15 DQ Theory

Synchronous Machine
Relevance to Synchronous Machine

dq means direct and quadrature. Direct axis is aligned with
the rotors pole. Quadrature axis refers to the axis whose
electrical angle is orthogonal to the electric angle of direct
axis.
a axis
d axis
q axis
b axis
c axis
u
m
u
a
u
d
u
mq
2 2
2
t
u u u
u u
+ = =
=
me mq r
m me
P
P
min
g
max , or
r
min , or
r
max
g
is
r
u
d
a axis
u
m
u
a
q axis
u
mq
Parks Transformation
Stator quantities (Sabc) of current, voltage, or flux can be
converted to quantities (Sdq0) referenced to the rotor.
This conversion comes through the K matrix.
0
1
0
dq abc
abc dq
S K S
KS S
=
=
( ) ( ) ( )
( ) ( ) ( )
( ) ( )
( ) ( )
( ) ( ) (
(
(
+ +

=
(
(
(
+
+
=
1 3 / 2 sin 3 / 2 cos
1 3 / 2 sin 3 / 2 cos
1 sin cos
2 / 1 2 / 1 2 / 1
3 / 2 sin 3 / 2 sin sin
3 / 2 cos 3 / 2 cos cos
3
2
1
t u t u
t u t u
u u
t u t u u
t u t u u
me me
me me
me me
me me me
me me me
K
K
( ) ( ) ( )
( ) ( ) ( )
( ) ( )
( ) ( )
( ) ( ) (
(
(
+ +
=
(
(
(
+
+
=
1 3 / 2 cos 3 / 2 sin
1 3 / 2 cos 3 / 2 sin
1 cos sin
2 / 1 2 / 1 2 / 1
3 / 2 cos 3 / 2 cos cos
3 / 2 sin 3 / 2 sin sin
3
2
1
t u t u
t u t u
u u
t u t u u
t u t u u
r r
r r
r r
r r r
r r r
K
K
where
or
(MITs notation)
(Purdues notation)
Voltage Equations (1)
abc abc S abc
dt
d
i R v + =
( ) ( ) ( )
0
1
0
1
0
1
dq dq S dq
dt
d
K i K R v K

+ =
( ) ( ) ( )
0
1
0
1
0
1
dq dq S dq
dt
d
K K i K KR v K K

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

0
1
0
1
0
1
0 dq dq dq S dq
dt
d
dt
d
K K KK i K KR v
0
1
0 0 0 dq dq dq S dq
dt
d
dt
d
K K i R v
|
.
|
\
|
+ + =

(
(
(
=
1 0 0
0 1 0
0 0 1
s S
R R
For stator windings
For field winding:
f f f f

dt
d
i R v + =
Under motor reference convention for currents
(i.e. the positive reference direction for currents is into the machine):
We derive the derivative of K
-1
:
Then, we get
(
(
(

=
|
.
|
\
|

0 0 0
0 0
0 0
1
r
r
dt
d
e
e
K K
(
(
(
(
(
(
(
(
+
+
+ +
+
=
(
(
(
(
(
f f f
s
r d q q s
r q d d s
f
q
d
dt
d
i R
dt
d
i R
dt
d
i R
dt
d
i R
v
v
v
v
e
e
0 0
0
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( ) (
(
(
+ +

=
(
(
(
+ +
=
0 3 / 2 sin 3 / 2 cos
0 3 / 2 sin 3 / 2 cos
0 sin cos
0 3 / 2 cos 3 / 2 sin
0 3 / 2 cos 3 / 2 sin
0 cos sin
1
t u t u
t u t u
u u
e
t u t u
t u t u
u u
e
r r
r r
r r
r
me me
me me
me me
me
dt
d
K
dt
d
me
me
u
e =
And for voltage, we get
2
P
dt
d
m me
r
r
e e
u
e = = =
Dynamical Equations for Flux Linkage
(
(
(
(
(

+
=
(
(
(
(
(
f f f
s
r d q s q
r q d s d
f
q
d
i R v
i R v
i R v
i R v
dt
d
0 0 0
e
e
The derivations so far are valid for both linear and nonlinear models.
(
(
(
(
(
=
f
q
d
dqf
(
(
(
(
(

