In The Name of God The Most
Compassionate, The Most Merciful
General Theory of Electric Machines
2017 Shiraz University of Technology Dr. A. Rahideh
Table of Contents
1. Introduction
2. Transformers
3. Reference-Frame Theory
4. Induction Machines
5. Synchronous Machines
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2017 Shiraz University of Technology Dr. A. Rahideh
Chapter 3
Reference-Frame Theory
3.1. Introduction
3.2. Fortescue’s Transformation
3.3. Clarke’s Transformation
3.4. Concordia’s Transformation
3.5. Park’s Transformation
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2017 Shiraz University of Technology Dr. A. Rahideh
Introduction
Some of the applications of the Mathematical Transformations are
as follows:
1. To decouple variables;
2. To facilitate the solution of differential equations with time-
varying coefficients;
3. To refer all variables to a common reference frame.
2017 Shiraz University of Technology Dr. A. Rahideh
Fortescue’s Transformation
• This transformation is known as the method of symmetrical
components and developed by Fortescue.
• This transformation states that N unbalanced phasors can be
represented by N systems of N balanced phasors.
• It uses a complex transformation to decouple the abc phase
variables.
• The method of symmetrical components is used to simplify
analysis of unbalanced three phase power systems under both
normal and abnormal conditions.
• It is used to decouple an unbalanced three-phase network into
three simpler sequence (zero, positive and negative) networks. 5
2017 Shiraz University of Technology Dr. A. Rahideh
Fortescue’s Transformation
• The method of symmetrical components is expressed as follows
f0 fa
f012 T012 f abc
f012 f1 f abc f b
f abc T012 f012
1
f 2 f c
• Variable f may be the currents, voltages or fluxes and the
transformation and its inverse are given by
1 1 1 1 1 1 2
1
T012 1 a a 2 T012 1 1 a 2 a where a e 3
j
3
1 a 2 a 1 a a 2
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2017 Shiraz University of Technology Dr. A. Rahideh
Clarke’s Transformation
• The stationary two-phase variables of Clarke’s transformation are
denoted as a and b.
• As shown below, the a-axis coincides with the phase a-axis and the
b -axis leads the a-axis by /2.
b-axis
• A third variable known as the
b-axis
zero-sequence component =0
is also included.
a-axis
• Clarke’s transformation is not a-axis
power-invariant (i.e. the values of
power before and after the c-axis
transformation are not the same.
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2017 Shiraz University of Technology Dr. A. Rahideh
Clarke’s Transformation
• Clarke’s transformation is expressed as follows
fa fa
f T f
ab 0 ab 0 abc
fab 0 f b f abc f b
f abc Tab 0 1 fab 0 f 0 f c
• Similarly variable f may be the currents, voltages or fluxes and the
transformation and its inverse are given by
1 12 12 1 0 1
Tab 0 3 0 23
2
23 Tab 0 1 12 2
3
1
12 12 1
2
12 2
3
1
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2017 Shiraz University of Technology Dr. A. Rahideh
Concordia’s Transformation
• Concordia’s transformation is similar to Clarke’s transformation.
• The only difference is that Concordia’s transformation is power-
invariant (i.e. the values of power before and after the
transformation are identical.
b-axis
• To have the power-invariant
b-axis
property, the transformation =0
matrix must be orthogonal.
a-axis
• A matrix is orthogonal if its inverse a-axis
and its transpose are the same, i.e.
c-axis
• M is orthogonal if M 1 M T
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2017 Shiraz University of Technology Dr. A. Rahideh
Concordia’s Transformation
• Concordia’s transformation is similarly expressed as follows
fa fa
f T f
ab 0 ab 0 abc
fab 0 f b f abc f b
f abc Tab 0 1 fab 0 f 0 f c
• The transformation and its inverse are given by
1 12 12 1 0 1
2 3 2 1
Tab 0 3 0 Tab 0 3 2
2
1
2
3
2 2
3 1
2
1 1 1 1 3 1
2 2 2 2 2 2
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2017 Shiraz University of Technology Dr. A. Rahideh
Power-Invariant Property
Example: Consider a balanced 3-phase system with ohmic load. Show
that:
