Scribd
Upload
594 views

Reference Frame Theory

This document provides an overview of reference frame theory as it applies to electric machines. It discusses the power and advantages of reference frame theory, provides some history on its development, and covers transformations between reference frames and modeling circuit variables in different reference frames. Key topics include Park's transformation, modeling resistive and inductive circuits in reference frames, and steady-state phasor relationships.

Uploaded by

Pravin Patel
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
594 views

Reference Frame Theory

This document provides an overview of reference frame theory as it applies to electric machines. It discusses the power and advantages of reference frame theory, provides some history on its development, and covers transformations between reference frames and modeling circuit variables in different reference frames. Key topics include Park's transformation, modeling resistive and inductive circuits in reference frames, and steady-state phasor relationships.

Uploaded by

Pravin Patel
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 42

EE595S: Class Lecture Notes

Chapter 3: Reference Frame Theory


S.D. Sudhoff
Fall 2005

Reference Frame Theory


Power of Reference Frame Theory:
Eliminates Rotor Position Dependence
Inductances and Capacitances
Transforms Nonlinear Systems to Linear
Systems for Certain Cases
Fundamental Tool For Rigorous Development
of Equivalent Circuits
Can Be Used to Make AC Quantities Become
DC Quantities
Framework of Most Controllers
Fall 2005

EE595S Electric Drive Systems

History of Reference Frame Theory


1929: Parks Transformation
Synchronous Machine; Rotor Reference Frame

1938: Stanley
Induction Machine; Stationary Reference Frame

1951: Kron
Induction Machine; Synchronous Reference Frame

1957: Brereton
Induction Machine; Rotor Reference Frame

1965: Krause
Arbitrary Reference Frame
Fall 2005

EE595S Electric Drive Systems

3.3 Equations of Transformation


f qd 0 s = K s f abcs

(3.3-1)

(f qd 0 s )T = [ f qs

f ds

f0s ]

(3.3-2)

(f abcs ) = [ f as

f bs

f cs ]

(3.3-3)

Fall 2005

EE595S Electric Drive Systems

3.3 Equations of Transformation


Forward
Transformation

Inverse
Transformation

Fall 2005

cos

2
K s = sin
3
1

2
2

cos
cos +

3
3

2
2

sin
sin +

3
3

1
1

2
2

cos
sin
1

2
2

1
(K s ) = cos sin 1
3
3



2
+ 2 1
+
cos
sin


3
3

EE595S Electric Drive Systems

(3.3-4)

(3.3-6)

3.3 Equations of Transformation


Geometrical Interpretation

Fall 2005

EE595S Electric Drive Systems

3.3 Equations of Transformation


Transformation of Power
Starting Point

Pabcs = vas ias + vbs ibs + vcsics

(3.3-9)

Result
Pqd 0 s = Pabcs
3
= (vqsiqs + vdsids + 2v0 si0 s )
2
Fall 2005

EE595S Electric Drive Systems

(3.3-10)

3.4 Stationary Circuit Variables


Transformed to Arbitrary Reference Frame
Resistive Circuits
v abcs = rs i abcs

Fall 2005

EE595S Electric Drive Systems

(3.4-1)

3.4 Stationary Circuit Variables


Transformed to Arbitrary Reference Frame
Inductive Circuits
v abcs = p abcs

Fall 2005

EE595S Electric Drive Systems

(3.4-4)

3.4 Stationary Circuit Variables


Transformed to Arbitrary Reference Frame
Inductive Circuits (Continued)

Fall 2005

EE595S Electric Drive Systems

10

3.4 Stationary Circuit Variables


Transformed to Arbitrary Reference Frame
Capacitive Circuits
i
abcs = pq abcs

Fall 2005

EE595S Electric Drive Systems

(3.4-19)

11

3.4 Stationary Circuit Variables


Transformed to Arbitrary Reference Frame
Capacitive Circuits (Continued)

Fall 2005

EE595S Electric Drive Systems

12

3.4 Stationary Circuit Variables


Transformed to Arbitrary Reference Frame
Example 3B
rs = diag [ rs
Ls
Ls = M

Fall 2005

M
Ls
M

rs

rs ]

M
M

Ls

EE595S Electric Drive Systems

(3B-1)
(3B-2)

13

3.4 Stationary Circuit Variables


Transformed to Arbitrary Reference Frame
Example 3B (Continued)

