Emmc Steps Daac Lesson3 (Rev3)

DYNAMIC ANALYSIS AND CONTROL
OF AC MACHINES
ARBITRARY REFERENCE FRAME
ERASMUS MUNDUS MASTER COURSE on

SUSTAINABLE TRANSPORTATION AND
ELECTRIC POWER SYSTEMS
ARBITRARY REFERENCE FRAME

b
fq
fa
f qd 0 = f d = K f abc = K fb

f 0
f c
A+
B-
C-
2
4
(
)
cos
cos
cos
3
3
2
4
sin
K = k sin ( ) sin
3
3
h
h
h
Dynamic Analysis and Control of AC Machines - Lesson 3
B+
C+
N
A-
c
t
(t ) = ( )d + (0)
0
Pagina 2
CHOICE OF THE ARBITRARY CONSTANTS

CONSTANT AMPLITUDE TRANSFORMATION
2
1
k = ;h =
3
2
2
4
(
)
cos
cos
cos
3
3
2
2
4
K = sin ( ) sin
sin
3
3
3
1
1
1
2
2
2
cos( )
2

K 1 = cos
3

cos 4

3
sin ( )
2
sin
3
sin
3
This transformation is conservative with respect to

the amplitude.
The 0 component always represents the
homopolar component
Pagina 3

CONSTANT AMPLITUDE TRANSFORMATION
2
1
k = ;h =
3
2
This transformation is NOT intrinsically

conservative with respect to the power.
Power conservation must be imposed
pabc (t ) = vaia + vbib + vcic
Instantaneous power in the

abc reference frame
0 (t ) = vqiq + vd id + v0i0
pqd
Tentative definition of
instantaneous power in the
qd0 reference frame
pqd 0 (t ) =
3
vqiq + vd id + v0i0
2

qd0 reference frame
Pagina 4

CONSTANT POWER TRANSFORMATION
2
1
k =
;h =
3
2
2
4
(
)
cos
cos
cos
3
3
2
2
4
sin ( ) sin
K=
sin
3
3
3
1
1
1
2
2
K 1 = K T
This transformation is orthogonal, but is NOT

conservative with respect to the amplitude.
The 0 component always represents the
homopolar component
Pagina 5

CONSTANT POWER TRANSFORMATION
2
1
k =
;h =
3
2
This transformation is intrinsically conservative

with respect to the power.
pabc (t ) = vaia + vbib + vcic

abc reference frame
pqd 0 (t ) = vqiq + vd id + v0i0

qd0 reference frame
pabc (t ) = pqd 0 (t )
Pagina 6
TRANSFORMATION OF A RESISTIVE CIRCUIT

abc
v abc = R abc i abc
R abc
qd0
v qd 0 = K v abc = K R abc i abc
R 0 0
= 0 R 0
0 0 R
= K R abc K 1 i qd 0
= R qd 0 i qd 0
R qd 0 = R abc
R 0 0
= 0 R 0
0 0 R
The transformation does not modify the structure

of the equation
v qd 0 = R qd 0 i qd 0
Pagina 7
TRANSFORMATION OF AN INDUCTIVE CIRCUIT

abc
v abc
abc
qd0
d
( abc )
dt
d
= K K 1 qd 0
dt
d
d
= K K 1 qd 0 + K K 1 qd 0
dt
dt
d
= ( abc )
dt
= L abc i abc
v qd 0 = K v abc = K
But:
( )
( )
( )
d
d 1
1 d
K
K K =K
d
dt
dt
0 1 0
d
K K 1 = 1 0 0
dt
0 0 0
( )
v qd 0 =
d
qd 0
dt
0 1 0
+ 1 0 0 qd 0
0 0 0
Pagina 8
TRANSFORMATION OF AN INDUCTIVE CIRCUIT

abc
v abc
abc
L abc
qd0
qd 0 = K abc = K L abc i abc
d
= ( abc )
dt
= L abc i abc
L
= M
= K L abc K 1 i qd 0
M
M
M
L
M
= L qd 0 i qd 0
L qd 0 = K L abc K 1
L qd 0
d
v qd 0 =
qd 0 + dq
dt
qd 0 = L qd 0 i qd 0
L M
= 0
0
0
LM
0
dq
0
0
L + 2 M
d
= q
0
Pagina 9
TRANSFORMATION BETWEEN REFERENCE FRAMES

