOR

JXri

if

eftp eda?2+18wo(;
q 02

fev

e. To
save space in further manipulations, this
fORWARD

JXEdf2

edfa+Jeq

GAP

|-)nr

STATOR Jeo

AXIS

rqfl-rdfl

(xoq-xad)

JXra

Ti

]$J(XNq.

FORWARD

-xfdf2) edf2jeqf

rd5,

JXqsg

2JXqse xdsz)
2

iqie

ds2-Jfqsa
f

s
are special
ther
matrice

Zt

cases of

TheXmatricescontainnorterms.
The mat riceswith a subscript s (stator)
r2
-2.
containfno pG terms. Thersin themassume
1.

2
f

The o

(rarmarpt TrLorp

and differ from it in the following manner:

BAKWARD

the same form as the L's.

Figure 4. The primitive machine along sym-

b) NDUCTION MACHINE (REVOVING- FIELD THEORY )metrical

176

......

Xr2 Xmin (in |uri

jx

jXre

T2si

Ti

~ Z~= |sZl<X2
'~BACKWARD
>baS-

fS2m
...............V....j...jxdf.

if

Jtecq-xe,d

- 6drZ-6qr2

matrix

l2

rqa-rdf

-ra
f

machine (induction)

f2

jKd

JXdfi

L 42PO
r74+L 2P|

3
e

(field) and r becomes a

/ib02~IibjjXadibfI4ibf2~

r1a2

AIqrpO
qM07p

Z will be represented as a compound

____f________dt2

-Ldp3

I9P

Figure 3. Impedance matrix of the primitive

jxdft2

REAL O

ibBD

q .

---rtlp

|_
Al

MdrP
dr
-M4TPO
r72+LdT2p

FIELD

edO2+jeq2

MdTP

_____

|
Llr1pO
_r17+L ,.lP|
M,rPO
|
Ms7p

e21P-MdTP

GAP

__

d21P
M!J1P

r7l+Ld7lP
dr, fr
-LdriPO1

f,s
fQlp
Jil iiPO

.4I

IdiP

M,,11p0J

A'MdllP

d,
412 Af
aS
-MdItPO9
2P
-Mdi12PO
Mq22PO
|_______ _|
dr2| Md22p
q A2-M421 p
-Mel

qr,|

I_ _r

.AL11p

|____I_

rf21+L581p

______I_

Mfl2p6

MdiP

+LdS1P

rdsl

dsP
________

1
M34

_______________

I__________________

Alqs.

i X

REPRESENTATION OF FLUX-PATHS

Development of the equivalent circuit for one axis

MAGNETIC
c)THECIRCUIT
KdS2

X41p

X3jp

-L---

4XIP xisx

d81
rs
b)FLUXs DISTRIBUTION IN THE

it

l~~~~~~~~~~~3 tR.
r2d2+

____

V's_____

FLUX- DISTRIBUTION IN THE SLOTS

I2

W2x
yls

d82

(4

S3
'l 2

a) TWO STATOR AND TWO ROTOR WINDINGS

Kron-Synchronous and Induction Machines

components

AIEE TRANSACTIONS

02

~ARttAMATURE

AIR
GAP|1-

fT

t I,t
Wt

rt

if

tt

t t
NJ F

indicated.

During steady state, when the frequency of currents in all axes is not fundamental frequency (unity) but some other
frequencyf, then in the transient Z
1. p becomesjfw
2. pG becomes vw
3. coL and wM become X

Torque= real of iB*

Accordingly Zr of equation 2 becomes

STATOR

iXSI

JXfrl

f__

_____
_
__

dr

)ss

__

jX

~~i(xoq-X d jXod

1. Symmetrical components are introduced'

jxf rf

jX

jX

To bring the matrix Z of Figure 3 to

symmetrical form two transformations.
are introduced in succession.

