Chapter 3

Reference Frame
Theory
Prof. B. S. Sree Shailan
Imagination is more important than knowledge.
- Albert Einstein
It is not work that kills men, it is worry. Work is
healthy; You can hardly put more on a man than
he can bear. But worry is rust upon the blade.
It is not movement that destroys the machine,
but friction.
- Henry Ward Beecher
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Topics to be covered
Real time model of a two phase
induction machine.
Transformation to obtain constant
matrices.
Three phase to two phase
transformation.
Power equivalence.
Book: Electric Motor Drives by R. Krishnan
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Introduction
Power of Reference Frame Theory:
Eliminates Rotor Position Dependence
Inductances and Capacitances
Transforms Nonlinear Systems to Linear
Systems for Certain Cases
Fundamental Tool For Rigorous Development of
Equivalent Circuits
Can Be Used to Make AC Quantities Become DC
Quantities
Framework of Most Controllers
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History of Reference Frame Theory
1929: Parks Transformation
Synchronous Machine; Rotor Reference Frame
1938: Stanley
Induction Machine; Stationary Reference Frame
1951: Kron
Induction Machine; Synchronous Reference Frame
1957: Brereton
Induction Machine; Rotor Reference Frame
1965: Krause
Arbitrary Reference Frame
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Real-Time model of 2- Induction M/c
Assumptions:
Uniform air gap
Balanced rotor and stator windings with
sinusoidal distributed mmf
Inductance w. r. t. rotor position is sinusoidal
Saturation and parameter changes are
neglected
Windings are displaced in space by 90
0
electrical
and rotor winding is at an angle
r
from the
stator d-axis winding.
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Number of turns per
phase in the stator and
rotor windings are
respectively T
1
& T
2
.
Stator and rotor windings of a two-
phase induction motor
Terminal voltages can
be expressed as the
sum of voltage drops in
resistances & rate of
change of flux linkages.
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Under the assumption of uniform air gap, the
self inductances are independent of angular
positions & hence they are constants.
( ) ( ) ( ) ( )
( )
( ) ( )
( )
( )
( ) ( )
( )
( ) ( ) ( ) ( )
:
qs q qs qq qs qd ds q q
ds dq qs d ds dd ds d d
q qs d ds
q qs d ds
v R i L i L i L i L i
v L i R i L i L i L i
v L i L i R i L i L i
v L i L i L i R i
The equations are
L i








= + + + +
= + + + +
= + + + +
= + + + +
;
rr dd qq s
L L L L L L

= = = =
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Mutual inductances between the stator
windings and between the rotor windings are
zero as they are displaced by 90
0
. Thus,
L

= L

= 0 and L
dq
= L
qd
= 0
Mutual inductances between the stator and
rotor windings are a function of the rotor
position
r
. Thus, with L
sr
as the peak value of
the mutual inductance between a stator and a
rotor winding, we have,
cos ; sin
sin ; cos
d d sr r d d sr r
q q sr r q q sr r
L L L L L L
L L L L L L




= = = =
= = = =
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Solutions of the above equations are time-
consuming.
( ) ( )
( )
( ) ( )
( )
( )
( ) ( )
( )
( ) ( )
sin cos
co

s sin
sin cos
cos sin

:

qs s s qs sr r sr r
ds s s ds sr r sr r
sr qs r sr ds r rr rr
sr qs r sr ds r rr rr
The res
v
ulting equ
R L i L i L i
v R L i L i L i
v L i L i
ations are as follows
R L i
v L i L i R L i








= + +
= + + +
= + + +
= + + +

s q d rr
where R R R and R R R

= = = =
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Transformation to Constant Matrices
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Transformation of
actual to fictitious
rotor variables
Above transformation is valid for voltages,
currents and flux-linkages in a machine.
Further, it is found that T

= T

-1
which is
required for inverse transformation.
T

is both orthogonal and symmetric.

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cos sin
. .,
sin cos
drr
r r
dqrr
qrr
r r
i i
i e i T i
i i

( (
(
( = =
( (
(

Fictitious rotor currents i
qrr
and i
drr
are the sum
of the projections of i

and i

on the q and d
axis, respectively as given below:
Rotor equations need to be referred to the
stator so that the stator and rotor d & q axes
windings gets physically connected.
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. .
. .
0 0
0 0
s s sr
qs qs
s s sr
ds ds
qrr sr sr r rr rr rr r qrr
drr drr
sr r sr rr r rr rr
R L L
v i
R L L
v i
v L L R L L i
v i
L L L R L




+
(
( (
(
+
( (
(
( (
=
(
( (
+
(
( (
(

+
(

.

r r
where is the time derivative of
Applying the transformation to the and
rotor winding currents and voltages, we get,
2 2
1 1
2 2
;

; ;
;
/



/
:
r rr r rr qr qrr dr drr
qrr
drr
qr dr
w
w
R a R L a L v av v av
i
i
i i where
a a
k T stator effective turns phase
a
rotor effective turns ph
Steps involved
ase
a
k
r
T
e
= = = =
= =
= =
2
1 1 2
; ;
,
:
m sr m sr
Also Magnetizing and Mutual inductances
L T L TT a r L L a e =
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Note that the impedance matrix has constant
inductance terms and is no longer dependent
on the rotor position.
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15
. .
. .

