~ AND Drive SYSTEMS SECOND EDITION Paul C. Krause Oleg Wasynczuk Scott D. SudhoffANALYSIS OF ELECTRIC MACHINERY AND DRIVE SYSTEMS oadIEEE Press 4445 Hoes Lane, PO. Box 1331 Piscataway, NJ O8855-1331 ‘Stamatios V. Kartalopoulos, Edluor in Chief M. Akay M. Eden M. Padgett, J.B. Anderson ME. Elllawary M.S, Newman RJ. Baker RJ. Herrick W.D. Reeve LE, Brewer RF Hoyt G. Zobrist D. Kirk Kenneth Moore, Director of IEEE Press Catherine Faduska, Senior Acquisitions Editor John Grftin, Acquisitions Eaitor Anthony VenGraitis, Project Editor IEEE Power Engineering Society, Sponsor PE-S Liaison to IEEE Press, Chanan Singh Cover Design: William 7; Donnelly, WT Design BOOKS IN THE IEEE PRESS SERIES ON POWER ENGINEERING Analysis of Faulted Power Systems P.M. Anderson 1995 Hardcover $36pp——_(0-7803-1145-0 Power System Protection P.M. Anderson 1999 Hardcover 1344pp—0-7803-3427-2 Power and Communication Cables: Theory and Applications Edited by R. Bartnikas and K. D. Srivastava 2000 Handover -896pp—_0-7803-1196-5, Understanding Power Quality Problems: Vollage Sags and Interruptions Math HI. Bollen 2000 Hardcover S76pp——-7803-4713-7 Electric Power Applications of Fuzzy Systems Edited by M.E. El-Hawary 1998 Hardcover 384pp_——_(0-7803-1197-3ANALYSIS OF ELECTRIC MACHINERY AND DRIVE SYSTEMS Second Edition PAUL C. KRAUSE OLEG WASYNCZUK SCOTT D. SUDHOFF —“| Purdue University, wer Engineering Society, Sponsor MG IEEE Power Engineering Society, Sponsor peg EXSRERING IEEE Press Power Engineering Series Mohamed E. ElHawary, Series Editor Ieee PRESS wom LEY- INTERSCIENCE ‘A JOHN WILEY & SONS, INC. PUBLICATION‘This oak i primed a ace paper Copyright 2002 by The nite of Fler and Electonics Engin, In. Al sighs eee, [No prt of hi publication may be repradoed, sre ina eteva sono anid in any form orby any meas, else, mechanical phtoeopying, recording, samsing or there eicept pei under Seton 17 o 108 of the 197 Unit Stats Copycat At, wien ‘iter th prior writen prison of he Pike ot atharicaton ough payment ofthe npoprit per-copy fet the Copyright Claaoce Cente, 22 Rosod Dive, Daven MA (01928 078)750.8400, fax (978)750474. Rees othe Pblsher for permission sold be ales othe Permissions Deparment, fn Wey & Sons, I, lS Tid Avenue, New Yok, ANY 101580012 (212)90-0t fax (212880 608 E Mai: PERMREQS WILEY.COM, For ering and cestom servic, cll SO0-CALL WILEY. {Library of Congress Cataloging Publication avaiable, ISBN 0471-18326 ‘ited in he Unie Snes of Ameri, woaTesTo our familiesCONTENTS PREFACE x Chapter 1 BASIC PRINCIPLES FOR ELECTRIC MACHINE ANALYSIS 1 LAL Introduction / 1 8 1.2 Magnetically Coupled Cirsifi/ 1 1.3, Electromechanical Energy Conversion J U1 14 Machine Windings and Air-Gap MMP / 35 LS Winding Inductances and Voltage Equations / 47 Rete 8 Q Problems / 58 Chapter 2 DIRECT-CURRENT MACHINES 67 2. Introduetion £67 2.2 Elementary Direct-Current Machine / 68 2.3. Voltage and Torque Equations / 76 24 Basie Types of Direct-Current Machines / 78 2.5. Dynamic Characteristics of Permanent-Magnet and Shunt de Motors / 88 2.6 Time-Domain Block Diagrams and State Equations / 92 2.7 Solution of Dynamic Characteristics by Laplace Transformation / 98 References J 104 Problems / 105vili contents Chapter 9. REFERENCE-FRAME THEORY 109 3.1 Introduction / 109 32. Background / 109 3.3 Equations of Transformation: Changes of Variables J 111 34 Stationary Circuit Variables Transformed to the Arbitrary Reference Frame / 115 35 Commonly Used Reference Frames / 123 3.6 Transformation Between Reference Frames J. 124 3.7 Transformation of a Balanced Set / 126 38 Balanced Steady-State Phasor Relationships 127 39 Balanced Steady-State Voltage Equations / 130 3.10. Vatiables Observed from Several Frames of Reference J 133 References J 137 Problems / 138 Chepter 4 SYMMETRICAL INDUCTION MACHINES m1 44 tnmoton/ 141 8 42 oluge Egon in Machine Vases 12 43° Tonys Eton n Machine Vrs 7146 44 Bunton of Tansfrato for Re Ces 147 45 og Equonsin Atay Reece rane Vales 7149 446 Tage Eguaon nA Reem re Vals / 153 47 Commonly ed Reference Hanes 113 48 Perl Syoem / 155 45. Anlss of Say Ste Operon / 157 410 Fe Acekraton Chaat 7 168 {11 Fee Acceleration Chasers Viewed fom Vins reteene ames 172 412 Dyna Pelomane Dang Soden Changs in Lod Tug / 178 413. Dyn Reon using 2 Phase Pata he Machine Tomas 71 4.18 Compu Siolon inthe Ai Reese Fame / 184 eters 1187 Problems 7 88 Chapter 5 SYNCHRONOUS MACHINES 191 5.1 Introduction / 191 5.2 Voltage Equations in Machine Variables / 192 53. Torque