+
=
f f f
s
r d q s q
r q d s d
i R v
i R v
i R v
i R v
0 0
e
e
V
Let
we have
V
=
dt
d
dqf
Flux Linkage vs. Current (1)
The next step is to relate current to flux linkage through
inductances. For salient pole rotor, the inductances can
be approximately expressed as
(
(
(
=
cf
bf
af
sf
L
L
L
L
|
.
|
\
|
+ + + =
|
.
|
\
|
+ + =
+ + =
3
2
2 cos
3
2
2 cos
2 cos
t
u
t
u
u
me B A ls cc
me B A ls bb
me B A ls aa
L L L L
L L L L
L L L L
or:
|
.
|
\
|
+ + =
|
.
|
\
|
+ =
+ =
3
2
2 cos
3
2
2 cos
2 cos
t
u
t
u
u
r B A ls cc
r B A ls bb
r B A ls aa
L L L L
L L L L
L L L L
2
t
u u + =
me r
(
=
f
T
sf
sf ss
abcf
L L
L L
L
(
(
(
=
cc cb ca
bc bb ba
ac ab aa
ss
L L L
L L L
L L L
L
( )
|
.
|
\
|
+ + = =
+ = =
|
.
|
\
|
+ = =
3
2
2 cos
2
1
2 cos
2
1
3
2
2 cos
2
1
t
u
u
t
u
me B A ca ac
me B A cb bc
me B A ba ab
L L L L
L L L L
L L L L
Note: Higher order harmonics are neglected.
( )
|
.
|
\
|
+ = =
|
.
|
\
|
= =
= =
3
2
cos
3
2
cos
cos
t
u
t
u
u
me sf fc cf
me sf fb bf
me sf fa af
L L L
L L L
L L L
or:
( )
|
.
|
\
|
+ = =
= =
|
.
|
\
|
= =
3
2
2 cos
2
1
2 cos
2
1
3
2
2 cos
2
1
t
u
u
t
u
r B A ca ac
r B A cb bc
r B A ba ab
L L L L
L L L L
L L L L
( )
|
.
|
\
|
+ = =
|
.
|
\
|
= =
= =
3
2
sin
3
2
sin
sin
t
u
t
u
u
r sf fc cf
r sf fb bf
r sf fa af
L L L
L L L
L L L
2
t
u u + =
me r
Ref: 1. A. E. Fitzgerald, C. Kingsley, J r., and S. D. Umans, Electric Machinery,
6
th
Edition, pages 660-661.
2. P. C. Krause, O. Wasynczuk, and S. D. Sudhoff,
Analysis of Electric Machinery and Drive Systems, 2
nd
Edition, page 52.
This matrix can be transformed into dq0 form and used to
find flux linkage.
abcf abcf abcf
i L =
( ) ( )
f sf dq ss dq
i L i K L K + =

0
1
0
1
dqf dqf dqf
i L =
( )
f sf dq ss dq
i KL i K KL + =

0
1
0
(
=
f
T
sf
sf ss
abcf
L L
L L
L
(
=
f
abc
abcf
=
f
abc
abcf
i
i
i
f sf abc ss abc
i L i L + =
f f abc
T
sf f
i L + = i L
f f dq
T
sf f
i L + =

0
1
i K L
(
(
f
T
sf
sf ss
dqf
L
1
1
K L
KL K KL
L
(
=
f
dq
dqf
=
f
dq
dqf
i
0
i
i
From with
where
Inductance Matrix in dq0 Frame
(
(
(
(
(
=
f sf
q
sf d
dqf
L L
L
L
L L
0 0
2
3
0 0 0
0 0 0
0 0
0
L
where
) (
2
3
) (
2
3
B A mq
B A md
L L L
L L L
=
+ =
ls
mq ls q
md ls d
L L
L L L
L L L
=
+ =
+ =
0
and
dqf dqf dqf
i L =
From
+ =
=
=
+ =
d sf f f f
ls
q q q
f sf d d d
i L i L
i L
i L
i L i L
2
3
0 0
Through derivations, we have

(
(
f
T
sf
sf ss
dqf
L
1
1
K L
KL K KL
L
Dynamical Equation in terms of Current
V
=
dt
d
dqf
For linear model
from
V L
i
1
=
dqf
dqf
dt
d
dynamical equation
in terms of current
dqf dqf dqf
i L =
(
(
(
(
(

+
=
f f f
s
r d q s q
r q d s d
i R v
i R v
i R v
i R v
0 0
e
e
V
and
where
q q q
f sf d d d
i L
i L i L
=
+ =
Power
Electrical instantaneous Input Power on Stator can also be
expressed through dq0 theory.
0
1 1
0
) (
dq
T T
dq abc
T
abc c c b b a a in
i v i v i v p i K K v i v

= = + + =
( )
0 0
2
2
3
i v i v i v p
q q d d in
+ + =
(
(
(
=

2 0 0
0 1 0
0 0 1
2
3
) (
1 1
K K
T
Torque
( )
0 0
2
2
3
i v i v i v p
q q d d in
+ + =
(
(
(
(
(
(
+
+ +
+
=
(
(
(
0 0
0
e
e
dt
d
i R
dt
d
i R
dt
d
i R
v
v
v
s
r d q q s
r q d d s
q
d
From
we have
( ) ) (
2 2
3
2
2
3
2
2
3
0
0
2
0
2 2
d q q d m
q
q
d
d q d s in
i i
P
dt
d
i
dt
d
i
dt
d
i i i i R p e
+
|
|
.
|
\
|
+ + + + + =
Copper Loss
Mechanical Power Magnetic Power in
Windings
Therefore, electromagnetic torque on rotor
) (
2 2
3
d q q d
m
mech
e
i i
P p
T
e
= =
mech
p
Equivalent Circuits (1)
(
(
(
(
(
(
(
(
+
+
+ +
+
=
(
(
(
(
(
f f f
s
r d q q s
r q d d s
f
q
d
dt
d
i R
dt
d
i R
dt
d
i R
dt
d
i R
v
v
v
v
e
e
0 0
0
+ =
=
=
+ =
d sf f f f
ls
q q q
f sf d d d
i L i L
i L
i L
i L i L
2
3
0 0
d axis
dt
di
L
dt
di
L i R v
f
sf
d
d r q d s d
+ + = e
q axis
dt
di
L i R v
q
q r d q s q
+ + = e
0 axis
dt
di
L i R v
s
0
0 0 0
+ =
This circuit is not necessary
for Y connected windings
since i
0
=0.
Field winding
dt
di
L
dt
di
L i R v
d
sf
f
f f f f
2
3
+ + =
Combined Equivalent Circuit on d Axis (1)
dt
i i d
L
dt
di
L i R
dt
di
L
dt
di
L i R v
f d
md
d
ls r q d s
f
sf
d
d r q d s d
) (
'
+
+ + =
+ + =
e
e
d axis equivalent circuit and field winding equivalent circuit can be combined:
md ls d
L L L + =
mf lf f
L L L + =
mf
sf
sf
md
f
a
L
L
L
L
N
N
N = = =
3
2
N
i
i
L
L
i
f
f
md
sf
f
3
2
'
= =
f a d sf
f d mf
a d md
N N C L
N C L
N C L