0 0
0 0

s s m
qs qs
s s m
ds ds
qr m m r r r r r qr
dr dr
m r m r r r r
system equation of induction m
R L L
v i
R L L
v i
v L L R L
ot
L i
v i
L L L
o
R
r
L




+
(
( (
(
+
( (
(
( (
=
(
( (
+
(
( (
(

+
(

Thus, the machine equations referred to the

stator are obtained as:
3-phase to 2-phase Transformation
A dynamic model for the 3-phase induction
machine can be derived from the two-phase
machine if the equivalence between three and
two phases is established.
Equivalence is based on the equality of the mmf
produced in the two-phase and three-phase
windings and equal current magnitude.
Assuming that each of the 3-phase windings
has T
1
turns/phase and equal current
magnitudes, the 2-phase windings will have
3T
1
/2 turns/phase for mmf equality.
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17
Two- and Three-phase stator windings
Current i
0
represents the imbalances in the a, b
and c phase currents and can recognized as the
zero-sequence component of the current.
0
0
2 2
cos cos cos
3 3
2 2 2

sin sin sin
3 3 3
1 1 1
2 2 2

:

c c c
qs as
ds c c c bs
cs
Relationship between dq an
i
d abc currents are
i
i i
i i




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

(
(

[ ]
0
,
qd abc abc
i T T s i hu =
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Transformation from two-phase currents to
three-phase currents can be obtained as
[ ]
[ ]
1
0
1

cos sin 1
2 2
cos sin 1
3 3
2 2
cos sin

1
3 3

c c
abc c
abc abc q
c
c c
d
wher
i i
e
T
T

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

=
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This transformation can also be thought of as a
transformation from three (abc) axes to three
new (qd0) axes.
Unbalances in the abc variables requires three
variables such as dq0.
Balanced abc variables (equal phase
displacement and magnitude) requires two
independent dq variables and the third is a
dependent variable obtained as the negative
sum of two independent variables.
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Note that only leakage inductances and phase
resistances influence the zero-sequence
voltages and currents while the dq component
variables are influenced by the self and mutual
inductances and phase resistances.
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Four system equations given by v
qs
, v
ds,
v
qr
and
v
dr
for balanced conditions.
( ) ( )
0 0 0 0
and = + = +
s s ls s r r lr r
v R L i v R L i
For unbalanced conditions, two more system
equations, one each for stator & rotor zero-
sequence voltages emerges. They are given by
Stanleys Model
Also known as stator-reference-frames model.
Here,
c
= 0 and hence, transformation matrix is
1 1
1
2 2
2 3 3
0 0
3 2 2
1 1 1
2 2 2
(

(
(
(
=
(
(
(
(

S
abc
T for abc to qd
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An example
An induction motor has the following parameters:
5hp, 200V, 3-phase, 60Hz, 4-pole, star connected;
R
s
= 0.277; R
r
= 0.183; L
m
= 0.0538H
L
s
= 0.0553H; L
r
= 0.056H
Effective stator to rotor turns ratio a = 3.
The motor is supplied with its rated and balanced
voltages. Find the q and d axes steady state
voltages, currents and phase currents I
qrr
, I
drr
, I

&
I

when the rotor is locked. Use stator-reference-

frames model.
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The applied phase voltages are as follows:
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200
2 sin 163.3sin
3
2 2
163.3sin & 163.3sin
3 3
as s s
bs s cs s
v t t
v t v t



= =
| | | |
= = +
| |
\ \
0
:
qs as
S
ds abc bs
cs
The d and q axes voltage
v v
v T v s ar
v v
e
( (
( (
=
( (
( (

( )
2 1
,
3 2
qs as bs cs
Hence v v v v
(
= +
(

For a balanced 3-phase input, v
as
+ v
bs
+ v
cs
= 0
Substituting for v
bs
and v
cs
in terms of v
as
yields
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2 3
3 2
qs as as
v v v
| |
= =
|
\
( )
0
1
0
3
,
ds cs bs
Similar v v v a l nd y v = =
( )
0
0
, 163.3sin 163.3 0 163.3
1
163.3cos
3
163.3 90 163.3
qs as s
ds cs bs s
Thus v v t V
and v v v t
j V