FIELD

AIR-GAP

ARMATURE

IIV 2

Equivalent Circuits Along

Symmetrical Components

,t

by

j(xoq-Xad ixad

ttt1 ]0 LJ
Xt
jxU,

v
r0

o) REACTION

MACH1INE

ieroa b

ad
jxf

jxc

jxl2

jxI

jXe

rf

rt

ixwhesre~

1
(8>
Cs2lC
As a result each Z, X, and e is transformed:

rf .

Bb

j<

CS=

2. The jXfre

C) SYNCHRONOUS MACHINE

Toqerd

er=Lj.,..e.J

of Bf*+ibBb*
r.

ix

Similarly the impressed voltage vector

is
d3

q2

q1

es2 | edSl

eq7sI | edrl

S2
e=|

Si

r1

1948, VOLUME 67

e to uny b

dr2

| edT2

fr

b,
(4)

Zrt = nrlZr t

e" n=Cst
Z

(3)

j(XdrXar)

rkd

br

f+v
-v

2rr

eDrr |
+(

r2

frl

(11)s
r22

r,

As a result each Z, X, and e is multiplied a

~~~~~~~~~~(and

rf

3si eSI
|ersI|
|
er2I|

nrb

(5)

From now on whenever new reference

S-v
frames will be introduced only this Zr
er) matrices will be calculated. The

Represented as a compound matrix, it

becomes

c is r

d) SYNCHRONOUS MACHINE

backward axes)

ds2
e=| edS2

Cs(stv) .r The*Zrcys

C,

jXJ2

Va

(7

*s-

eb

where

xo

sr ibv
______

r1

CsTI1

S2

b) SLIP COUPLING

ad--

qr

Zr =dr rr+jfXdr VXtlr

qr -VXdr rr+jfXqr

(b)

ef

chine

(d). Polyphase synchronous machine

(b). Polyphase induction machine

so
AIR

jXrt

T__V

t
fy

r
ROTOR

e#.

rf I

ZS, X, and X, matrices will be special

cases of Zr and will differ from it as just

phase primitive ma-

jXft

ec2 zB t JxJ
l 1
(d)

it

Figure 5. The poly-

FIELD --- -1

j fg

jxot

f+Vu

f5

~~~(12)
(13)

Rememberingthat ncontainsnov,the
final matrices are
br

(XdrXqr"4

Yr( nXdjXar)