Fall 2005

EE595S Electric Drive Systems

14

3.4 Stationary Circuit Variables


Transformed to Arbitrary Reference Frame
Example 3B (Continued)

Fall 2005

EE595S Electric Drive Systems

15

3.4 Stationary Circuit Variables


Transformed to Arbitrary Reference Frame
Example 3B: Summary
Voltage Equations
vqs = rs iqs + ds + pqs
vds = rs ids qs + pds
v0s = rsi0s + p0s

(3B-13)
(3B-14)
(3B-15)

Flux Linkage Equations


qs = ( Ls M )iqs
ds = ( Ls M )ids
0 s = ( Ls + 2 M )i0 s

Fall 2005

EE595S Electric Drive Systems

(3B-16)
(3B-17)
(3B-18)

16

3.4 Stationary Circuit Variables


Transformed to Arbitrary Reference Frame
Equivalent Circuit

Fall 2005

EE595S Electric Drive Systems

17

3.5 Commonly Used Reference


Frames
Notation
Reference
frame speed

(unspecified)
0

Interpretation
Stationary circuit variables referred to the
arbitrary reference frame
Stationary circuit variables referred to the
stationary reference frame

r
Stationary circuit variables referred to a
reference frame fixed in the rotor

Fall 2005

Stationary circuit variables referred to


the synchronously rotating reference frame

Variables
f qd0s or

Transformation
Ks

fqs, fds, f0s


s
fqd0
s or

K ss

s
s
fqs
, fds
, f0s
r
fqd0
s or
r

K rs

fqs , fds , f0 s
e
fqd
0s or

Kes

e e
fqs
, fds, f0s

EE595S Electric Drive Systems

18

3.6 Transformation Between


Reference Frames
Consider Reference Frame x
y
y
f qd 0 s = K s f abcs
Consider Reference Frame y
x
fx
=
K
s f abcs
qd 0 s

(3.6-1)
(3.6-2)

Thus

Fall 2005

EE595S Electric Drive Systems

19

3.6 Transformation Between


Reference Frames
Evaluating Yields

cos ( y x ) sin ( y x ) 0
x y
K = sin ( y x ) cos ( y x ) 0

0
0
1

(3.6-7)

It Can Be Shown That


( x K y ) 1 =( x K y )T

Fall 2005

EE595S Electric Drive Systems

(3.6-8)

20

3.7 Transformation of a Balanced Set


Consider 3-phase Variables
f as = 2 f s cosef

(3.7-1)

fbs = 2 f s cos ef 2

(3.7-2)

(3.7-3)

f cs = 2 f s cos ef +

Where
e =

Fall 2005

def

(3.7-4)

dt

EE595S Electric Drive Systems

21

3.7 Transformation of a Balanced Set


It Can Be Shown

f qs = 2 f s cos ( ef )

f ds = 2 f s sin ( ef )

Fall 2005

EE595S Electric Drive Systems

(3.7-5)
(3.7-6)

22

3.7 Transformation of a Balance Set


Some Special Cases

Fall 2005

EE595S Electric Drive Systems

23

3.8 Balanced Steady-State Phasor


Relationships
For Steady State Conditions

Fas = 2Fs cos [et + ef (0)]


= Re [ 2Fs e

(3.8-2)

j[ ef ( 0) 2 / 3] jet
e
]

Fcs = 2Fs cos et + ef (0) +


3

= Re [ 2Fs e

Fall 2005

jef ( 0) jet
e
]

Fbs = 2Fs cos et + ef (0)


3

= Re [ 2Fs e

(3.8-1)

(3.8-3)

j[ ef ( 0 ) + 2 / 3] jet
e
]

EE595S Electric Drive Systems

24

3.8 Balanced Steady-State Phasor


Relationships
From (3.7-5) and (3.7-6)
Fqs = 2Fs cos [(e )t + ef (0) (0)]
= Re [ 2Fs e

j[ef ( 0) ( 0)] j (e )t

(3.8-4)

Fds = 2Fs sin [(e )t + ef (0) (0)] (3.8-5)


= Re [ j 2Fs e

Fall 2005

j[ef ( 0) ( 0)] j (e )t

EE595S Electric Drive Systems

25

3.8 Balanced Steady-State Phasor


Relationships
From (3.8-1)
F~as = Fs e jef (0)

(3.8-6)

Consider Non-Synchronous Reference


Frame

j[ ( 0 ) ( 0 )]
~
Fqs = Fs e ef
~
~
Fds = jFqs

(3.8-7)
(3.8-8)

