Direct-quadrature-

zero transformation

The direct-quadrature-zero (DQZ or DQ0[1]

or DQO,[2] sometimes lowercase)
transformation or zero-direct-
quadrature[3] (0DQ or ODQ, sometimes
lowercase) transformation is a tensor that
rotates the reference frame of a three-
element vector or a three-by-three element
matrix in an effort to simplify analysis. The
DQZ transform is the product of the Clarke
transform and the Park transform, first
proposed in 1929 by Robert H. Park.[4]

The DQZ transform is often used in the

context of electrical engineering with
three-phase circuits. The transform can be
used to rotate the reference frames of ac
waveforms such that they become dc
signals. Simplified calculations can then
be carried out on these dc quantities
before performing the inverse transform to
recover the actual three-phase ac results.
As an example, the DQZ transform is often
used in order to simplify the analysis of
three-phase synchronous machines or to
simplify calculations for the control of
three-phase inverters. In analysis of three-
phase synchronous machines the
transformation transfers three-phase
stator and rotor quantities into a single
rotating reference frame to eliminate the
effect of time-varying inductances.

Introduction
The DQZ transform is made of the Park
and Clarke transformation matrices. The
Clarke transform (named after Edith
Clarke) converts vectors in the ABC
reference frame to the αβγ reference
frame. The primary value of the Clarke
transform is isolating that part of the ABC-
referenced vector which is common to all
three components of the vector; it isolates
the common-mode component (i.e., the Z
component). The power-invariant, right-
handed, uniformly-scaled Clarke
transformation matrix is

To convert an ABC-referenced column

vector to the XYZ reference frame, the
vector must be pre-multiplied by the Clarke
transformation matrix:
 .

And, to convert back from an XYZ-

referenced column vector to the ABC
reference frame, the vector must be pre-
multiplied by the inverse Clarke
transformation matrix:

The Park transform (named after Robert

H. Park) converts vectors in the XYZ
reference frame to the DQZ reference
frame. The primary value of the Park
transform is to rotate the reference frame
of a vector at an arbitrary frequency. The
Park transform shifts the frequency
spectrum of the signal such that the
arbitrary frequency now appears as "dc"
and the old dc appears as the negative of
the arbitrary frequency. The Park
transformation matrix is

where θ is the instantaneous angle of an

arbitrary ω frequency. To convert an XYZ-
referenced vector to the DQZ reference
frame, the column vector signal must be
pre-multiplied by the Park transformation
matrix:
 .

And, to convert back from a DQZ-

referenced vector to the XYZ reference
frame, the column vector signal must be
pre-multiplied by the inverse Park
transformation matrix:

The Clarke and Park transforms together

form the DQZ transform:
The inverse transform is:

To convert an ABC-referenced vector to the

DQZ reference frame, the column vector
signal must be pre-multiplied by the DQZ
transformation matrix:
 .

And, to convert back from a DQZ-

referenced vector to the ABC reference
frame, the column vector signal must be
pre-multiplied by the inverse DQZ
transformation matrix:

To really understand this transform better,

a derivation of the transform is included.

Derivation
The Park transform derivation
The Park transform is based on the
concept of the dot product and projections
of vectors onto other vectors. First, let us
imagine two unit vectors, and (the
unit vectors, or axes, of the new reference
frame from the perspective of the old
reference frame), and a third, arbitrary,
vector . We can define the two unit
vectors and the arbitrary vector in terms of
their Cartesian coordinates in the old
reference frame:

,
where and are the unit basis
vectors of the old coordinate system and
is the angle between the and unit
vectors (i.e., the angle between the two
reference frames). The projection of the
arbitrary vector onto each of the two new
unit vectors implies the dot product:

So, is the projection of onto the

axis, and is the projection of
onto the axis. These new vector
components, and , together
compose the new vector , the original
vector in terms of the new DQ
reference frame.

Notice that the positive angle above

caused the arbitrary vector to rotate
backwards when transitioned to the new
DQ reference frame. In other words, its
angle with respect to the new reference
frame is less than its angle to the old
reference frame. This is because the
reference frame, not the vector, was
rotated forwards. Actually, a forwards
rotation of the reference frame is identical
to a negative rotation of the vector.

The operation above can be summarized

by a single matrix equation:

This tensor can be expanded to three-

dimensional problems, where the axis
about which rotation occurs is left
unaffected. In the following example, the
rotation is about the Z axis, but any axis
could have been chosen:

The Clarke transform

derivation

The ABC unit basis vectors

Consider a three-dimensional space with

unit basis vectors A, B, and C. The sphere
in the figure below is used to show the
scale of the reference frame for context
and the box is used to provide a rotational
context.
Typically, in electrical engineering (or any
other context that uses three-phase
systems), the three-phase components are
shown in a two-dimensional perspective.
However, given the three phases can
change independently, they are by
definition orthogonal to each other. This
implies a three-dimensional perspective,
as shown in the figure above. So, the two-
dimensional perspective is really showing
the projection of the three-dimensional
reality onto a plane.