_____2___)___|___f+v__J__S|

Kron-Synchronous and Induction Machines

177

ARMATURE

AIR-GAP

r02

jx2d

.7

a~od

, j,

ad
rf
kd
._~
~
~~~~~

I(

rac

jS

jx
s

r;-.ef

\/red-ljeq
l(s-v)

Daq

edr -jeur

fr-

d'

S.

\/2

jXr

Xjif

f re|JS
(15)

ROTOR
rr

B _
br Xd

<

.rr.

tfrBf

and only the forward meshes

exist. The corresponding polyphase
primitive equivalent circuits are shown

(\f. u)

in Figure 5.

edr*Bb

1'f UV)

Actual Machines

placement between the excitation and the

infinite bus is still the angle 6. The ca-

'

i1br

The equivalent circuits of the various

types of synchronous and induction
machines shown on Figures 6-8 are
special cases of the primitive machine andfi6
are found from the latter by simply opening certain meshes. These networks already havre been published in references
14
On synchronous machines it iscustomary to eliminate all field axes and consider only the armature axes. The corresponding simplified circuits are shown
in Figure 7. Note that the phase dis-

jXs

jX,

brBmb

fs_I_ds
sr B

f
V2s

jxr jxs rs
d)SINGLE -PHASE IND. MOTOR
5 r5
jx
+t

jxke5s
r
B

I Fi7u

er

jx

IND. MOTOR
rr2Xrt

Itfr

-Z

Xfxr
ixs rs

c),UNBALANCED

aZsq/2a edJeq/

1dsf
rf
|Xm

V f

JXm

A)ed -Jeq/a

rr
[+v JXr jxd rsd
b) GAPAGITOR MOTOR
r
jx5 rs
JXr

eds+jeqs

1,eds

jx

JXsd rsd

Jdf

sq2sd ebs
eb2is.

rr

STATOR
JXr

I+V Jr JXsd rsd

a) INSTRUMENT SELSYN

ij=-.jid

(16)

JXsd rSd

-j

1C

q'

Figure 8 (below). Induction machines (revolving field theory)

redl of
jrBJ* + i,rB,*
Torque = real
o~~~~~~~~f
Torque=

X
STATOR

rr
I-V

efr

steps

X.,

ROTOR

The corresponding equivalent circuits

in two successive

1. The inverse tratisformation C8-1 re-

BELOW SYNCHRONOUS SPEED

on the two primitive machines are shown

on Figure 4. The torques are found by
the product of the resultant rotor (or
armature) currents iand fluxesE. When
the machine structure is smooth, the
windings are symmetrical and only polyphase currents and voltages exist, then

accomplished

turns to the original physical axes

d) SYNCHRONOUS MACHINE

AT SYNCHRONOUS SPEED
Figure 7. Synchronous machines (forward and
backward axes). Field circuits are eliminated
Torque=reda of ifBf*+ ibBb*

178

b
sv

c) SYNCHRONOUS MACNINE

edr +jeqr

be

Bf-

ed + Jeq ,1
* d (s.+ v) q
ef
JXod
V_(

_ ra

erIt=|

metrical form along some particular axes,

it is comparatively easy to keep the symmetrical form along other arbitrary axes.
A return to the original d and q axes may

xe

i~~~~~~~~

V2

machine have been brought to a sym-

JXel

b) SLIP COUPLING

res , . JXaq
4 J(X0djXaq)

jet

Equivalent Circuits Along

Physical Axes

f <

jXagq

Once the equations of the primitive

jI

Bb

-r0N
Jx;2
v

r0

J
.
Sf
e

X
l

Its direction of rotation is from q to d,

hence thefaxisrotatesalso fromqtod.

2. The ratio of turns on the q, axis is a.

~~~~~~ ~~~~~ X.A

*b2

a) EQUIVALENT fIELD IM PEDANCES

.1.

'j

ral

jx'akq_

pacitor motor differs from the primitiVe

machine in two respects:

S I
e) DOUBLE SQUIRREL -CAGE IND. MOTOR
xrr-xsr Jr j5r
k*tJ7JX
5~j~J5r
,

4@ Bf jxrm}|

j|

Jm

jst|
Xe5

ifrj

I') DOUBLY - fED INDQ MOTOR

Kron-Synchronous and Induction Machines

r|
.
i
IfiBfrBgJXm
[
1J||

g) POLYPHASE IND. MOTOR

AWEE TRANSACTIONS

bat the resultant Z is not quite symmetrical.

2. The latter may be brought to a symmetrical form by allowing jij to flow in the
network in place of 0. That is, the additional transformation (changing the time
scale in the network along the q axis) is

-j

(17)

C 2 = ~ ~~~~~~~~~~~~~~~~

Gda

Transforming Z,/' and e," of equationst

_ed

f2_v2

qf

jxf 1

in Figures 10

It should be noted that

dA

pdrm

1948, VOLUME 67

jxqft

AIR

STATOR
SAO

GAP

-v r,

'

j Bd jxad

d
q

Adst~ jxjdIg

MAIN
AXIS

........................

'VP

ivrdrt+jferk(22)

qhrii

Cql

ROSS

Figure90. Tyncheprimi machines(direct

along physical

axes)

Figure 10. Synchronous machines (direct and quadrature axes)

Torque= redl

Isq

of i'B *+(jj7>Bd)'

rat

Jx

aJ

ijd

tid2

vrI2

ad

xfr

r.1 vrrT |

Xad

if

Wu

ji 8.q1

q t qq
IP-v

JXoq

a) REACTION MACHINE

rf
jOq {t

jX11

b) SLIP COUPLING
f

jBd JXod

i7
t i'

B
r0

jxaq

..q

jxj2

jVSt

--

*d (t

member only.
2. In the physical circuits (Figures 9-12)
mutual couplings exist between the d and q
axes for the symmetrical member only.

eXiqf.