1. Clarke’s transformation is not power-invariant,
2. Concordia’s transformation is power-invariant.
va Vm cos( t ) ia I m cos( t )
vb Vm cos( t 2 / 3) ib I m cos( t 2 / 3)
v V cos( t 4 / 3) i I cos( t 4 / 3)
c m c m
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2017 Shiraz University of Technology Dr. A. Rahideh
Power-Invariant Property
Example: Part 1) Clarke’s transformation is not power-invariant,
• Using the 3-phase expressions at t = 0
va Vm ia I m
P va ia vb ib vc ic 32 Vm I m
vb 2 Vm ib 2 I m
1 1
v 1 V i 1 I
c 2 m c 2 m
Therefore not
• Using Clarke’s transformation at t = 0 power-invariant
va Vm ia I m
vb 0 ib 0 P va ia vb ib v0 i0 Vm I m
v 0 i 0
0 0
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2017 Shiraz University of Technology Dr. A. Rahideh
Power-Invariant Property
Example: Part 2) Concordia’s transformation is power-invariant,
• Using the 3-phase expressions at t = 0
va Vm ia I m
P va ia vb ib vc ic 32 Vm I m
vb 2 Vm ib 2 I m
1 1
v 1 V i 1 I
c 2 m c 2 m
Therefore
• Using Concordia’s transformation at t = 0 power-invariant
va 32Vm ia 32 I m
v b 0 ib 0 P va ia vb ib v0 i0 32 Vm I m
v 0 i 0
0 0 13
2017 Shiraz University of Technology Dr. A. Rahideh
n-phase to 2-phase Transformation
• Another commonly-used transformation is the polyphase to
orthogonal two-phase transformation.
• For the n-phase to two-phase case, it is expressed as
f T f
xy 12 3 n
where
cos cos a cos (n 1)a
T 2
sin
n
sin a sin (n 1)a
and a is the electrical angle between adjacent magnetic axes of
the uniformly distributed n-phase winding. The coefficient 2 n is
to make the transformation power-invariant.
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Park’s Transformation
• Park’s transformation is a well-known 3-phase to 2-phase
transformation in synchronous machine analysis.
• Three different cases are introduced:
Case 1: The q-axis is leading the d-axis by 90 electrical degrees;
and the angle between the d-axis w.r.t. the a-axis is used.
Case 2: The q-axis is lagging the d-axis by 90 electrical degrees;
and the angle between the d-axis w.r.t. the a-axis is used.
Case 3: The q-axis is leading the d-axis by 90 electrical degrees;
and the angle between the q-axis w.r.t. the a-axis is used.
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Park’s Transformation Case 1
Case 1: The q-axis is leading the d-axis by 90 electrical degrees; and
the angle between the d-axis w.r.t. the a-axis is used.
= s
d-axis
q-axis b-axis
d
=0
a-axis
c-axis
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2017 Shiraz University of Technology Dr. A. Rahideh
Park’s Transformation Case 1
• The case 1 of Park’s transformation is expressed as:
fd fa
f T
dq 0 dq 0
( d ) f abc f dq 0 f q f abc f b
f 0 f c
where
cos d cos d 2 3 cos d 2 3
2
Tdq 0 ( d ) sin d
3
sin d 2 3
sin d 2 3
12 1
2
1
2
d t 0
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2017 Shiraz University of Technology Dr. A. Rahideh
Park’s Transformation Case 1
• The case 1 of inverse Park’s transformation is expressed as:
fd fa
fabc Tdq0 (d )1 fdqo f
dq 0 f q f abc f b
f 0 f c
where
cos d sin d 1
Tdq 0 ( d ) cos d 2 3 sin d 2 3 1
1
cos d 2 3 sin d 2 3 1
d t 0
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2017 Shiraz University of Technology Dr. A. Rahideh
Park’s Transformation Case 2
Case 2: The q-axis is lagging the d-axis by 90 electrical degrees; and
the angle between the d-axis w.r.t. the a-axis is used.
