Electric Machines IIIA

COURSE EPM 405A

FOR
4th Year Power and Machines
ELECTRICAL DEPARTMENT

Lecture 06

Dr. Amr AbdAllah

Synchronous machine

Electromagnetic torque equation:

The electromagnetic torque is change of the stored magnetic
energy with respect to the angular displacement

Te

W f

m
It is clear that the energy stored in the leakage inductances is not
part of the energy stored in the coupling field, thus the energy
stored in the coupling field may be written as:

1
W (i
)T (L L I) (i
) (i
) T (L ) (i )
f 2 abcs
s
ls
abcs
abcs
sr
qdr
1 3
( ) (i )T (L L ) (i )
qdr
r
lr
qdr
2 2

Notice that (Lr-Llr.I) is not function of the rotor position.

1 Llkq
2 Llfd

Llr diag Llkq

Llkd
Dr. Amr AbdAllah

Synchronous machine
Electromagnetic torque equation:

Accordingly and for a P-Pole synchronous machine the

electromagnetic torque is given by:

P 1

Te - (i abcs )T
(Ls - Lls I) (i abcs ) (i abcs )T
(Lsr ) (iqdr )
2 2
r
r

The resultant torque equation as function of the machine

currents and rotor position is:

2 1 2 1 2

( ias - ibs - ics - ias ibs - ias ics 2ibs ics ) sin( 2 r)

L
2
2
P
md
mq

Te
3
2
3

2 i 2 - 2i i 2i i ) cos( 2 )


( ibs

cs
as bs
as cs
r
2

1 ikq
2 ) ( ias
Lmq ( ikq

) ( ias
- Lmd ( i fd ikd

1
1
3
ibs ics ) sin( r)
( ibs ics ) cos ( r)
2
2
2

1
1
3
ibs ics ) cos( r)
( ibs ics ) sin ( r)
2
2
2

Dr. Amr AbdAllah

Synchronous machine

Electromagnetic torque equation:

In addition to the 6 differential equations representing the three phase
synchronous machine the following mechanical equations are governing the
electromechanical transformation

d m

J
e
Where Tl : prime-mover
J : moment of inertia, and m is the rotor speed
l Torque,
dt
and since
Then

2 m

We have also 2 d r

Te Tl J
P dt

d r
dt

Dr. Amr AbdAllah

Torque equation Derivation

Wkq1

1
1
1
1
2
Lmkq1ikq
1 Lkq1kq 2 ikq1ikq 2 Lskq1ikq1ias cos( r ) Lskq1ikq1ibs cos( r 120 )
2
2
2
2

1
Lskq1ikq1ics cos( r 120)
2

( ikq 1 )
mq ikq1 ikq 2

1 3 Ns 2
2 N kq1 2 2 2 3 1 3
N s2
2 N kq1
2 N kq1
3
Wkq1 ( (
) Lmkq1 ) ( )(
) ikq1 ( ) ( ) (
) Lkq1kq 2 )( )(
) ikq1 ( )(
) ikq 2 ( )
2 2 N kq1
3 Ns
3 2 2 2 N kq1 N kq 2
3 Ns
3 Ns
2
Lmq

kq 1
Lmq

1 3 Ns
2 N kq1
(
) Lskq1 ( )(
) ikq1 ias cos( r )
2 2 N kq1
3 Ns

kq 1
kq 1
Lmq

Lmq

1 3 Ns
2 N kq1
1 3 Ns
2 N kq1
(
) Lskq1 ( )(
) ikq1 ibs cos( r 120) (
) Lskq1 ( )(
) ikq1 ics cos( r 120)
2 2 N kq1
3 Ns
2 2 N kq1
3 Ns

kq 1
Lmq

1
1 3 Ns
2 N kq1
2
Was ( LA LB cos( 2 r )) ias
..... (
) Lskq1 ( )(
) ikq1 ias cos( r ) .....
Dr.
2
2 2 N kq1
3 Amr
N s AbdAllah