2
3
2
2
=
=
=
)
2
1 (
8
2
0
g
av
d
P g
Dl
C
o
t
+ =
From
(Details @ InductanceSM.ppt)
Let
a
N
f
N
and are effective number of

turns of armature and
field windings.
dt
di
L
dt
di
L i R v
d
sf
f
f f f f
2
3
+ + =
'
2
3
f f
Ni i =
dt
di
NL
dt
di
NL
dt
di
NL i NR Nv
d
sf
f
mf
f
lf f f f
2
3
+ + + =
mf
sf
sf
md
L
L
L
L
N = =
3
2
dt
di
L
dt
di
L
dt
di
L N i R N Nv
d
md
f
sf
f
lf f f f
+ +
|
.
|
\
|
+
|
.
|
\
|
=
'
2 ' 2
2
3
2
3
dt
i i d
L
dt
di
L i R v
f d
md
f
lf f f f
) (
' '
' ' ' '
+
+ + =
lf lf
f f
f f
L N L
R N R
Nv v
2 '
2 '
'
2
3
2
3
=
=
=
dt
i i d
L
dt
di
L i R v
f d
md
d
ls r q d s d
) (
'
+
+ + = e
dt
i i d
L
dt
di
L i R v
f d
md
f
lf f f f
) (
' '
' ' ' '
+
+ + =
From
f f
Nv v =
'
'
2
3
f f
Ni i =
we get
md md d ls
f sf d d d
i L i L
i L i L
+ =
+ =

'
f d md
i i i + =
dq Theory for Permanent Magnet
Synchronous Machine (PMSM)
0
1
0
dq abc
abc dq
S K S
KS S
=
=
( ) ( ) ( )
( ) ( ) ( )
( ) ( )
( ) ( )
( ) ( ) (
(
(
+ +

=
(
(
(
+
+
=
1 3 / 2 sin 3 / 2 cos
1 3 / 2 sin 3 / 2 cos
1 sin cos
2 / 1 2 / 1 2 / 1
3 / 2 sin 3 / 2 sin sin
3 / 2 cos 3 / 2 cos cos
3
2
1
t u t u
t u t u
u u
t u t u u
t u t u u
me me
me me
me me
me me me
me me me
K
K
( ) ( ) ( )
( ) ( ) ( )
( ) ( )
( ) ( )
( ) ( ) (
(
(
+ +
=
(
(
(
+
+
=
1 3 / 2 cos 3 / 2 sin
1 3 / 2 cos 3 / 2 sin
1 cos sin
2 / 1 2 / 1 2 / 1
3 / 2 cos 3 / 2 cos cos
3 / 2 sin 3 / 2 sin sin
3
2
1
t u t u
t u t u
u u
t u t u u
t u t u u
r r
r r
r r
r r r
r r r
K
K
where
or
(MITs notation)
(Purdues notation)
abc abc S abc
dt
d
i R v + =
( ) ( ) ( )
0
1
0
1
0
1
dq dq S dq
dt
d
K i K R v K

+ =
( ) ( ) ( )
0
1
0
1
0
1
dq dq S dq
dt
d
K K i K KR v K K

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

0
1
0
1
0
1
0 dq dq dq S dq
dt
d
dt
d
K K KK i K KR v
0
1
0 0 0 dq dq dq S dq
dt
d
dt
d
K K i R v
|
.
|
\
|
+ + =

(
(
(
=
1 0 0
0 1 0
0 0 1
s S
R R
For stator winding
-1
:
Then, we get
(
(
(

=
|
.
|
\
|

0 0 0
0 0
0 0
1
r
r
dt
d
e
e
K K
(
(
(
(
(
(
+
+ +
+
=
(
(
(
0 0
0
e
e
dt
d
i R
dt
d
i R
dt
d
i R
v
v
v
s
r d q q s
r q d d s
q
d
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( ) (
(
(
+ +

=
(
(
(
+ +
=
0 3 / 2 sin 3 / 2 cos
0 3 / 2 sin 3 / 2 cos
0 sin cos
0 3 / 2 cos 3 / 2 sin
0 3 / 2 cos 3 / 2 sin
0 cos sin
1
t u t u
t u t u
u u
e
t u t u
t u t u
u u
e
r r
r r
r r
r
me me
me me
me me
me
dt
d
K
dt
d
me
me
u
e =
And for voltage, we get
2
P
dt
d
m me
r
r
e e
u
e = = =
(
(
(