Three-phase problems are typically

described as operating within this plane. In
reality, the problem is likely a balanced-
phase problem (i.e., vA + vB + vC = 0) and
the net vector
is always on this plane.

The AYC' unit basis vectors

To build the Clarke transform, we actually

use the Park transform in two steps. Our
goal is to rotate the C axis into the corner
of the box. This way the rotated C axis will
be orthogonal to the plane of the two-
dimensional perspective mentioned
above. The first step towards building the
Clarke transform requires rotating the ABC
reference frame about the A axis. So, this
time, the 1 will be in the first element of
the Park transform:
The following figure shows how the ABC
reference frame is rotated to the AYC'
reference frame when any vector is pre-
multiplied by the K1 matrix. The C' and Y
axes now point to the midpoints of the
edges of the box, but the magnitude of the
reference frame has not changed (i.e., the
sphere did not grow or shrink).This is due
to the fact that the norm of the K1 tensor is
1: ||K1|| = 1. This means that any vector in
the ABC reference frame will continue to
have the same magnitude when rotated
into the AYC' reference frame.

The XYZ unit basis vectors

Next, the following tensor rotates the
vector about the new Y axis in a counter-
clockwise direction with respect to the Y
axis (The angle was chosen so that the C'
axis would be pointed towards the corner
of the box.):

or
 .

Notice that the distance from the center of

the sphere to the midpoint of the edge of
the box is √2 but from the center of the
sphere to the corner of the box is √3. That
is where the 35.26° angle came from. The
angle can be calculated using the dot

product. Let be the

unit vector in the direction of C' and let

be a unit vector
in the direction of the corner of the box at
. Because
where is the
angle between and we have

The norm of the K2 matrix is also 1, so it

too does not change the magnitude of any
vector pre-multiplied by the K2 matrix.
  

The zero plane

At this point, the Z axis is now orthogonal

to the plane in which any ABC vector
without a common-mode component can
be found. Any balanced ABC vector
waveform (a vector without a common
mode) will travel about this plane. This
plane will be called the zero plane and is
shown below by the hexagonal outline.
  

The X and Y basis vectors are on the zero

plane. Notice that the X axis is parallel to
the projection of the A axis onto the zero
plane. The X axis is slightly larger than the
projection of the A axis onto the zero
plane. It is larger by a factor of √3/2. The
arbitrary vector did not change magnitude
through this conversion from the ABC
reference frame to the XYZ reference
frame (i.e., the sphere did not change
size). This is true for the power-invariant
form of the Clarke transform. The
following figure shows the common two-
dimensional perspective of the ABC and
XYZ reference frames.

It might seem odd that though the

magnitude of the vector did not change,
the magnitude of its components did (i.e.,
the X and Y components are longer than
the A, B, and C components). Perhaps this
can be intuitively understood by
considering that for a vector without
common mode, what took three values (A,
B, and C components) to express, now
only takes 2 (X and Y components) since
the Z component is zero. Therefore, the X
and Y component values must be larger to
compensate.

Combination of tensors

The power-invariant Clarke transformation

matrix is a combination of the K1 and K2
tensors:
  

or
   .

Notice that when multiplied through, the

bottom row of the KC matrix is 1/√3, not
1/3. (It should be noted that Edith Clarke
did use 1/3 for the power-variant case.)
The Z component is not exactly the
average of the A, B, and C components. If
only the bottom row elements were
changed to be 1/3, then the sphere would
be squashed along the Z axis. This means
that the Z component would not have the
same scaling as the X and Y components.
  

As things are written above, the norm of

the Clarke transformation matrix is still 1,
which means that it only rotates an ABC
vector but does not scale it. The same
cannot be said for Clarke's original
transform.

It is easy to verify (by matrix

multiplication) that the inverse of KC is
  

Power-variant form

It is sometimes desirable to scale the

Clarke transformation matrix so that the X
axis is the projection of the A axis onto the
zero plane. To do this, we uniformly apply
a scaling factor of √2/3 to get the power-
variant Clarke transformation matrix:
  

or

  .
This will necessarily shrink the sphere by a
factor of √2/3 as shown below. Notice that
this new X axis is exactly the projection of
the A axis onto the zero plane.

With the power-variant Clarke transform,

the magnitude of the arbitrary vector is
smaller in the XYZ reference frame than in
the ABC reference frame (the norm of the
transform is √2/3), but the magnitudes of
the individual vector components are the
same (when there is no common mode).
So, as an example, a signal defined by

becomes, in the XYZ reference frame,

  ,

a new vector whose components are the

same magnitude as the original
components: 1. In many cases, this is an
advantageous quality of the power-variant
Clarke transform.