qy
b
A+
qx
B-
C-
f qd 0 = K xy f qd 0
f qd 0 x = K x f abc
f qd 0 y = K xy K x f abc
a
f qd 0 y = K y f abc
B+
C+
dy
A-
K y = K xy K x
dx
Pagina 10
10
TRANSFORMATION BETWEEN REFERENCE FRAMES

qy
b
A+
qx
B-
C-
x
a
B+
K xy = K y K x 1
C+
dy
Ac
dx
(
(
cos y x
K xy = sin y x
)
)
(
)
cos( y x )
sin y x
0
0
0
Pagina 11
11
ROTATING VECTOR (OR SPACE VECTOR)

The rotating vector is defined as:
j
2
f = ( f a + fb e
3
2
3
+ fc e
4
3
The rotating vector describes a complete 3-phase system

(is not a phasor). A symmetrical 3-phase system with
pulsation e, generates a space vector of constant
amplitude which rotates at angular speed e.
The projections of the space vector f on the q- and d- axes
gives the same results as applying the coordinate
transformation matrix K.
Pagina 12
12
ROTATING VECTOR (OR SPACE VECTOR)

The rotating vector in qd0 coordinates can be expressed
as a complex number:
f qdo = f q jf d
Alternatively, it can be expressed as the projection of the

vector on the q- and d- axes.
f qdo = f (cos( ) j sin( )) = f e j
which yields:
f qdo
j
2
= f a + f b e
3
2
3
+ fc e
4
3
(cos( ) j sin( ))
Pagina 13
13
TRANSFORMATION EXAMPLE
400
400
Ia
300
Vq
300
200
Va
200
Ic
Iq
100
100
Vd
-100
-100
-200
-200
-300
-300
-400
0
Ib
0.02
0.04
0.06
0.08
0.1
-400
0
0.01
0.02
0.03
0.04
0.05
Pagina 14
14
DYNAMIC ANALYSIS AND CONTROL

OF AC MACHINES
PM MACHINES
ERASMUS MUNDUS MASTER COURSE on

SUSTAINABLE TRANSPORTATION AND
ELECTRIC POWER SYSTEMS
OUTLINE
Classification
PM Machines modelling
Vector control of PM Machines
Flux weakening
Pagina 16
16
CLASSIFICATION (BY OPERATION)
PM motors
Inverter fed
Line start
Cage rotor
Cageless rotor
DC BRUSHLESS
Sinusoidal fed
Rectangular fed
With position
sensors
Sensorless
AC BRUSHLESS
Pagina 17
17
CLASSIFICATION (BY MACHINE TYPE)
Surface PM (SPM)
Interior PM (IPM)
Inset PM
Pagina 18
18
Surface PM machines (SPM)

Magnets are mounted on rotor surface
Mechanical stress at high speeds
The machine is magnetically
ISOTROPIC (magnet air)
No inductance variation with rotor position
Relatively low inductance (high airgap)
Low demagnetization risk
Trapezoidal back-emf (DC BRUSHLESS)
Can have Sinusoidal back-emf (AC BRUSHLESS) with
proper stator winding arrangement
Pagina 19
19
Interior PM machines (IPM)

Magnets are mounted inside rotor
Mechanically resistent at high speeds
ANISOTROPIC (magnet iron)
Reluctance and cogging torque
Inductance variation with rotor position
Relatively high inductance (low airgap)
High demagnetization risk
Sinusoidal back-emf (AC BRUSHLESS)
Pagina 20
20
Inset PM machines
Magnets are placed inside hollows on rotor surface
Mechanically resistent at high speeds
ANISOTROPIC (magnet iron)
Reluctance and cogging torque
Inductance variation with rotor position
Sinusoidal back-emf (AC BRUSHLESS)
In between SPM and IPM
Pagina 21
21
AC brushless modelling
Modelling hypotheses:
Sinusoidal flux distribution along the airgap;
Saturation phenomena neglected;
Hysteresis and eddy current losses neglected;
Temperature effects neglected;
No rotor cage.
Pagina 22
22
AC brushless equations in phase coordinates

v abc = R i abc +
d
abc
dt
A+
abc = PM + L abc i abc
T
T = P abc i abc
e
d
T TL = J r
dt
e = P r
0
R
0
0
R
e = P r
= PM sin( e 2 3)
sin( e 4 3)
R = 0
0
B-
C-
sin( e )
PM
B+
N
Ac
Laa ( r ) Lab ( r ) Lac ( r )