+
=
(
(
(
0 0 0
i R v
i R v
i R v
dt
d
s
r d q s q
r q d s d
q
d
e
e
(
(
(
=
0
0
q
d
dq
(
(
(

+
=
0 0
i R v
i R v
i R v
s
r d q s q
r q d s d
e
e
V
Let
we have
V
=
dt
d
dq 0
(
(
(
=
cc cb ca
bc bb ba
ac ab aa
abc
L L L
L L L
L L L
L
|
.
|
\
|
+ + + =
|
.
|
\
|
+ + =
+ + =
3
2
2 cos
3
2
2 cos
2 cos
t
u
t
u
u
me B A ls cc
me B A ls bb
me B A ls aa
L L L L
L L L L
L L L L
or:
|
.
|
\
|
+ + =
|
.
|
\
|
+ =
+ =
3
2
2 cos
3
2
2 cos
2 cos
t
u
t
u
u
r B A ls cc
r B A ls bb
r B A ls aa
L L L L
L L L L
L L L L
2
t
u u + =
me r
( )
|
.
|
\
|
+ + = =
+ = =
|
.
|
\
|
+ = =
3
2
2 cos
2
1
2 cos
2
1
3
2
2 cos
2
1
t
u
u
t
u
me B A ca ac
me B A cb bc
me B A ba ab
L L L L
L L L L
L L L L
or:
( )
|
.
|
\
|
+ = =
= =
|
.
|
\
|
= =
3
2
2 cos
2
1
2 cos
2
1
3
2
2 cos
2
1
t
u
u
t
u
r B A ca ac
r B A cb bc
r B A ba ab
L L L L
L L L L
L L L L
2
t
u u + =
me r
6
th
nd
Edition, page 52,
also pages 264-265.
This matrix can be transformed into dq0 form and used to
find flux linkage.
PMabc abc abc abc
i L + =
( ) ( )
PMabc dq abcf dq
i K L K + =

0
1
0
1
( ) ( )
PMabc dq abc dq
K i K KL K K + =

0
1
0
1
0 0 0 0 PMdq dq dq dq
i L + =
( )
PMabc dq abc dq
K i K KL + =

0
1
0
where
(
(
(
+
=
) 3 / 2 cos(
) 3 / 2 cos(
) cos(
t u
t u
u
me
me
me
PM PMabc
or:
2
t
u u + =
me r
(
(
(
+
=
) 3 / 2 sin(
) 3 / 2 sin(
) sin(
t u
t u
u
r
r
r
PM PMabc
Inductance Matrix in dq0 Frame

Therefore, we get the following inductance matrix in dq0
frame:
(
(
(
= =

0
1
0
0 0
0 0
0 0
L
L
L
q
d
abc dq
K KL L
where
) (
2
3
) (
2
3
B A mq
B A md
L L L
L L L
=
+ =
ls
mq ls q
md ls d
L L
L L L
L L L
=
+ =
+ =
0
and
From
=
=
+ =
0 0
i L
i L
i L
ls
q q q
PM d d d

i L + =
(
(
(
= =
0
0
0
PM
PMabc PMdq
K
V
=
dt
d
dq 0
For linear model
from
V L
i
1
0
0

=
dq
dq
dt
d
dynamical equation
in terms of current
(
(
(

+
=
0 0
i R v
i R v
i R v
s
r d q s q
r q d s d
e
e
V
and
where
q q q
PM d d d
i L
i L
=
+ =

i L + =
(
(
(
=
0
0
0 0
0 0
0 0
L
L
L
q
d
dq
L
(
(
(

+
=
(
(
(
0 0 0 0
/ ) (
/ ) (
/ ) (
L i R v
L i L i R v
L i L i R v
i
i
i
dt
d
s
q PM r d d r q s q
d q q r d s d
q
d
e e
e
For Y connected winding, since , only need to consider
the first two equations for i
d
and i
q
.
0 ) (
3
1
0
= + + =
c b a
i i i i
Power
0
1 1
0
) (
dq
T T
dq abc
T
abc c c b b a a in

= = + + =
( )
0 0
2
2
3
i v i v i v p
q q d d in
+ + =
(
(
(
=

2 0 0
0 1 0
0 0 1
2
3
) (
1 1
K K
T
Torque
( )
0 0
2
2
3
i v i v i v p
q q d d in
+ + =
(
(
(
(
(
(
+
+ +
+
=
(
(
(
0 0
0
e
e
dt
d
i R
dt
d
i R
dt
d
i R
v
v
v
s
r d q q s
r q d d s
q
d
From
we have
( ) ) (
2 2
3
2
2
3
2
2
3
0
0
2
0
2 2
d q q d m
q
q
d
d q d s in
i i
P
dt
d
i
dt
d
i
dt
d
i i i i R p e
+
|
|
.
|
\
|
+ + + + + =
Copper Loss
Windings
) (
2 2
3
d q q d
m
mech
e
i i
P p
T
e
= =
mech
p
q q q
PM d d d
i L
i L
=
+ =

| |
q d q d q PM e
i i L L i
P
T ) (
2 2
3
+ =
Dynamical Equations of Motion
m
m
damp L e
m
dt
d
T T T
dt
d
J
e
u
e
=
=
where
| |
q T q d q d q PM e
i K i i L L i
P
T = + = ) (
2 2
3
For round rotor machine,