Transformation to arbitrary reference

frame
The voltage equation for the balanced three phase stator windings is
similar to that of the induction machine can be transformed to the
arbitrary reference frame using the transformation K s

v abcs rs i abcs p abcs

v qd 0 s rs i qd 0 s K s K s-1 p qd 0 s K s ( pK s-1 ) qd 0 s

sin( )

cos( )

( pK s-1 ) sin( 120) cos( 120) 0

sin( 120 ) cos( 120 ) 0

0 1 0
( K s pK s-1 ) 1 0 0

0 0 0

v qd 0 s rs i qd 0 s p qd 0 s dqs

where

dqs ds - qs 0

Dr. Amr AbdAllah

Transformation to arbitrary reference

frame
Since the rotor windings are different therefore the change of
variables to the arbitrary reference frame will offer no
advantage in the analysis of rotor circuits.

r
r
r
vqdr
rr iqdr
p qdr
Note that the equation is raised to index r to show that the rotor
variables are still in the rotor qd frame, while the stator
variables are transformed to the stator arbitrary reference
frame rotating with speed ; the flux equations for the new
machine is given as:-1

qd 0 s
r
qdr

K s L s (K s )

2
(Lsr )T (K s ) -1
3

K s Lsr
Lr

- i qd 0 s

i r
qdr

Dr. Amr AbdAllah

Transformation to arbitrary reference

frame
It can be shown that all terms on inductance matrix are
sinusoidal in nature except Lr
For example:

The sinusoidal terms will be constants only when the = r, that

is the rotating frame is fixed in rotor. This shows that the only
reference frame that is useful in the analysis of the
synchronous machine is the rotor reference frame.

Dr. Amr AbdAllah

Transformation to rotor reference

frame: Parks Transformation
By setting the arbitrary reference frame speed to the rotor
speed (= r) thus the stator and rotor voltage equations can
rbe written as:r
r
r

qd 0 s

rs i

qd 0 s

qd 0 s

dqs

r
r
r
vqdr
rr iqdr
p qdr
r
r given as:
The fluxr linkages
willr -1thus Kbe
- ir
s L sr
qd 0 s K s L s (K s )
qd 0 s
r 2
T
r -1
r
Lr iqdr
qdr (Lsr ) (K s )

cos( r )
2

K rs sin( r )
3
1

cos( r 120 ) cos( r 120 )

sin( r 120 ) sin( r 120 )

1
2

AbdAllah

2 Dr. Amr

Transformation to rotor reference

frame: Parks Transformation
The stator inductance matrix in the dq reference frame attached
to rotor is computed as:

cos( r ) cos( r 120) cos( r 120)

2
K rs L s (K rs ) -1 sin( r ) sin( r 120) sin( r 120)
3
1
1
1

2
2
2
1
1

L
L
cos(2

)
L
L
cos(2

120
)
L
L
cos(2

120
)
A
B
r
A
B
r
A
B
r
ls

2
2
1

1
- L A - LB cos(2 r - 120) Lls L A - LB cos(2 r 120)
(K rs ) -1
- L A - LB cos(2 r )
2
2

1
1

L
L
cos(2

120)
L
L
cos(2

)
L

L
L
cos(2

120
)
r
A
B
r
ls
A
B
r
2 A B

Dr. Amr AbdAllah

10

Transformation to rotor reference

frame: Parks Transformation
Which finally results in a stator inductance matrix in the dq
reference frame attached to rotor that is no more function in
rotor position as shown below:

( Lls Lmq )cos( r )

K rs L s (K rs ) -1

cos( r )

cos( 120)
r

cos( r 120)

2
( Lls Lmd )sin( r )
3

1
Lls

2
sin( r )
sin( r 120)
sin( r 120)

( Lls Lmq )cos( r - 120) ( Lls Lmq )cos( r 120)

( Lls Lmd )sin( r - 120) ( Lls Lmd )sin( r 120)

1
1
Lls
Lls

2
2

0
0
1 ( Lls Lmq )

1
0
( Lls Lmd ) 0
1
0
0
Lls

Dr. Amr AbdAllah

11

Transformation to rotor reference

frame: Parks Transformation
The inductance matrix for the stator mutual coupling with rotor
circuit with the stator circuits transformed to the rotor dq
frame is computed as:

K rs Lsr

cos( r )

2
sin( r )
3
1

cos( r 120 ) cos( r 120 )

sin( r 120 ) sin( r 120 )

1
1

2
2

Lmq cos( r )

Lmd sin( r )

Lmd sin( r )

Lmq cos( r - 120)

Lmq cos( r - 120)

Lmd sin( r - 120)

Lmd sin( r - 120)

Lmq cos( r 120)

Lmq cos( r 120)
0
Lmq Lmq 0

0
0 Lmd Lmd
0
0
0
0

Lmd sin( r 120)

Lmd sin( r 120)

Lmq cos( r )

Dr. Amr AbdAllah

12

Transformation to rotor reference

frame: Parks Transformation

T
2
T
r 1
r

(
L
)

(K
)

(K
)

(
L
)
It can be easily shown that:3 sr
s
s
sr
0
0
Lmq

Lmq
0
0

0
Lmd
0

0
Lmd
0

The set of voltage equations that describe the synchronous

machine in the dq reference frame attached to the rotor can
thus be written as:
r 1 rkq
1 ikq
r 1 pkq
r 1
vkq
r
r
r
r
vqs rs iqs r ds pqs
r 2 rkq
2 ikq
r 2 pkq
r 2
vkq
r
r
r
vds rs ids r qs pds
r
r
r

fd
fd fd
fd
v0r s rs i0r s p0r s
r rkd
ikd
r pkd
r
vkd
Dr. Amr AbdAllah

13

Transformation to rotor reference

frame: Parks Transformation
The flux linkage equations obtained from the transformation
applied to the stator variables to the rotor circuit will be
given as:
r
r
r
r 1 ikq
r 2 )
qs
Lls iqs
Lmq ( iqs
ikq
r
r
r
r )
ds
Lls ids
Lmd ( ids
i fdr ikd

0r s Lls i0r s
r
r 1 Llkq
1 ikq
r 1 Lmq ( iqs
r 1 ikq
r 2 )
kq
ikq
r
r 2 Llkq
2 ikq
r 2 Lmq ( iqs
r 1 ikq
r 2 )
kq
ikq
r
r )
fdr Lls i fdr Lmd ( ids
i fdr ikd
r
r Lls ikd
r Lmd ( ids
r )
kd
i fdr ikd
Dr. Amr AbdAllah

14

Transformation to rotor reference

frame: Parks Transformation
The synchronous machine voltage current model in the rotor reference
frame can thus be deduced by the substitution of the flux linkage
equations in the voltage equations which results in:
r
vqs

rs pLmqs

r
vds

r
v0 s

r 1
vkq

- r Lmqs

r 2
vkq

v fdr
r
vkd

r Lmds

pLmq

rs pLmds

r Lmq

pLmq

pLmq

rs pLls

0
0

pLmq
r Lmq

0
1 pLmqkq1
rkq

r Lmd
pLmd

pLmq

2 pLmqkq 2
rkq

pLmq

pLmd

r fd pLmdfd

pLmd

pLmd

Lmqs Lls Lmq

1 Lmq
Lmqkq1 Llkq

Lmds Lls Lmd

Lmd
Lmdfd Llfd

2 Lmq
Lmqkq 2 Llkq

Lmd
Lmdkd Llkd

Dr. Amr AbdAllah

r Lmd

r
iqs

ir
pLmd
ds
i0r s
0

ikq
r 1
0

r
0
ikq
2

pLmd
r
i fd
pLmdkd r
rkd
ikd

15

Transformation to rotor reference

frame: Equivalent circuit

Dr. Amr AbdAllah

16

Transformation to rotor reference

frame: Torque Equation
The expression for the electromagnetic torque in terms of rotor
frame variables can be given by:

It can be shown that the above equation results in:

Which is equivalent to:

REPORT

Dr. Amr AbdAllah

17

Hope you all success

COURSE COMPLETED
Thanks

Dr. Amr AbdAllah

18