= s
d-axis
b-axis
d
=0
a-axis
q-axis
c-axis
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2017 Shiraz University of Technology Dr. A. Rahideh
Park’s Transformation Case 2
• The case 2 of Park’s transformation is expressed as:
fd fa
f T
dq 0 dq 0
( d ) f abc f
dq 0 f q f abc f b
f 0 f c
where
cos d cos d 2 3 cos d 2 3
2
Tdq 0 ( d ) sin d
3
sin d 2 3 sin d 2 3
12 1
2
1
2
d t 0
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2017 Shiraz University of Technology Dr. A. Rahideh
Park’s Transformation Case 2
• The case 2 of inverse Park’s transformation is expressed as:
fd fa
fabc Tdq0 (d )1 fdqo f
dq 0 f q f abc f b
f 0 f c
where
cos d sin d 1
Tdq 0 ( d ) cos d 2 3 sin d 2 3 1
1
cos d 2 3 sin d 2 3 1
d t 0
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2017 Shiraz University of Technology Dr. A. Rahideh
Park’s Transformation Case 3
Case 3: The q-axis is leading the d-axis by 90 electrical degrees; and
the angle between the q-axis w.r.t. the a-axis is used.
= s
q-axis
b-axis
q
=0
a-axis
d-axis
c-axis 22
2017 Shiraz University of Technology Dr. A. Rahideh
Park’s Transformation Case 3
• The case 3 of Park’s transformation is expressed as:
fq fa
f T
qd 0 qd 0 ( q ) f
abc f
qd 0 f d f abc f b
f 0 f c
where
cos q cos q 2 3 cos q 2 3
2
Tqd 0 ( q ) sin q
3
sin q 2 3 sin q 2 3
12 1
2
1
2
q t 0 q d 2
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2017 Shiraz University of Technology Dr. A. Rahideh
Park’s Transformation Case 3
• The case 3 of inverse Park’s transformation is expressed as:
fq fa
f abc Tqd 0 ( q ) 1 f qd 0 f
qd 0 f d f abc f b
f 0 f c
where
cos q sin q 1
1
Tqd 0 ( q ) cos q 2 3 sin q 2 3 1
cos q 2 3 sin q 2 3 1
q t 0 q d 2
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2017 Shiraz University of Technology Dr. A. Rahideh
Park’s Transformation on a 3-phase
Sinusoidal System
• Consider the following 3-phase voltage:
va Vm cos( t )
v abc vb Vm cos( t 2 / 3)
vc Vm cos( t 4 / 3)
• The aim is to find the case 3 of Park’s transformation.
v T
qd 0 qd 0 ( q ) v
abc
cos q cos q 2 3 cos q 2 3
2
Tqd 0 ( q ) sin q
3
sin q 2 3 sin q 2 3
12 1
2
1
2
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2017 Shiraz University of Technology Dr. A. Rahideh
Park’s Transformation on a 3-phase
Sinusoidal System
• Therefore
cos q cos q 2 3 cos q 2 3 Vm cos t
v
qd 0
2
sin q
3
sin q 2 3 sin q 2 3 Vm cos t 2 3
12 1
2
1
2
Vm cos t 4 3
• Which yields
cos t q t 0
q cos 0
v V
qd 0 m
sin
q t v
qd 0 Vm sin 0
0 0
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2017 Shiraz University of Technology Dr. A. Rahideh
Power Transfer of Park’s Transformation
• The power in abc reference frame is expressed as
va ia
Pabc v abc i abc
T
where v abc vb and i abc ib
vc ic
• Using inverse Park’s transformation on the voltage and current
yields:
v abc Tqd 0 1 v qd 0
v T i
Pabc Tqd 0
1 T 1
i abc Tqd 0 1 i qd 0
qd 0 qd 0 qd 0
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Power Transfer of Park’s Transformation
v T i
Pabc Tqd 0
1
qd 0
T
qd 0
1
qd 0
P v T T i
T 1 T 1
abc qd 0 qd 0 qd 0 qd 0
• Using the inverse transformation matrix and its transpose we have:
32 0 0
T T
qd 0
1 T
qd 0
1
0 32 0 Pabc Pqd 0
0 0 3
• Therefore Park’s transformation is not power-invariant.
• To have power-invariant property the above matrix should be
identity. 28
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Generalized Park’s Transformation
• The rotational velocity of the d-q frame can be arbitrary
(synchronous, asynchronous or zero)
f T
qd 0 qd 0 ( ) f
abc
where
cos cos 2 3 cos 2 3
2
Tqd 0 ( ) sin
3 1
sin 2 3 sin 2 3
2 1
2
1
2
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