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Torques

Torque is given by power/frequency, it is the interaction between


current and flux of the same member in the machine, and is in the
direction of the rotating velocity . It is important to know that torque
is on the rotor shaft, positive as it referred to rotor, changes in sign if
referred to stator.
Electric torque: is the electric power of the rotating part transformed
to mechanical power on the shaft to be absorbed every one rad/sec. It
is given by (the electromagnetic torque) Te, where:

i
Te
i

vi

No load torque: is the total power losses in every cycle, denoted by Tl


where:

Tl

losses

3ia2 Ra Pr v f i f

Mechanical torque: is the torque applied to the shaft due to an


external mechanical load. It is given by Tm = output power/. The
maximum mechanical torque that the machine can be accepted to load
is called the full load torque. When the machine is over loaded at the
value of Tm > Te + Tl the machine will stop running and all energies
will be lost. Tm at this critical value is called the pull out torque.
Net torque: the net torque on the shaft is = Te Tm Tl for motoring
action, = Tm Te Tl for generating action.

Viscous or friction torque: is the torque acts to compensate the net


torque due to friction. It works with the speed, angular velocity, and
given by B , where B is the viscous coefficient or friction damping.
This coefficient can be neglected for its small value when the machine
is well served and cleaned by oil and grease.
Inertia torque: is the balanced torque that makes the machine keep
running after removing the electric plug (or switching off) until it
stops. It works with angular acceleration, and is given by:

d
d 2
Ti J
J 2
dt
dt

d
Torque equation is: Te Tm Tl B J
dt

is the angular displacement (or rotor position) = t

where t is the time step and is the constant of integration which


represents the power angle on load or the torque load angle. appears
only when the machine is saliency designed, meaning = 0 for nonsalient machine and for induction motor. The general torque equation
is:
d
d 2

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

3-phase 2-phase transformation


As the stator 3-phase windings rotate with
c
respect to the rotor in the direction a-c-b
by velocity the 2 orthogonal coils in the
stationary (non-pseudo stationary) frame rotates
in the direction from B to A, corresponding to the
3-phase rotating windings. Therefore, the rotor
now is considered to be pseudo stationary, and the
angle between phase a of 3-phase windings and
phase A of the stationary 2 coil is considered to be
the rotor position .

A
A
a

B
120

At = 0, phase A is aligned on phase a, and va = v = maximum volt


for this instance of time at t = 0, 180, 360, which makes phase a to
conduct. This produces a maximum flux on the rotor, in which the
induced emf at phase A is zero since d/dt = 0, while the maximum
volt will be on phase B (90 ahead).

For the next instance of time at t = 90, 270, the voltage va = 0,


consequently vA is maximum corresponds to low flux and hence phase
B has low voltage, attracting phase a at = 90. Therefore, the
convenient sign convention for stationary reference frame is at = 90
and phase B lags A by 90, so that B is in the direction of phase a. This
implies that the supply voltage to the stator is maximum on phase B at
t = 0 (steady-state operation). Hence:

vB Va | 0

v A vcb / 3 (vc vb ) / 3 va | 90

where : va v cos t vb v cos(t 120) vc v cos(t 240)


v A
v
B

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 )

Similarly for the current, with lagging power factor angle:


ia = i cos(t - )
i A
i
B

2
3

ib = i cos(t 120 - )
cos
sin

ic = i cos(t +120 - )
ia
cos( 120) cos( 120)
ib

sin( 120) sin( 120)


ic

cos( t )
3
i

2
sin( t )

3
2

- sin( t - )
i
at 90

cos( t - )

Power invariant transformation


The 3-phase power = P3 = vaia + vbib + vcic
= vi [cost cos(t - ) + cos(t 120) cos(t 120 - ) + cos(t +
120) cos(t + 120 - )] = (3/2) vi cos
The 2-phase power = P2 = vAiA + vBiB =
3 / 2 v 3 / 2i [-sint (-sin(t - )) + cost cos(t - )] = (3/2) vi cos
Thus, P3 = P2 . this means that they give an identical result when the
transformation has the factor 2 / 3 not 2/3 like some books

Principal reference frames

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

Time phasor of current at A


i A i sin(t )
v A ia ( Ra jX a )

idRa

(iq jid ) Ra j(iq jid ) X a


Ra iq X a id j( Ra id X a iq ) -cos(t-)
v q jv d

d
-sin(t-)
ia
cost

iaRa
idXa
iaXa

iqXa

B
cos(t-)
q

Time phasor diagram of 2-phase/2-axis machine

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)

t at stator reference frame [for IM] t [for SM, RM]


0
at rotor and synchronous reference frame [for SM, RM]
St at rotor reference frame [for IM only], where S slip

From 3-ph to 2-ph

From 2-ph to 2 axis

From 2-ph to 3-ph

From 2 axis to 2-ph

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

From 3ph to 2 axis considering the position from torque signal

wt

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