q d
L L =
q PM e
i
P
T
4
3
=
m m damp
D T e = D
m
is combined damping coefficient of rotor
and load.
| |
d q d PM
q
e
T
i L L
P
i
T
K ) (
4
3
+ = =
torque constant
PM T
P
K
4
3
=
dq Theory for Synchronous Machine
with Damper Winding
Relevance to Synchronous Machine
dq means direct and quadrature. Direct axis is aligned with
the rotors pole. Quadrature axis refers to the axis whose
electrical angle is orthogonal to the electric angle of direct
axis.
a axis
d axis
q axis
b axis
c axis
u
m
u
a
u
d
u
mq
2 2
2
t
u u u
u u
+ = =
=
me mq r
m me
P
P
min
g
max , or
r
min , or
r
max
g
is
r
u
d
a axis
u
m
u
a
q axis
u
mq
0
1
0
dq abc
abc dq
S K S
KS S
=
=
( ) ( ) ( )
( ) ( ) ( )
( ) ( )
( ) ( )
( ) ( ) (
(
(
+ +

=
(
(
(
+
+
=
1 3 / 2 sin 3 / 2 cos
1 3 / 2 sin 3 / 2 cos
1 sin cos
2 / 1 2 / 1 2 / 1
3 / 2 sin 3 / 2 sin sin
3 / 2 cos 3 / 2 cos cos
3
2
1
t u t u
t u t u
u u
t u t u u
t u t u u
me me
me me
me me
me me me
me me me
K
K
( ) ( ) ( )
( ) ( ) ( )
( ) ( )
( ) ( )
( ) ( ) (
(
(
+ +
=
(
(
(
+
+
=
1 3 / 2 cos 3 / 2 sin
1 3 / 2 cos 3 / 2 sin
1 cos sin
2 / 1 2 / 1 2 / 1
3 / 2 cos 3 / 2 cos cos
3 / 2 sin 3 / 2 sin sin
3
2
1
t u t u
t u t u
u u
t u t u u
t u t u u
r r
r r
r r
r r r
r r r
K
K
where
or
(MITs notation)
(Purdues notation)
abc abc S abc
dt
d
i R v + =
( ) ( ) ( )
0
1
0
1
0
1
dq dq S dq
dt
d
K i K R v K

+ =
( ) ( ) ( )
0
1
0
1
0
1
dq dq S dq
dt
d
K K i K KR v K K

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

0
1
0
1
0
1
0 dq dq dq S dq
dt
d
dt
d
K K KK i K KR v
0
1
0 0 0 dq dq dq S dq
dt
d
dt
d
K K i R v
|
.
|
\
|
+ + =

(
(
(
=
1 0 0
0 1 0
0 0 1
s S
R R
For stator windings
-1
:
Then, we get
(
(
(

=
|
.
|
\
|

0 0 0
0 0
0 0
1
r
r
dt
d
e
e
K K
(
(
(
(
(
(
+
+ +
+
=
(
(
(
0 0
0
e
e
dt
d
i R
dt
d
i R
dt
d
i R
v
v
v
s
r d q q s
r q d d s
q
d
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( ) (
(
(
+ +

=
(
(
(
+ +
=
0 3 / 2 sin 3 / 2 cos
0 3 / 2 sin 3 / 2 cos
0 sin cos
0 3 / 2 cos 3 / 2 sin
0 3 / 2 cos 3 / 2 sin
0 cos sin
1
t u t u
t u t u
u u
e
t u t u
t u t u
u u
e
r r
r r
r r
r
me me
me me
me me
me
dt
d
K
dt
d
me
me
u
e =
And for stator voltage, we
get
2
P
dt
d
m me
r
r
e e
u
e = = =
For rotor windings:
We assume the rotor has field winding (magnetic field along d axis),
one damper with magnetic field along d axis and one damper
with magnetic field along q axis.
q d q d q d
k fk k fk r k fk
dt
d
i R v + =
(
(
(
=
q
d
k
k
f
r
R
R
R
0 0
0 0
0 0
R
(
(
(
=
0
0
f
k fk
v
q d
v
(
(
(
=
q
d q d
k
k
f
k fk

(
(
(
(
(
(
(
(
(
(
(
(
(
+
+
+
+
+ +
+
=
(
(
(
(
(
(
(
(
q q q
d d d
k k k
k k k
f f f
s
q r d q s
d r q d s
f
q
d
dt
d
i R
dt
d
i R
dt
d
i R
dt
d
i R
dt
d
i R
dt
d
i R
v
v
v
v
e
e
0 0
0
0
0
In summary:
(
(
(
(
(
(
(
(

+
=
(
(
(
(
(
(
(
(
q q
d d
q
d
k k
k k
f f f
s
r d q s q
r q d s d
k
k
f
q
d
i R
i R
i R v
i R v
i R v
i R v
dt
d 0 0 0
e
e
Let
we have
V
=
dt
d
dqf
(
(
(
(
(
(
(
(
=
q
d
k
k
f
q
d
dqf
(
(
(
(
(
(
(
(

