Modeling of Induction Motor

using dq0 Transformations

First Semester 1431/1432
Steady state model developed in previous studies
of induction motor neglects electrical transients
due to load changes and stator frequency
variations. Such variations arise in applications
involving variable-speed drives.
Variable-speed drives are converter-fed from finite
sources, which unlike the utility supply, are
limited by switch ratings and filter sizes, i.e. they
cannot supply large transient power.
Introduction
Thus, we need to evaluate dynamics of
converter-fed variable-speed drives to
assess the adequacy of the converter
switches and the converters for a given
motor and their interaction to determine the
excursions of currents and torque in the
converter and motor. Thus, the dynamic
model considers the instantaneous effects
of varying voltages/currents, stator
frequency and torque disturbance.

Introduction (contd)
Circuit Model of a Three-Phase IM
1. Space mmf and flux waves are considered to be
sinusoidally distributed, thereby neglecting the effect of
teeth and slots.
2. The machine is regarded as group of linear coupled
circuits, permitting superposition to be applied, while
neglecting saturation, hysteresis, and eddy currents.
3. L
s
: self inductance per phase of the stator windings.
4. M
s
: mutual inductance per phase of the stator windings.
5. r
s
: resistance per phase of the stator windings.
6. L
r
: self inductance per phase of the rotor windings.
7. M
r
: mutual inductance per phase of the rotor windings
8. r
r
: resistance per phase of the rotor windings.
9. M
sr
: maximum value of mutual inductance between any
stator phase and any rotor phase.
Assumptions and Definitions:

i
as
i
b
s
i
c
s
i
a
r
i
b
r
ic
r
v
as
+
+
v
b
s
+
v
c
s
v
a
r
+
+v
br
v
c
r
+
axis of stator
phase c
axis of stator
phase a
axis of stator
phase b
axis of rotor
phase c
axis of rotor
phase b
axis of rotor
phase a
u
r
u
r
u
r
Circuit Model of a Three-Phase IM
e
r
Stator Voltage Equations:


as
as as s
d
v i r
dt
= +

bs
bs bs s
d
v i r
dt
= +

cs
cs cs s
d
v i r
dt
= +

Voltage Equations
i
as
i b
s
i
c
s
i
a
r
i
b
r
ic
r
v
as
+
+
v
b
s
+
v
c
s
v
a
r
+
+v
br
v
c
r
+
axis of stator
phase c
axis of stator
phase a
axis of stator
phase b
axis of rotor
phase c
axis of rotor
phase b
axis of rotor
phase a
u
r
u
r
u
r
e
r
Rotor Voltage Equations:


ar
ar ar r
d
v i r
dt
= +

br
br br r
d
v i r
dt
= +

cr
cr cr r
d
v i r
dt
= +

Voltage Equations (contd)
i
as
i b
s
i
c
s
i
a
r
i
b
r
ic
r
v
as
+
+
v
b
s
+
v
c
s
v
a
r
+
+v
br
v
c
r
+
axis of stator
phase c
axis of stator
phase a
axis of stator
phase b
axis of rotor
phase c
axis of rotor
phase b
axis of rotor
phase a
u
r
u
r
u
r
e
r
cos( ) cos( 120 ) cos( 120 )
sr sr s ar r br r c
as s as s bs s c
r r r
s
M M
L i M i M i
i i M i

u u u
+
+
=
+
+
+ +
cos( 120 ) cos( ) cos( 120 )
ar r
bs s as s bs s
br r c sr s r r r s
cs
r
M M
M i L i M i
M i i i

u u u + + + +
= + +
Flux Linkage
Equations
i
as
i b
s
i
c
s
i
a
r
i
b
r
ic
r
v
as
+
+
v
b
s
+
v
c
s
v
a
r
+
+v
br
v
c
r
+
axis of stator
phase c
axis of stator
phase a
axis of stator
phase b
axis of rotor
phase c
axis of rotor
phase b
axis of rotor
phase a
u
r
u
r
u
r
e
r
(
cos( ) cos( 120 ) cos 20 )
)
( 1
sr s ar r br r cr
as s as s bs cs
r r sr
M M
L i M
i i M
i i
i + + + +
= + +
u u u

cos( 120 ) cos( ) c

( )
os( 120 )
bs s as cs s b
sr sr s ar r br r cr r
s
r
M i
M M M i i
i L i
i + + + +
= + +
u u