= = = =
= =
= =
The rotor is locked and hence
For steady state evaluation,
= j
s
= j2f
s
= j2 60 = j377 rad/sec
The system equations in steady state are
Note that the rotor windings are short-circuited
and hence rotor voltages are zero.
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.
0
r
=
0 0
0 0
0 0 0
0 0 0




+
( ( (
( ( (
+
( ( (
=
( ( ( +
( ( (
+

s s m qs qs
s s m ds ds
m r r qr
m r r dr
R L L i v
R L L i v
L R L i
L R L i
Numerical values for the parameters and variables
are substituted to solve for currents.
Note that the stator and rotor currents are
displaced by 90
0
among themselves as expected in
a 2-phase machine.
The zero-sequence currents are zero because zero
sequence voltages are nonexistent with balanced
supply voltages.
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0
qs
0
ds
0
qr
0
dr
i =35.37-j108.18=113.81-71.9
i =108.18+j35.37=113.8118.1
i =-34.88+j103.63=109.34108.6
i =-103.63-j34.88=109.34 -161

.
:
4
The currents are
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0
0
0
0
1 0 1
113.8 71.9
1/ 2 3 / 2 1 113.8168.1
113.8 48.1
1/ 2 3 / 2 1
:
as qs
bs ds
cs
i i
i i
i
The phase currents are
i
(
(

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

0
0
i 328.02108.6
i 328.0

2 161 4
:
.
qrr qr
drr dr
Rotor currents are ai
ai
= =
= =
The and currents, assuming
r
= 0 are
0
0
cos sin
328.02 161.4
sin cos
328.02108.6
drr
r r
qrr
r r
i i
i i

( ( (
(
= =
( ( (
(

2) Derive the steady-state equivalent circuit from
the dynamic equations of the induction motor.
This can be derived by substituting for the
d- and q-axes voltages in system equations.
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2 2
sin ; sin & sin
3 3
as m s bs m s cs m s
v V t v V t v V t


| | | |
= = = +
| |
\ \
0
0
0
sin 0
cos 90
0 0
,
qs as m s m
S
ds abc bs m s m
cs
v v V t V
v T v V t V
v v
Thus

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


In steady State, =j 0
s qr dr
and v v = =
Substituting these into system equations yields,
The input voltages are in quadrature so the
currents have to be in quadrature because the
system in steady state is linear and they can be
represented as i
ds
= ji
qs
and i
dr
= ji
qr
Substituting these equations into the above
equation and considering only one stator and
rotor equation with rms values yields,
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0 0
0 0
0
0




+
( ( (
( ( (
+
( ( (
=
( ( ( +
( ( (
+

s s s s m qs m
s s s s m ds m
s m r m r s r r r qr
r m s m r r r s r dr
R j L j L i V
R j L j L i jV
j L L R j L L i
L j L L R j L i
Rearrange the rotor equation with the aid of

sl
=
s

r
= S
s
. Thus, rotor equation is
Rotor and stator equations, when combined
give the equivalent circuit with the magnetizing
current as the sum of stator and rotor currents.
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( )
( ) ( )
( )
0
s s s s s s m r
m s r s r s r r r
V R j L I j L I
jL I R j L I


= + +
= + +
0
r
m s s s r r
R
jL I j L I
S

| |
= + +
|
\
,
s m ls r m lr
A L L L and L L l o L s = + = +
Power Equivalence

3




t
i abc abc as as bs bs cs cs
phase instantaneous p
P v i v i v i
ower inp i
i
ut s
v = +

= +
[ ]
( )
[ ]
[ ]
( )
[ ]
( )
( )
( )
1 1
0 0
1 1
0 0
0 0


3

, ,
2 1
2

=
=
= + +
t
i abc qd abc qd
t
t
qd abc abc qd
qs qs ds ds
P T v T i
v T T
On tran
i
v i v
sforming to q a
i v
nd
i
d axes we get
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Zero-sequence current does not exist for a
balanced three-phase machine.
The model development has so far kept the
d- and q-axes stationary with respect to the
stator. These axes or frames are known as
reference frames.
The speed of the reference frames is arbitrary
in an arbitrary reference frame.
The input power given by equation (1) remains
valid for all occasions.
( )
3
,
2
= +
i qs qs ds ds
Thus P v i v i
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Assignment
1) Discuss the suitability of stationary reference
frames for the induction motor in power
system studies.
2) Explain the method of obtaining the constant
matrices for transformation on to the fictitious
q and d axes for a 2-phase induction motor.
3) Explain the need for 3-phase to 2-phase
transformation and the method of carrying out
such transformation with an example.
4) Derive the power equivalence in dq0 variables.
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