Transforming voltage equations Term 3

43
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(
(
(
(
(

\
|
+

|

\
|
+

\
|
+
|

\
|
+
+
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(
(
(
(

+
+
+
+
+
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(

=
(
(
(
(
(
(
(
(

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

&
&
&
&
&
&
Notice that the resistance matrix and the last matrix multiply the same vector,
therefore, we can combine these two matrices. For example, element (1,2) in the
last matrix will go into element (1,2) of the resistance matrix, as shown. This results in
the expression on the next slide.
Final Model
44
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(
(
(
(

+
+
+
+
+
(
(
(
(
(
(
(
(

(
(
(
(
(
(
(
(
(
(
(
(

\
|
+

|

\
|
+

\
|
+
|

\
|
+
=
(
(
(
(
(
(
(
(

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
r
r m r m m
m
m r m r m
m
s
m s m s
m m s 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
i
i
i
i
i
i
r
r L L L
L L r L
r
L r L L
L L L r
v
v
v
v
v
v
0
0
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
0 0 0 0 0
0
2
3
) ( 0 0
2
) ( 3
0
2
3
) ( 0
2
) ( 3
0
0 0 0 0 0
0 0
2
3
0
2
3
0
2
3
0 0
2
3
&
&
&
&
&
&

This is the complete

transformed electric
machine state-space
model in current form.
Some comments about the transformation
45
i
ds
and i
qs
are currents in a fictitious pair of windings fixed on a synchronously
rotating reference frame.
These currents produce the same flux as do the stator a,b,c currents.
For balanced steady-state operating conditions, we can use i
qd0s
= K
s
i
abcs
to show
that the currents in the d and q windings are dc! The implication of this is that:
The a,b,c currents fixed in space (on the stator), varying in time produce the
same synchronously rotating magnetic field as
The ds,qs currents, varying in space at synchronous speed, fixed in time!
i
dr
and i
qr
are currents in a fictitious pair of windings fixed on a synchronously
rotating reference frame.
These currents produce the same flux as do the rotor a,b,c currents.
For balanced steady-state operating conditions, we can use i
qd0r
= K
r
i
abcr
to show
that the currents in the d and q windings are dc! The implication of this is that:
The a,b,c currents varying in space at slip speed s
s
=(
s
-
m
) fixed on the
rotor, varying in time produce the same synchronously rotating magnetic
field as
The dr,qr currents, varying in space at synchronous speed, fixed in time!