L abc ( r ) = Lba ( r ) Lbb ( r ) Lbc ( r )
Lca ( r ) Lcb ( r ) Lcc ( r )
C+
PM
Pagina 23
23
Inductance matrix in phase coordinates (IPM)

abc
b
A+
B-
C-
r
a
B+
C+
N
Ac
PM
Ll + LA + LB cos(2 r )
L abc ( r ) = LA + LB cos 2( r )
2
3
LA + LB cos 2( r + )
3
2
LA + LB cos 2( r )
2
3
Ll + LA + LB cos 2( r )
3
1
LA + LB cos[2( r + )]
2
2
3
1
LA + LB cos[2( r + )]
2
2
Ll + LA + LB cos 2( r +
)
3
Pagina 24
24
Torque equation in phase coordinates

i abc v abc = i abc R i abc + i abc
T
d
abc
dt
abc = PM + L abc i abc
i abc
T
d
( abc ) = i abcT ( abc ) + i abcT ( abc ) d e
t
e
dt
dt
T r = T
T = Pi
e
P
T
abc
= i abc
T
( abc ) d e
e
dt
( abc )
Pagina 25
25
Arbitrary reference frame

fq
fa

f qd 0 = f d = K f abc = K f b
f 0
f c
2
4
(
)
cos
cos
cos
3
3
2
2
4
K = sin ( ) sin
sin
3
3
3
1
1
1
2
2
2
(
)
(
)
cos
sin
1
2
2
sin
K 1 = cos
1
3
3

cos 4 sin 4 1

3
3
b
A+
B-
C-
B+
C+
N
A-
c
t
(t ) = ( )d + (0)
0
Pagina 26
26
Synchronous reference frame

The synchronous reference
frame is obtained from the
arbitrary reference frame,
when:
b
A+
and the d-axis is aligned

with the PM flux rotating
vector:
e
a
B+
C+
N
Ac
PM , d = PM
B-
C-
(t ) = e (t )
PM
d
PM , q = 0
Pagina 27
27
AC brushless equations in synchr. reference frame

v qd 0
qd 0
d
= R i qd 0 + qd 0 + e dq
dt
= PM , qd 0 + L qd 0 i qd 0
A+
3
T = P (d iq q id )
2
d
T TL = J r
dt
PM , qd 0
= PM
0
dq
e = P r
0
R
0
0
R
L qd 0
B+
= q
0
Lq
=0
0
e
0
C+
N
Ac
R = 0
0
B-
C-
e = P r
0
Ld
0
0
L0
PM
d
Pagina 28
28
Matrix inductance in synchr. reference frame

qd0
Ll + LA + LB cos(2 r )
L abc ( r ) = LA + LB cos 2( r )
2
3
3
2
LA + LB cos 2( r )
2
3
Ll + LA + LB cos 2( r )
3
1
LA + LB cos[2( r + )]
2
3
Lq = Ll + LA + LB
2
3
Ld = Ll + LA LB
2
L0 = Ll
2
3
1
LA + LB cos[2( r + )]
2
2
Ll + LA + LB cos 2( r +
)
3
L qd 0 = K L abc K 1
Lq
L qd 0 = 0
0
Ld
0
0
0
L0
Pagina 29
29
Torque equation in synchr. reference frame

3
3
3
d
3
T
T
T
T
i qd 0 v qd 0 = i qd 0 R i qd 0 + i qd 0 ( qd 0 ) + i qd 0 e dq
2
2
2
dt
2
qd 0 = PM ,qd 0 + L qd 0 i qd 0
i qd 0
d e
( qd 0 ) = 0
e
dt
3
T
T r = T
= i qd 0 e dq
P 2
3
T
T = P i qd 0 dq
2
Pagina 30
30
Torque equation
3
T = P (d iq q id )
2
T=
d = PM + Ld id
q = Lq iq
3
P (PM iq + ( Ld Lq ) id i q )
2
The torque equation shows a first term which is

proportional to PM flux (synchronous torque) and a
second term which is proportional to the anisotropy
(reluctance torque).
For an IPM machine, since Ld<Lq, for the reluctance
torque to be positive it is required that id<0.
For an SPM machine, where Ld=Lq, torque is given by:
T=
3
P PM iq
2
Pagina 31
31
Maximum Torque per Ampere (MTPA)