Equation in Machine Variables / 197cconrents ix 5A Stator Voltage Equations in Arbitrary Reference-Frame Variables / 198 55 Voltage Equations in Rotor Reference-Frame Variables: Park's Equations 7 200 5.6 Torque Equations in Substitute Variables / 206 5.7 Rotor Angle and Angle Between Rotors / 207 5.8 Per Unit System / 209 59 Analysis of Steady-State Operation / 210 5.10 Dynamie Performance During a Sudden Change in Input Torque / 219 5.11 Dynamie Performance Dusing a 3-Phase Fault at the Machine Terminals / 225 5.12 Approximate Transient Torque Versus Rotor Angle Characteristics / 229 5.13 Comparison of Actual and Approximate Transient Torgue-Angle Characteristies During a Sudden Change in Input Torque: First Swing Transient Stability Limit / 232 5.14 Comparison of Actual and Approximate Transient Torque-Angle (Charactristies During a 3-Phase Fault atthe Terminals: Critical Clearing Time / 239 5.15 Equal-Area Criterion / 242 5.16 Computer Simulation / 246 References / 255 Problems / 256 Chapter 6 THEORY OF BRUSHLESS de MACHINES 261 6.1 Introduction / 261 62 Voltage and Torque Equations in Machine Variables / 261 63 Voltage and Torque Equations in Rotor Reference-Frame Variables / 264 64 Analysis of Steady-State Operation / 266 65 Dynamic Performance / 274 References / 281 Problems / 281 Chapter 7 MACHINE EQUATIONS IN OPERATIONAL aM 72 13 14 15 16 IMPEDANCES AND TIME CONSTANTS 283 Iniroduetion / 283 Park's Equations in Operational Form / 284 Operational Impedances and G(p) for a Synchronous Machine with Four Rotor Windings / 284 Standard Synchronous Machine Reactances / 288 Standard Synchronous Machine Time Constants 290 Derived Synchronous Machine Time Constants / 291x contents 7.7 Parameters from Shor-Circuit Characteristics / 294 7.8 Parameters from Frequency-Response Characteristics / 301 References J 307 Problems / 308 Chapter 8 LINEARIZED MACHINE EQUATIONS ai 8.1 Inoduetion / 311 8.2 Machine Equations to Be Linearized / 312 83. Linearization of Machine Equations / 313 84 Small-Displacement Stability: Eigenvalues / 323, 8.5 Eigenvalues of Typical Induction Machines / 324 8.6 Eigenvalues of Typical Synchronous Machines 327 8.7 Transfer Function Formulation / 330 References J 335 Problems / 335, Chapter 9 REDUCED-ORDER MACHINE EQUATIONS. 337 9.1 Introduction / 337 9.2 Reduced-Order Equations / 338 9.3 Induction Machine Large-Excursion Behavior Predicted by Reduced-Onder Equations / 343, 94 Synchronous Machine Large-Excursion Behavior Predicted by Retuced-Order Equations / 350 95 Linearized Reduced-Order Equations / 354 9.6 Eigenvalues Predicted by Linearized Reduced-Onder Equations / 354 9.7 Simulation of Reduced-Order Models / 355 9.8 Closing Comments and Guidelines / 358 References / 358 Problems / 359 Chapter 10. SYMMETRICAL AND UNSYMMETRICAL 2-PHASE INDUCTION MACHINES. 361 10.1 Introduction / 361 10.2 Analysis of Symmetrical 2-Phase Induction Machines / 362 10.3 Voltage and Torque Equations in Machine Variables for Unsymmetrical 2-Phase Induction Machines / 371 10.4 Voltage and Torque Equations in Stationary Reference-Frame Variables for Unsymmetrical 2-Phase Induction Machines / 373contents xi 10.5 Analysis of Steady-State Operation of Unsymmetrical 2-Phase Induction Machines 377 10.6 Single-Phase Induction Machines / 383 References / 393 Problems / 393 Chapter 11 SEMICONTROLLED BRIDGE CONVERTERS, 305 11.1 Introduction / 395 11.2. Single-Phase Load Commutated Converter / 395 11.3 3-Phase Load Commutated Converter / 406 References 1 42: Problems / 425 Chapter 12 dc MACHINE DRIVES ar 12.1 Introduction / 427 12.2 Solid-State Converters for de Drive Systems 427 123 Steady-State and Dynamic Characteristics of aclde Converter Drives / 431 124 One-Quadrant defde Converter Drive / 443 125 Two-Quadrant de/de Converter Drive 460 126 Four-Quadrant defde Converter Drive / 463 12.7 Machine Control with Voltage-Controlled de/de Converter / 466 128 Machine Control with Current-Contolled de/de Converter / 468 References / 476 Problems / 476 Chapter 13. FULLY CONTROLLED 3-PHASE BRIDGE ‘CONVERTERS 481 13.1 Inoduction / 481 132 ‘The 3-Phase Bridge Converter / 481 133 180° Voltage Source Operation / 487 1344 Pulse-Width Modulation / 494 135 Sine-Triangle Modulation / 499 136 Thied-Harmonie Injection / 503 13.7 Space-Vector Modulation J 506 138 Hysteresis Modulation / $10 139 Delta Modulation / 512 13.10. Open-Loop Voltage and Current Control J $13 13.11 Closed-Loop Voltage and Current Controls / 516