u
Flux Linkage
Equations
0
as bs cs
i i i + + =
In general, we can assume:
i
as
i b
s
i
c
s
i
a
r
i
b
r
ic
r
v
as
+
+
v
b
s
+
v
c
s
v
a
r
+
+v
br
v
c
r
+
axis of stator
phase c
axis of stator
phase a
axis of stator
phase b
axis of rotor
phase c
axis of rotor
phase b
axis of rotor
phase a
u
r
u
r
u
r
e
r
ss s s
L L M =
Let:
cos( ) cos( 120 ) cos( 120 )
( )
ar r r r
r ar r br c
as bs cs
r
sr sr sr
L i M
i i M
i i
M M i + +
+ + +
+ = u u u
Flux Linkage
Equations
0
ar br cr
i i i + + =
In general, we can assume:
i
as
i b
s
i
c
s
i
a
r
i
b
r
ic
r
v
as
+
+
v
b
s
+
v
c
s
v
a
r
+
+v
br
v
c
r
+
axis of stator
phase c
axis of stator
phase a
axis of stator
phase b
axis of rotor
phase c
axis of rotor
phase b
axis of rotor
phase a
u
r
u
r
u
r
e
r
cos( 120 ) cos( ) cos( 120 )
( )
as sr sr s br r r r
r b
bs cs
r c
r
r ar r
M M M
L i M i
i i i
i
+ + +
+ + +
= u u u
rr r r
L L M =
Let:
Flux Linkage Equations
cos( 120 ) cos( 120 ) cos( )
cs ar r b ss c r r cr s sr r
i i M i L i ( + + + = +

u u u
cos( ) cos( 120 ) cos( 120 )
as ss sr ar r br r r a cr s
L i i i i M ( + + + = +

u u u
cos( 120 ) cos( ) cos( 120 )
bs ss bs ar r br r r r sr c
i i L M i i ( + + + + =

u u u
Stator:
Rotor:
cos( ) cos( 120 ) cos( 120 )
as bs cs s ar r r r rr r ar
i M i i i L ( + + +

=

+ u u u
cos( 120 ) cos( ) cos( 120 )
as bs c br r r r s rr br s r
i i i L i M ( + + +

=

+ u u u
cos( 120 ) cos( 120 ) cos( )
as cr r r r rr bs s c r r c s
i i i L i M ( = + + +

+ u u u
0 0
0
0 0
0
0
0
0
0
0 0
ar ar rr
ar br rr
ar cr r
sr
T
s
as ss as
bs ss b
r
s
c cs
r
s ss
i L
i L
i
i L
L
L
L
i L
i L
( ( (
( ( (
( ( (
( (

(
=
( ( (
( ( (
( ( (
( ( (

cos( ) cos( 120 ) cos( 120 )
cos( 120 ) cos( ) cos( 120 )
cos( 120 ) cos( 120 ) cos( )
r r r
r r sr r
r
s
r r
r
L M
u u ( +
(
=
u
u u u
u u
+
(
(
+

u

Flux Linkage Equations
as
as as s
d
v i r
dt
= +

To build up our simulation equations, we
could just differentiate each expression for
, e.g.


But since L
sr
depends on position ,
which will generally be a function of time,
the trigonometric terms will lead to a mess!


| |
First raw of the Matrix
as
as as s
d d
v i r
dt dt
| |
= + =
|
\ .

Model of Induction Motor

The Parks transformation is a three-phase to two-
phase transformation for synchronous machine
analysis. It is used to transform the stator variables
of a synchronous machine onto a dq reference
frame that is fixed to the rotor.

The +ve d-axis is aligned with the magnetic axis of
the field winding and the +ve q-axis is defined as
leading the +ve d-axis by t/2.

Parks Transformation
Parks Transformation (contd)
i
as
i b
s
i
c
s
i
a
r
i
b
r
ic
r
v
as
+
+
v
b
s
+
v
c
s
v
a
r
+
+v
br
v
c
r
+
axis of stator
phase c
axis of stator
phase a
axis of stator
phase b
axis of rotor
phase c
axis of rotor
phase b
axis of rotor
phase a
u
r
u
r
u
r
e
r
e

e

d-axis

q-axis

The result of this transformation is
that all time-varying inductances in
the voltage equations of an induction
machine due to electric circuits in
relative motion can be eliminated.
In induction machine, the
d-axis is assumed to align on
a-axis at t = 0 and rotate
with synchronous speed (e)
The Parks transformation equation is of
the form:





where f can be i, v, or .
0
0
f f
f T f
f f
d a
q dq b
c
( (
( (
( =

( (
( (

Parks Transformation (contd)
0
2 2
cos cos cos
3 3
2 2
( ) sin sin sin
3 3
1 1 1
2 2 2
T
d d d
dq d d d d
K
(
| | | |
+
| |
(
\ \ . .
(
(
| | | |
( = +
| |
(
\ \ . .
(
(
(

t t
u u u
t t
u u u u
Parks Transformation (contd)
where K is a convenient constant. The current i
d
and i
q
are
proportional to the components of mmf in the direct and quadrature
axes, respectively, produced by the resultant of all three armature
currents, i
a
, i
b
, and i
c
. For balanced phase currents of a given
maximum magnitude, the maximum value of i
d
and i
q
can be of the
same magnitude. Under balanced conditions, the maximum magnitude
of any one of the phase currents is given by . To
achieve this relationship, a value of 2/3 is assigned to the constant K.
2 2
, , , a peak b peak c peak d q
i i i i i = = = +
The inverse transform is given by:







Of course, [T][T]
-1
=[I ]
1
0
cos sin 1
2 2
( ) cos sin 1
3 3
2 2
cos sin 1
3 3
T
d d
dq d d d
d d

(
(

(
(
| | | |
( =
| |
(
\ \ . .
(
(
| | | |
+ +
| |
(
\ \ . .

u u
t t
u u u
t t
u u
Parks Transformation (contd)
Thus,



and



0 0
0
d a
q dq b dq abc
c
v v
v T v T v
v v
( (
( (
( ( = =

( (
( (

0 0
0
d a
q dq b dq abc
c
i i
i T i T i
i i
( (
( (
( ( = =

( (
( (

Parks Transformation (contd)
i
ds
v
ds
+
i
qr
+
v
qr
i
dr
v
dr
+
i
qs
+
v
qs
Induction Motor Model in dq0
e

e

d-axis

q-axis

Lets us define new dq0 variables.