+
=
q q
d d
k k
k k
f f f
s
r d q s q
r q d s d
i R
i R
i R v
i R v
i R v
i R v
0 0
e
e
V
|
.
|
\
|
+ + + =
|
.
|
\
|
+ + =
+ + =
3
2
2 cos
3
2
2 cos
2 cos
t
u
t
u
u
me B A ls cc
me B A ls bb
me B A ls aa
L L L L
L L L L
L L L L
or:
|
.
|
\
|
+ + =
|
.
|
\
|
+ =
+ =
3
2
2 cos
3
2
2 cos
2 cos
t
u
t
u
u
r B A ls cc
r B A ls bb
r B A ls aa
L L L L
L L L L
L L L L
2
t
u u + =
me r
(
=
rr
T
sr
sr ss
abcf
L L
L L
L
(
(
(
=
cc cb ca
bc bb ba
ac ab aa
ss
L L L
L L L
L L L
L
(
(
(
=
q d
q d
q d
ck ck cf
bk bk bf
ak ak af
sr
L L L
L L L
L L L
L
(
(
(
=
q d q q
q d d d
q d
k k k f k
k k k f k
fk fk f
rr
L L L
L L L
L L L
L
( )
|
.
|
\
|
+ + = =
+ = =
|
.
|
\
|
+ = =
3
2
2 cos
2
1
2 cos
2
1
3
2
2 cos
2
1
t
u
u
t
u
me B A ca ac
me B A cb bc
me B A ba ab
L L L L
L L L L
L L L L
( )
|
.
|
\
|
+ = =
|
.
|
\
|
= =
= =
3
2
cos
3
2
cos
cos
t
u
t
u
u
me sf fc cf
me sf fb bf
me sf fa af
L L L
L L L
L L L
or:
( )
|
.
|
\
|
+ = =
= =
|
.
|
\
|
= =
3
2
2 cos
2
1
2 cos
2
1
3
2
2 cos
2
1
t
u
u
t
u
r B A ca ac
r B A cb bc
r B A ba ab
L L L L
L L L L
L L L L
( )
|
.
|
\
|
+ = =
|
.
|
\
|
= =
= =
3
2
sin
3
2
sin
sin
t
u
t
u
u
r sf fc cf
r sf fb bf
r sf fa af
L L L
L L L
L L L
2
t
u u + =
me r
( )
|
.
|
\
|
+ = =
|
.
|
\
|
= =
= =
3
2
cos
3
2
cos
cos
t
u
t
u
u
me sk c k ck
me sk b k bk
me sk a k ak
d d d
d d d
d d d
L L L
L L L
L L L
or:
( )
|
.
|
\
|
+ = =
|
.
|
\
|
= =
= =
3
2
sin
3
2
sin
sin
t
u
t
u
u
r sk c k ck
r sk b k bk
r sk a k ak
d d d
d d d
d d d
L L L
L L L
L L L
2
t
u u + =
me r
( )
|
.
|
\
|
+ = =
|
.
|
\
|
= =
= =
3
2
sin
3
2
sin
sin
t
u
t
u
u
me sk c k ck
me sk b k bk
me sk a k ak
q q q
q q q
q q q
L L L
L L L
L L L
( )
|
.
|
\
|
+ = =
|
.
|
\
|
= =
= =
3
2
cos
3
2
cos
cos
t
u
t
u
u
r sk c k ck
r sk b k bk
r sk a k ak
q q q
q q q
q q q
L L L
L L L
L L L
Note: Higher order harmonics are neglected in the above expressions.
6
th
nd
Edition, pages 52
and 195.
+ =
+ =
+ =
q q q
d d d
mk lk k
mk lk k
mf lf f
L L L
L L L
L L L
= =
= =
=
0
0
d q q d
q q
d d
k k k k
f k fk
f k fk
L L
L L
L L
This matrix can be transformed into dq form and used to
find flux linkage.
abcf abcf abcf
i L =
( ) ( )
q d
k fk sr dq ss dq
i L i K L K + =

0
1
0
1
dqf dqf dqf
i L =
( )
q d
k fk sr dq ss dq
i KL i K KL + =

0
1
0
(
=
r
T
sr
sr ss
abcf
L L
L L
L
(
(
=
q d
k fk
abc
abcf
(
(
=
q d
k fk
abc
abcf
i
i
i
q d
k fk sr abc ss abc
i L i L + =
q d q d
k fk rr abc
T
sr k fk
i L i L + =
q d q d
k fk rr dq
T
sr k fk
i L i K L + =

0
1
(
rr
T
sr
sr ss
dqf
L K L
KL K KL
L
1
1
(
(
=
q d
k fk
dq
dqf
0
(
(
=
q d
k fk
dq
dqf
i
i
i
0
From with
where
Inductance Matrix in dq Frame
(
(
(
(
(
(
(
(
(
(
=
q q
d d d
d
q
d
k sk
k f k sk
fk f sf
sk q
sk sf d
dqf
L L
L L L
L L L
L
L L
L L L
0 0 0
2
3
0
0 0 0
2
3
0 0 0
2
3
0 0 0 0 0
0 0 0 0
0 0 0
0
L
where
) (
2
3
) (
2
3
B A mq
B A md
L L L
L L L
=
+ =
mq ls q
md ls d
L L L
L L L
+ =
+ =
and
dqf dqf dqf
i L =
From

+ =
+ + =
+ + =
=
+ =
+ + =
q sk k k k
f fk d sk k k k
k fk d sf f f f
k sk q q q
k sk f sf d d d
i L i L
i L i L i L
i L i L i L
i L
i L i L
i L i L i L
q q q q
d d d d d
d d
q q
d d
2
3
2
3
2
3
0 0 0
Through derivations, we have