MTPA is a control strategy that seeks to maximize the
torque for a given amount of current.
T=
3
P (PM iq + ( Ld Lq ) id i q )
2
i
A+
iq = I cos( )
id = I sin( )
3
T = P PM I cos( ) ( Ld Lq ) I 2 cos( ) sin( )
2
MTPA looks for the angle

that satisfies:
T
=0
I
B-
C-
e
a
B+
C+
N
Ac
Pagina 32
32
Vector control
To achieve vector control for PM machines means to
determine the amplitude I and angle (and frequency,
of course) of the current rotating vector, such that the
desired torque is obtained with the minimum current
amplitude (MTPA).
In the 3-phase stationary reference frame abc:
T*
I *
*
ia* (t ) = I * cos(et + * )
*
*
*
ib (t ) = I cos(et + 2 3)
i * (t ) = I * cos( t + * 4 3)
e
c
In the synchronous reference frame qd0:

T
*
I *
*
iq* = I * cos( * )
*
id = I * sin( * )
Pagina 33
33
Vector control for SPM machines

In the case of SPM machines, vector control assumes a
simplified expression. Since Ld=Lq, torque is proportional
only to iq component and therefore:
In the 3-phase stationary reference frame abc:
T*
*
T
*
I =
3 2 P PM
* = 0
ia* (t ) = I * cos(et )
*
*
ib (t ) = I cos(et 2 3)
i * (t ) = I * cos( t 4 3)
e
c
In the synchronous reference frame qd0:

T*
*
T*
I =
3 2 P PM
=0
*
T*
iq =
3 2 P PM
id * = 0
Pagina 34
34
Vector control for SPM machines (cont.)

For SPM machines, vector
control means to control the
current such that its vector
is aligned with the q-axis.
In other words, it means to
control the current so that it
is in phase with the backemf.
b
A+
S
i B-
C-
e
a
B+
(E=ePM is on the q-axis)
C+
N
Ac
PM
d
NOTE: id=0 must be forced by the controller: id will not stay

at zero naturally.
Pagina 35
35
General control scheme for PM machines
Vdc
Speed Regulator
PI,
Current Regulator =
Torque Regulator
T* i* +
PI,i
v*
PM MOTOR
INVERTER
Current
feedback
Speed
feedback
Pagina 36
36
Current control in 3-ph. reference frame

Vdc
i a* +
I*
T*
Reference
generator
MTPA
i b* +
PI,i
i c* +
PI,i
ic
PI,i
ib
va*
vb*
P
W
M
PM MOTOR
vc *
ia
~
INVERTER
Requires three current regulators

Pagina 37
37
Current control in synchr. reference frame

Vdc
va*
i q* +
T*
MTPA
id
iq
PI,i
vb*
K-1
id
PI,i
P
W
M
PM MOTOR
vc*
~
INVERTER
e
ia
K
ib
ic
Requires two current regulators

Requires two coordinate transformations
Computationally more intense
Higher performances (current bandwidth not affected by
speed)
Pagina 38
38
Flux weakening
As the speed increases, also the back-emf increases. At
some point (generally at nominal speed) the voltage
required to balance the back-emf reaches the nominal
voltage of the machine or the voltage limit of the inverter.
q = Lq i q
d = PM + L d i d
d
q + e ( PM + Ld id )
dt
d
v d = R i d + d e Lq iq
dt
vq = R iq +
Above this speed, since the PM flux is constant, the only

possible thing is to weaken the linked flux on the d-axis
through an injecton of negative d-axis current (flux
weakening), so that the total induced voltage on the qaxis remains constant.
Pagina 39
39
Flux weakening for SPM machines

Let b be the base speed.
Below base speed MTPA requires id=0.
Above base speed the total induced voltage on the qaxis is imposed to be constant:
ed = const. = E0 = b PM
e Ld id* + e PM = E0 = b PM
If
p.u. = e / b
id* =
PM (1 p.u. )
p.u. Ld
then
b p.u. Ld id* + b p.u. PM = b PM
or
id*
E0 (1 p.u. )
e Ld
Pagina 40
40
Flux weakening for SPM machines (cont.)