jXqfI

d~

through

1. In the symmetrical component circuits

tween the f and b axes for the asymmetrical

CUADRI

Sp

bered that

12.

jXai

qfe

IfL

Bqi

a) SYNCHRONOUS MACHINE (DIRECT AND QUADRATURE AXES)

In setting up the resultant Z"' analogously to Figure 3 it should be remem-

The corresponding equivalent circuits

of the two types of primitive machines are
shown in Figure 9. For a polyphase
machine (where i = -jjd hence jiq=id)
the equivalent circuit reduces to the same
form as that given for symmetrical components, Figure 5, since if = N/2 id. Hence
on Figure 5 each i may be considered as
representing either if or id. The same
statement applies to e.
For the various types of synchronous

;If,DRSC

idft

j%

fen+jvettingupthe yesultant j"' (22)o-

1. The X"' matrices contain no r terms.

2. The matrices with a subscript s contain no v terms.

if

O fz

.. __ # s \ i##~f-

(1r

xf

Xdf d

2fef

Oq

fOdr2+JbOqrt
q

givren

JXdtZ

jd

.dai

.
.Z

f-u

dfr d+Jdr
f2-v2

circuits are

at

e"'=C51(20)*e~~~~~~~~~~~~~~~~~~rrp

O- ga p.

-*
t|
e

FIELD

JKd

AIR
GAP

ROTOR

cnt*eff
the resultant matrices are
e"'f

~ jxot

1dat~~~~~~..~~~*goa
1V2

dd
q q~~~~~~~~~~r a2
|
|
(18)
-1

14 and 15 as

17i7

one as

l
CnCn=CA-IC2=.\>,
~ 2 a/
b3

dBq +

-ARMATURE

The two transformations may be com-

bined into

TORQUE *REAL OF

1.
sed

Stu

-puegk

JJx

ds?
OAt

vr
W

B ijXag

-ved+Jseq xi

5
-I

jx2

v
c) SYNCHRONOUS

MACHIlNE

AT SYNCHRONOUS SPEEO

Kron-Synchronous and Induction Machines

d)

SYNCHIRONOUS

MACHINSE

BELOW SYNCHRONOVS. SPEEO

179

ra 2
,

ad

jx

cdi

Xoq

jXk _x fjd2djXaI
rjI

rkdxf

ad

px

-r

B6d

jeq

X_,2
ra2t iX12
ra

sed-jveq
se-Uj

j Xod
a

ixod

S+_V
d

jx .1

-ved Iseq

Xa q

S2-u 2

jxodrj

rf

r0

jxaqI

machineandnanetworkthen

jx

S tv

-1N'2a-b

-j

(23)

2. In considering the equations not of

actual machines but of their equivalent
circuits, it is possible to pass from the
physical d and q axes to the hypothetical
f and b axes and back again by the transformation C,, (Equation 18) and its in-

jd,B,*+(jjr%Bd)*

jXsd

jdl

a 21

vedrt1 eqr
1-u2 8

IqBqT
rr

ROTOR-

jXr

(dr+Jueqr (
1-u T

verse

1 d| 1

* _ IZ
=
(28)
zf=o Zm
ecea =Za'2
)
Hence the tensors of the group of equivalent circuits are "intermediary tensors"
having their indices in two different refer-

STATOR

r2

em

Figure 12 (below). Induction machines

(cross-field theory)

ROTOR

(26)

=Zm2
eZa,}(2

quadrature axes). Field circuits are eliminated

Torque = real of idBq* +(jij1jd)*

Torque = real of

Z=fn-l'Zm

and the equations of a machine and its

equivalent circuit are, respectively,

Figure 11. Synchronous machines (direct and

(25)

Za'nOf'Zax:

BELOW SYNCHRONOUS1 -t*

1. In considering the equations of

actual rotating machines it is possible to
pass from the physical d and q axes to the
hypothetical f and b axes and back again
bv the transformation C, and its inverse

en=n'lem,
ea' = n, e,'

d) SYNCHRONOUS MACHINE

Summary of Transformations

rsd

idr

IX-V2 |

jxr

jX

Jxmq

eqs

teqs

jxsq rsq

f-~~~~rrjx -x

\/2ql

tidr

a) INSTRUMENT SELSYN

a/2ql 1 t1 -1

r
t I qr

uedr+|- jf eqr zLjqr

2

rr
f -u

JXr

JXsd

di

ed

I
Iqs

Bq

;eii
Xm
t jeq/

jx,

c) UNBALANCED IND. MOTOR

Kron-Synchronlous and Induction Machines

f
,
|
ti' Bq
rr

I-i)

r,

jx5

Jxrfed+eqr

r
f

rsd

b) CAPACITOR MOTOR
IL

11qs
eqs Jf
i
i jq
q EJXm
g

jxr iX

STATOR

.IL jxr jxsq rsq -JXc

a a a

Jxr()

Hence, just as all actual rotating machines form a "group" (allowing to pass
from the equations of any one machine to
that of any other machine by means of a
nonsingular C) similarly their equivalent
circuits also form a group and it is possible to pass fromthe equation of any one

180

X
Ixtd
ef

jBd

AT SYNCHIRONOUS SPEEt)

the question arises in what relations are

the two groups to each other.
It may be said in general that while the
same currents flow in a machine and in its
equivalent circuit, nevertheless different
are
on them. That is,
voltages
in
the equations of a machine
goingfromimpressed
to its equivalent circuit the voltages are
transformed by n1 = n"' but the currents
are not. If the subscript m represents a

b) SLIP COUPLING

C) SYNCHRONOUS MACHINE

Having shown that all rotating machines form a "group" and that all their
equivalent circuits form another group,

X,,,
XjI

r.

jX-t

ra

and\Their Equivalent Circuits

aq

ad

ed

Transformations Between Machines

v.

O) EQUIVALENT FIELD IMPEDANCES

jo

I iXod rXi

-A_

r,a

r.

l7R

hrq

equivalent circuit to that of any other by

means of a C.

JXj2

tv

tid

dd

jxr

d) SINGLE-PHASE IND. MOTOR

AJEE TRANSACTIONS

ence frames and the two groups are simply

subgroups of a more extended group.
The transformation matrices n = nc
the network to its machine
changing from
changing
thaaree networktowts:
and
back from
again
as follows: machindm
1. When expressed along symmetrical

2. When expressed along the physical di-

References

np = CsnsCs

qm

1. A SHORT COURSE IN TENSOR ANALYSIS FOR

ELECTRICAL ENGINEERS, Gabriel Kron. John
Wiley and Sons, Inc., New York, N. Y., 1942.

-jV

2. EQUIVALENT

rect and quadrature axes

ri

components
f,

bm

-1

dn

fl

qn

jv
1

ns

f +v |

fn
I/
_
m|l/(f - v)

bn
11(f+V)

(29)
I

dn

qn

f____________Iv31
-j

It has to be remembered,

i1

3. EQUIVALENT CIRCUIT OF THE SALIENT-POLE

Gabriel
General
b. LSYNCHRONOUS
(Schenectady,
N. Kron.
Electric ReviewMACHENE,
Y.), December

though, that

at first the time axis of in the network

equations has to be changed byj as shown
in equation 17 before

CIRCUIT OF THE CAPACITOR

MOTOR, Gabriel Kron. General Electric Review

(Schenectady, N. Y.), September 1941, page 51 1.

dm

_n|_2_-2

bn

(30)

n-

may

be used.

1941, page 679.

4.

EQUIVALENT CIRCUIT OF THE PRIMITIVE Ro-

Electric43.
March 1946, page
Review (Schenectady, N. Y.),Kron.

TATING MACHINE,

Gabriel

General

5. THE Sheldon
EQUIVALENT
CIRCUIT OF TEES CAPACITOR
S. L. Chang. AIEE
MOTOR,
TIONS, volume 66, 1947, pages 631-40. TRANSAC-

No Discussion

1948, VOLUME 67

Kron-Synchronous andl Induction Machines

181