(
rr
T
sr
sr ss
dqf
L K L
KL K KL
L
1
1
ls
L L =
0
V
=
dt
d
dqf
For linear model
from
V L
i
1
=
dqf
dqf
dt
d
dynamical equation
in terms of current
dqf dqf dqf
i L =
(
(
(
(
(
(
(
(

+
=
q q
d d
k k
k k
f f f
s
r d q s q
r q d s d
i R
i R
i R v
i R v
i R v
i R v
0 0
e
e
V
and
where
q q
d d
k sk q q q
k sk f sf d d d
i L i L
i L i L i L
+ =
+ + =
Power
0
1 1
0
) (
dq
T T
dq abc
T
abc c c b b a a in

= = + + =
( )
0 0
2
2
3
i v i v i v p
q q d d in
+ + =
(
(
(
=

2 0 0
0 1 0
0 0 1
2
3
) (
1 1
K K
T
Torque
( )
0 0
2
2
3
i v i v i v p
q q d d in
+ + =
(
(
(
(
(
(
+
+ +
+
=
(
(
(
0 0
0
e
e
dt
d
i R
dt
d
i R
dt
d
i R
v
v
v
s
r d q q s
r q d d s
q
d
From
we have
( ) ) (
2 2
3
2
2
3
2
2
3
0
0
2
0
2 2
d q q d m
q
q
d
d q d s in
i i
P
dt
d
i
dt
d
i
dt
d
i i i i R p e
+
|
|
.
|
\
|
+ + + + + =
Copper Loss
Windings
) (
2 2
3
d q q d
m
mech
e
i i
P p
T
e
= =
mech
p
Equivalent Circuit on d Axis (1)
d axis of stator, field winding and d axis damper of rotor can form an equivalent
circuit.
Let
md ls d
L L L + =
mf lf f
L L L + =
d d d
mk lk k
L L L + =
d d
d d
d d
k f d fk
k a d sk
k d mk
f a d sf
f d mf
a d md
N N C L
N N C L
N C L
N N C L
N C L
N C L

2
3
2
2
2
=
=
=
=
=
= )
2
1 (
8
2
0
g
av
d
P g
Dl
C
o
t
+ =
From
(Details @ Inductance for SM.ppt)
,
a
N
f
N
and are effective number of turns of

armature, field and d axis
damper windings, respectively.
d
k
N

dt
i i i d
L
dt
di
L i R
dt
di
L
dt
di
L
dt
di
L i R v
d
d
d
k f d
md
d
ls r q d s
k
sk
f
sf
d
d r q d s d
) (
' '
+ +
+ + =
+ + + =
e
e
f
a
f
f
md
sf
f
i
N
N
i
L
L
i

3
2
'
= =
Define
d
d
d
d
d
k
a
k
k
md
sk
k
i
N
N
i
L
L
i

3
2
'
= =
and
dt
di
L
dt
di
L
dt
di
L i R v
d
d
k
fk
d
sf
f
f f f f
+ + + =
2
3
dt
di
NL
dt
di
NL
dt
di
NL
dt
di
NL i NR Nv
d
d
k
fk
d
sf
f
mf
f
lf f f f
+ + + + =
2
3
dt
di
L
N
N
N
N
dt
di
L
dt
di
L
dt
di
L N i R N Nv
d
d
d
k
fk
k
a
f
a d
md
f
sf
f
lf f f f
' '
2 ' 2
2
3
2
3
2
3
|
|
.
|
\
|
+ + +
|
.
|
\
|
+
|
.
|
\
|
=
Define
f f
Nv v =
'

a
f
N
N
N
= and
dt
i i i d
L
dt
di
L i R v
d
k f d
md
f
lf f f f
) (
' ' '
' ' ' '
+ +
+ + =
lf
f
a
lf
f
f
a
f
L
N
N
L
R
N
N
R
2
'
2
'
2
3
2
3
|
|
.
|
\
|
=
|
|
.
|
\
|
=
where
2

3
2
a
k f
md
fk
N
N N
L
L
d d
=
dt
di
L
dt
di
L
dt
di
L
dt
di
L i R
dt
di
L
dt
di
L
dt
di
L i R
f
fk
d
sk
k
mk
k
lk k k
f
fk
d
sk
k
k k k
d d
d
d
d
d d d
d d
d
d d d
+ + + + =
+ + + =
2
3

2
3
0
From
above
3
2
|
|
.
|
\
|
=
|
|
.
|
\
|
d
d
k
a
sk
md
N
N
L
L
next page
dt
di
L
N N
N
dt
di
L
dt
di
L
N
N
dt
di
L
N
N
i R
N
N
f
fk
k f
a d
md
k
mk
k
a
k
lk
k
a
k k
k
a
d
d
d
d
d
d
d
d
d d
d
'
2
'
2
'
2
'
2

2
3
2
3
2
3
2
3
0 + +
|
|
.
|
\
|
+
|
|
.
|
\
|
+
|
|
.
|
\
|
=
dt
i i i d
L
dt
di
L i R
d d
d d d
k f d
md
k
lk k k
) (
0
' ' '
' ' '
+ +
+ + =
where
d
d
d
d
d
d
lk
k
a
lk
k
k
a
k
L
N
N
L
R
N
N
R
2
'
2
'
2
3
2
3
|
|
.
|
\
|
=
|
|
.
|
\
|
=
d
d
d
d
k f
a
fk
md
k
a
mk
md
N N
N
L
L
N
N
L
L