The DQZ transform

The DQZ transformation uses the Clarke

transform to convert ABC-referenced
vectors into two differential-mode
components (i.e., X and Y) and one
common-mode component (i.e., Z) and
then applies the Park transform to rotate
the reference frame about the Z axis at
some given speed. The X component
becomes the D component, which is in
direct alignment with the vector of rotation,
and the Y component becomes the Q
component, which is at a quadrature angle
to the direct component. The DQZ
transform is

Code implementation
For computational efficiency, it makes
sense to keep the Clarke and Park
transforms separate and not combine
them into one transform.

A computationally-efficient
implementation of the power-invariant
Clarke transform is

X = (2*A – B – C)*
(1/sqrt(6));
Y = (B – C)*(1/sqrt(2));
Z = (A + B + C)*(1/sqrt(3));

while its inverse is

A = (1/sqrt(3))*Z;
B = A - (1/sqrt(6))*X;
 C = B – (1/sqrt(2))*Y;
B += (1/sqrt(2))*Y;
A += (sqrt(2/3))*X;

A computationally-efficient
implementation of the power-variant
Clarke transform is

X = (2*A – B – C)*(1/3);
Y = (B – C)*(1/sqrt(3));
Z = (A + B + C)*(sqrt(2)/3);

while its inverse is

 A = (1/sqrt(2))*Z;
B = A – (1/2)*X;
C = B – (sqrt(3)/2)*Y;
B += (sqrt(3)/2)*Y;
A += X;

Evidently, the constant coefficients could

be pre-calculated.

A computationally-efficient
implementation of the Park transform is

co = cos(theta);
si = sin(theta);
 D = co*X + si*Y;
Q = co*Y - si*X;

while its inverse is

co = cos(theta);
si = sin(theta);

X = co*D - si*Q;
Y = si*D + co*Q;

Of course, it makes sense to only calculate

co and si once if both the Park and inverse
Park transforms are going to be used.

Example
In electric systems, very often the A, B, and
C values are oscillating in such a way that
the net vector is spinning. In a balanced
system, the vector is spinning about the Z
axis. Very often, it is helpful to rotate the
reference frame such that the majority of
the changes in the abc values, due to this
spinning, are canceled out and any finer
variations become more obvious.

The DQZ transformation can be thought of

in geometric terms as the projection of the
three separate sinusoidal phase quantities
onto two axes rotating with the same
angular velocity as the sinusoidal phase
quantities.
Shown above is the DQZ transform as
applied to the stator of a synchronous
machine. There are three windings
separated by 120 physical degrees. The
three phase currents are equal in
magnitude and are separated from one
another by 120 electrical degrees. The
three phase currents lag their
corresponding phase voltages by . The
DQ axes are shown rotating with angular
velocity equal to , the same angular
velocity as the phase voltages and
currents. The D axis makes an angle
with the phase A winding which
has been chosen as the reference.The
currents and are constant dc
quantities.

Comparison with other

transforms
Park's transformation

The transformation originally proposed by

Park differs slightly from the one given
above. In Park's transformation q-axis is
ahead of d-axis, qd0, and the \theta angle
is the angle between phase-a and q-axis,
as given below:

and

D. Holmes and T. Lipo, Pulse Width

Modulation for Power Converters:
Principles and Practice, Wiley-IEEE Press,
2003, and

P. Krause, O. Wasynczuk and S. Sudhoff,

Analysis of Electric Machinery and Drive
Systems, 2nd ed., Piscataway, NJ: IEEE
Press, 2002.

αβγ transform

The dqo transform is conceptually similar

to the αβγ transform. Whereas the dqo
transform is the projection of the phase
quantities onto a rotating two-axis
reference frame, the αβγ transform can be
thought of as the projection of the phase
quantities onto a stationary two-axis
reference frame.

References
In-line references
1. "Perform transformation from three-
phase (abc) signal to dq0 rotating reference
frame or the inverse" . Simulink. 2018-09-
27. Retrieved 2019-01-11.
2. Mihailovic, Zoran (1998-06-26).
"Modeling and Control Design of Vsi-Fed
Pmsm Drive Systems With Active Load"
(PDF). ETDs. Retrieved 2019-01-11.

3. Kamalakannan, C.; Suresh, L.P.; Dash,

S.S.; Panigrahi, B.K. (2014). Power
Electronics and Renewable Energy Systems:
Proceedings of ICPERES 2014 . Lecture
Notes in Electrical Engineering. Springer
India. p. 1029. ISBN 978-81-322-2119-7.
Retrieved 2019-01-11.
4. R.H. Park Two Reaction Theory of
Synchronous Machines AIEE Transactions
48:716-730 (1929).
General references
J. Lewis Blackburn Symmetrical Components
for Power Systems Engineering, Marcel
Dekker, New York (1993). ISBN 0-8247-8767-
6
Zhang et al. A three-phase inverter with a
neutral leg with space vector modulation IEEE
APEC '97 Conference Proceedings (1997).
 T.A.Lipo, “A Cartesian Vector Approach
To Reference Theory of AC Machines”,
Int. Conference On Electric Machines,
Laussane, Sept. 18-24, 1984.

See also
Symmetrical components
transform
Vector control (motor)

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