Given id*, respect of the maximum current amplitude Imax
must be enforced.
id* =
EQ 1
E0 (1 p.u. )
iq*
*
iq =
*
*
min(iq , iq , max )
0
*
id = E0 (1 p.u. )
L
e
d
e Ld
iq , max* = I max 2 id *
iq* = T * /(3 2 P PM )
b
> b
b
> b
EQ 2
Pagina 41
41
Flux weakening for SPM machines (cont.)
Vdc
EQ. 1
i d*
va*
iq
T*
PI,
EQ. 2
*+
i d*
iq
PI,i
vb*
id
PI,i
P
W
M
PM MOTOR
vc*
~
INVERTER
e
ia
K-1
ib
ic
Speed
observer
Pagina 42
42

Emmc Steps Daac Lesson3 (Rev3)

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DYNAMIC ANALYSIS AND CONTROL

ERASMUS MUNDUS MASTER COURSE on

ARBITRARY REFERENCE FRAME

Dynamic Analysis and Control of AC Machines - Lesson 3

CHOICE OF THE ARBITRARY CONSTANTS

This transformation is conservative with respect to

CHOICE OF THE ARBITRARY CONSTANTS

This transformation is NOT intrinsically

Instantaneous power in the

Dynamic Analysis and Control of AC Machines - Lesson 3

Instantaneous power in the

CHOICE OF THE ARBITRARY CONSTANTS

This transformation is orthogonal, but is NOT

CHOICE OF THE ARBITRARY CONSTANTS

This transformation is intrinsically conservative

Instantaneous power in the

pqd 0 (t ) = vqiq + vd id + v0i0

Instantaneous power in the

TRANSFORMATION OF A RESISTIVE CIRCUIT

The transformation does not modify the structure

TRANSFORMATION OF AN INDUCTIVE CIRCUIT

Dynamic Analysis and Control of AC Machines - Lesson 3

TRANSFORMATION OF AN INDUCTIVE CIRCUIT

TRANSFORMATION BETWEEN REFERENCE FRAMES

Dynamic Analysis and Control of AC Machines - Lesson 3

TRANSFORMATION BETWEEN REFERENCE FRAMES

Dynamic Analysis and Control of AC Machines - Lesson 3

ROTATING VECTOR (OR SPACE VECTOR)

The rotating vector describes a complete 3-phase system

ROTATING VECTOR (OR SPACE VECTOR)

Alternatively, it can be expressed as the projection of the

Dynamic Analysis and Control of AC Machines - Lesson 3

Dynamic Analysis and Control of AC Machines - Lesson 3

DYNAMIC ANALYSIS AND CONTROL

ERASMUS MUNDUS MASTER COURSE on

Dynamic Analysis and Control of AC Machines - Lesson 3

CLASSIFICATION (BY OPERATION)

Dynamic Analysis and Control of AC Machines - Lesson 3

CLASSIFICATION (BY MACHINE TYPE)

Surface PM machines (SPM)

Interior PM machines (IPM)

Dynamic Analysis and Control of AC Machines - Lesson 3

Dynamic Analysis and Control of AC Machines - Lesson 3

AC brushless equations in phase coordinates

abc = PM + L abc i abc

Laa ( r ) Lab ( r ) Lac ( r )

Lca ( r ) Lcb ( r ) Lcc ( r )

Dynamic Analysis and Control of AC Machines - Lesson 3

Inductance matrix in phase coordinates (IPM)

Dynamic Analysis and Control of AC Machines - Lesson 3

Torque equation in phase coordinates

Dynamic Analysis and Control of AC Machines - Lesson 3

Arbitrary reference frame

Dynamic Analysis and Control of AC Machines - Lesson 3

Synchronous reference frame

and the d-axis is aligned

AC brushless equations in synchr. reference frame

Dynamic Analysis and Control of AC Machines - Lesson 3

Matrix inductance in synchr. reference frame

Torque equation in synchr. reference frame

The torque equation shows a first term which is

Dynamic Analysis and Control of AC Machines - Lesson 3

Maximum Torque per Ampere (MTPA)