With Appropriate Choice of Reference


Frame
F~as = F~qs
Fall 2005

(3.8-9)
EE595S Electric Drive Systems

26

3.8 Balanced Steady-State Phasor


Relationships
For Synchronous Reference Frame
j[ ef (0) e (0)]
e
Fqs = Re [ 2Fs e
]

(3.8-10)

j[ef (0) e (0)]


e
F = Re [ j 2Fs e
]
ds

(3.8-11)

With Appropriate Choice of Frame


e = 2F cos (0)
Fqs
s
ef

(3.8-12)

e = 2F sin (0)
Fds
s
ef

(3.8-13)

Fall 2005

EE595S Electric Drive Systems

27

3.8 Balanced Steady-State Phasor


Relationships
Thus, Choosing Time Zero Position of Zero
e
e
2F~as = Fqs
jFds

Fall 2005

EE595S Electric Drive Systems

(3.8-14)

28

3.9 Balanced Steady-State Voltage


Equations
Consider Non-Synchronous Reference Frame
Recall
F~ = F e jef (0)
as
s
F~qs = Fs e j[ef (0) (0)]

(3.8-6)
(3.8-7)

Now Suppose
~
~
V
=
Z
I
as
s as

(3.9-4)

We Can Show That


V~qs = Z s I~qs
Fall 2005

(3.9-9)
EE595S Electric Drive Systems

29

3.9 Balanced Steady-State Voltage


Equations
Proof

Fall 2005

EE595S Electric Drive Systems

30

3.10 Variables Observed From


Several Frames of Reference
Suppose Following Voltages Applied to 3Phase Wye-Connected RL Circuit
vas = 2Vs cos et

(3.10-1)

= 2Vs cos et

(3.10-2)

vcs = 2Vs cos et + 2

(3.10-3)

vbs

Fall 2005

EE595S Electric Drive Systems

31

3.10 Variables Observed From


Several Frames of Reference
Using Basic Circuit Analysis Techniques

2Vs
ias =
[e t / cos + cos (et )]
Zs
ibs =

ics =

Fall 2005

(3.10-4)

2Vs t /
2
2

cos
cos

+
+

e
(3.10-5)

Z s
3
3

2Vs
Zs

2
2
t /

cos
cos

+
e
(3.10-6)

3
3

EE595S Electric Drive Systems

32

3.10 Variables Observed From


Several Frames of Reference
In (3.10-4)-(3.10-8)
Z s = rs + je Ls

(3.10-7)

Ls
=
rs

(3.10-8)

1 e Ls

=
tan

(3.10-9)

Fall 2005

EE595S Electric Drive Systems

33

3.10 Variables Observed From


Several Frames of Reference
Transforming to the Synchronous Reference
Frame
2Vs
{e t / cos (t )
iqs =
Zs

(3.10-10)

+ cos [(e )t ]}

2Vs
t /
ids =
{e
sin (t )
Zs

(3.10-11)

sin [(e )t ]}
Fall 2005

EE595S Electric Drive Systems

34

3.10 Variables Observed From


Several Frames of Reference
In Stationary Reference Frame

Fall 2005

EE595S Electric Drive Systems

35

3.10 Variables Observed From


Several Frames of Reference
In Synchronous Reference Frame

Fall 2005

EE595S Electric Drive Systems

36

3.10 Variables Observed From


Several Frames of Reference
In Strange Reference Frame

Fall 2005

EE595S Electric Drive Systems

37

Transformation of Measured
Quantities

Fall 2005

EE595S Electric Drive Systems

38

Transformation of Measured
Currents
Suppose we are measuring 2 of 3 currents in
a wye-connected load

Fall 2005

EE595S Electric Drive Systems

39

Transformation of Measured
Currents

Result

K ie
Fall 2005

2 cos( e / 6) sin( e )
=
sin( / 6) cos( )
3
e
e
EE595S Electric Drive Systems

40

Transformation of Measured Lineto-Line Voltages


Suppose we are measuring voltages in a
delta-connected load

Fall 2005

EE595S Electric Drive Systems

41

Transformation of Line-to-Line
Voltages

Result

K ev
Fall 2005

2 cos( e ) cos( e + 2 / 3)
=
3 sin( e ) sin( e + 2 / 3)
EE595S Electric Drive Systems

42

You might also like