Our induction motor has two subsystems - the
rotor and the stator - to transform to our
orthogonal coordinates:
So, on the stator,

where [T
s
]= [T(u)], (u = e t)

and on the rotor,

where [T
r
]= [T(|)], (| = u - u
r
= (ee
r
) t )
| |
0 dq s s abcs
T =
0
[ ]
dq r r abcr
T =
Induction Motor Model in dq0 (contd)
Induction Motor Model in dq0 (contd)
( ) ( )
0
0 0
1
1
0
"abc": [ ]
"dq0": [ ]
[ ]
STATOR:
[ ]
[ ]
[ ]
abcs ss abcs
dq s s abcs ss s abcs s
dq s ss dq s s
sr
sr
sr
abcr
r r abcr
r dq r
L i
T L T i
L
L
L
T
L
i
T i
i T T
T
i

=
= =
=
+
+
+
( ) ( )
1
1
0
0 0 0
"abc": [ ]
"dq0": [ ]

ROTOR:
[ ]
[ ]
[ ] [ ]
T
sr
T
abcs
s s abcs
s dq
abcr rr abcr
dq r r abcr r rr r abcr
dq s r rr dq r s
sr
T
sr
L i L
L
i
T T i
T L
T T L T i
T i L i

=
=
+
+
=
=
+
| |
1 0 0
0 1 0
0 0 1
ss ss
L L
(
(
=
(
(

| |
1 0 0
0 1 0
0 0 1
rr rr
L L
(
(
=
(
(

Now:





Just constants!!

Our double reference frame transformation
eliminates the trigonometric terms found in our
original equations.
1 1
3
0 0
2
3
0 0
2
0 0 0
sr
T
sr sr s s s r r r
T
M
T L M T T T

(
(
(
(
= =
(
(
(
(

Induction Motor Model in dq0 (contd)
Let us look at our new dq0 constitutive law and
work out simulation equations.


( )
0 dq s s abcs s abcs s abcs
d
v T v T R i T
dt
= = +
( )
1 1
0 0 s s dq s s s dq s
d
T RT i T T
dt

= +
Induction Motor Model in dq0 (contd)
( )
1
0 0 dq s s s dq s
d
R i T T
dt

= +
Using the differentiation product rule:
( )
0 0 0
0 0
0 0
0 0 0
dq s dq s dq s
d
dt
d d
R i
dt dt
(

(
(
(
= + +
(
(
(

u
u

Induction Motor Model in dq0 (contd)
( ) ( )
1
0 0 0 0 dq s dq s dq s s s dq s
d d
v R i T T
dt dt

= + +
For the stator this matrix is:




For the rotor the terminal equation is
essentially identical but the matrix is:
0 0
0 0
0 0 0

(
(
(
(

e
e
0 ( ) 0
( ) 0 0
0 0 0
r
r

(
(

(
(

e e
e e
Induction Motor Model in dq0 (contd)
Simulation model; Stator Equations:
ds
ds ds s qs
d
v i r
dt
= +

e
qs
qs qs s ds
d
v i r
dt
= + +

e
0
0 0
s
s s s
d
v i r
dt
= +

Induction Motor Model in dq0 (contd)
Simulation model; Rotor Equations:
( )
dr
dr dr r r qr
d
v i r
dt
= +

e e
( )
qr
qr qr r r dr
d
v i r
dt
= + +

e e
0
0 0
r
r r r
d
v i r
dt
= +

Induction Motor Model in dq0 (contd)
Zero-sequence equations (v
0s
and v
0r
) may be
ignored for balanced operation.

For a squirrel cage rotor machine,
v
dr
= v
qr
= 0.
Induction Motor Model in dq0 (contd)
We can also write down the flux linkages:
0
0
0
0
0
0
0 0 3 2 0 0
0 0 0 3 2 0
0 0 0 0 0
3 2 0 0 0 0
0 3 2 0 0 0
0 0 0 0 0
dr rr dr
qr rr qr
r r
ds ss ds
qs ss q
sr
sr
sr
sr
s
r r
s
s s s
L i
L
M L i
M
M
M i
i
L
L i
L
i
( ( (
( ( (
( ( (
( ( (
=
( ( (
( ( (
( ( (
( ( (

Induction Motor Model in dq0 (contd)

The torque of the motor in qd0 frame is given
by:



where P= # of poles
F=ma, so:


where = load torque

( )
3
2 2
qr dr d r e r q
i i
P
| |
=
|
\ .
t
( )
r
e l
d
J
dt
=
e
t t
l
t
Induction Motor Model in dq0 (contd)