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i
Te
i
vi
Tl
losses
3ia2 Ra Pr v f i f
d
d 2
Ti J
J 2
dt
dt
d
Torque equation is: Te Tm Tl B J
dt
Tm Te J
where :
d 2
dt
d 2
2
dt
iJ
dt 2
d
d
0 t
dt
dt
dt
- for generator, + for motor
A
A
a
B
120
vB Va | 0
v A vcb / 3 (vc vb ) / 3 va | 90
2
3
3
2
v a
cos cos( 120) cos( 120)
sin sin( 120) sin( 120) vb
v
c
cos( t )
3 - sin t
v
v
at 90
2 cos t
sin( t )
2
3
ib = i cos(t 120 - )
cos
sin
ic = i cos(t +120 - )
ia
cos( 120) cos( 120)
ib
cos( t )
3
i
2
sin( t )
3
2
- sin( t - )
i
at 90
cos( t - )
2-axis theory
General sign convention for machine geometry
Adjusting d-axis as a vertical and q-axis as horizontal to the right by
90 ahead of d-axis, the 2-phase A and B makes an angle with d and q
respectively, in the positive direction of rotation from q to d
Time phasor of voltage in each coil :
v A v sin t
vd v sin(t )
-sin(t-)
v B v cos t
vq v cos(t )
-sint
A
iqRa
idRa
d
-sin(t-)
ia
cost
iaRa
idXa
iaXa
iqXa
B
cos(t-)
q
where : vd ( Ra jX a )id
and
vq ( Ra jX a )iq
therefore :
2-phase/2-axis Transformation
vd cos sin v A
Form A - B to d - q :
v
v
sin
cos
B
q
v A cos sin vd
From d - q to A - B :
v
v
sin
cos
q
B
is the rotor angle position, defined by the frequency of a particular
reference frame, referred to one of machine members (stator or rotor,
or synchronous reference frame)
0
t
240cos wt1
0.8cos90
-K-
0.8sin90
VA coswt
Vd
VA sinwt
Vq
cos wt
-Kt
240cos(wt-120)
0.8cos210
VA
-K0.8sin210
VB
VB coswt
-Kt
240cos(wt-240)
sin wt
0.8cos340
VB sinwt
240
2s+1
1
s
Transfer Fcn
Integrator
-K0.8sin340
wt