2
3
2
3
2
2
=
|
|
.
|
\
|
=
From
we get
md md d ls
k sk f sf d d d
i L i L
i L i L i L
d d
+ =
+ + =

' '
d
k f d md
i i i i + + =
dt
i i i d
L
dt
di
L i R v
d
k f d
md
d
ls r q d s d
) (
' '
+ +
+ + = e
dt
i i i d
L
dt
di
L i R v
d
k f d
md
f
lf f f f
) (
' ' '
' ' ' '
+ +
+ + =
dt
i i i d
L
dt
di
L i R
d d
d d d
k f d
md
k
lk k k
) (
0
' ' '
' ' '
+ +
+ + =
'
d
k
i
Equivalent Circuit on q Axis (1)
q axis equivalent circuit and q axis damper equivalent circuit
can be combined:
Let
mq ls q
L L L + =
q q q
mk lk k
L L L + =
q
q
q q
k
a q sk
k q mk
a q mq
N N C L
N C L
N C L

2
3
2
2
=
=
=
)
2
1 (
8
2
0
o
t
=
P g
Dl
C
av
q
From
(Details @ Inductance for SM.ppt)
s
N
and are effective number of turns of

stator and q axis damper
windings, respectively.
d
k
N

dt
i i d
L
dt
di
L i R
dt
di
L
dt
di
L
dt
di
L i R
dt
di
L
dt
di
L i R v
q
q
q
q
q
k q
mq
q
lq r d q s
k
sk
q
mq
q
lq r d q s
k
sk
q
q r d q s q
) (

'
+
+ + + =
+ + + + =
+ + + =
e
e
e
q
q
q
q
d
k
a
k
k
md
sk
k
i
N
N
i
L
L
i

3
2
'
= =
where
dt
di
L
dt
di
L
dt
di
L i R
dt
di
L
dt
di
L i R
q
sk
k
mk
k
lk k k
q
sk
k
k k k
q
q
q
q
q q q
q
q
q q q
2
3

2
3
0
+ + + =
+ + =
From
above
3
2
|
|
.
|
\
|
=
|
|
.
|
\
|
q
q
k
a
sk
mq
N
N
L
L
next page
dt
di
L
dt
di
L
N
N
dt
di
L
N
N
i R
N
N
q
mq
k
mk
k
a
k
lk
k
a
k k
k
a
q
q
q
q
q
q
q q
q
+
|
|
.
|
\
|
+
|
|
.
|
\
|
+
|
|
.
|
\
|
=
'
2
'
2
'
2
2
3
2
3
2
3
0
dt
i i d
L
dt
di
L i R
q q
q q q
k q
mq
k
lk k k
) (
0
' '
' ' '
+
+ + =
where
q
q
q
q
q
q
lk
k
a
lk
k
k
a
k
L
N
N
L
R
N
N
R
2
'
2
'
2
3
2
3
|
|
.
|
\
|
=
|
|
.
|
\
|
=
q
q
q
q
k f
a
fk
mq
k
a
mk
mq
N N
N
L
L
N
N
L
L

2
3
2
3
2
2
=
|
|
.
|
\
|
=
From
we get
mq mq q ls
k sk q q q
i L i L
i L i L
q q
+ =
+ =

'
q
k q mq
i i i + =
dt
i i d
L
dt
di
L i R v
q
k q
mq
q
lq r d q s q
) (
'
+
+ + + = e
dt
i i d
L
dt
di
L i R
q q
q q q
k q
mq
k
lk k k
) (
0
' '
' ' '
+
+ + =
'
q
k
i
Equivalent Circuit on 0 Axis
0 axis
dt
di
L i R v
s
0
0 0 0
+ =
This circuit is not necessary
for Y connected windings
since i
0
=0.
Dynamical Equations from
dt
di
L i R v
dt
di
L
dt
di
L i R v
dt
di
L
dt
di
L i R
dt
di
L
dt
di
L i R
dt
di
L
dt
di
L i R v
dt
di
L
dt
di
L i R v
ls s
md
md
f
lf f f f
mq
mq
k
lk k k
md
md
k
lk k k
mq
mq
q
lsq d r q sq q
md
md
d
lsd q r d sd d
q
q q q
d
d d d
0
0 0 0 0
'
' ' ' '
'
' ' '
'
' ' '
0
0
+ =
+ + =
+ + =
+ + =
+ + + =
+ + =
e
e
where
'
' '
q
d
k q mq
k f d md
i i i
i i i i
+ =
+ + =
Dynamical Equations from
The equations can be written in matrix form as:
V
I
L =
dt
d
where
(
(
(
(
(
(
(
(
+
+
+
+
+
=
mq lk mq
md lk md md
md md lf md
ls
mq mq lsq
md md md lsd
L L L
L L L L
L L L L
L
L L L
L L L L
q
d
'
'
'
0
0 0 0 0
0 0 0
0 0 0
0 0 0 0 0
0 0 0 0
0 0 0
L
(
(
(
(
(
(
(
(
=
'
'
'
0
q
d
k
k
f
q
d
i
i
i
i
i
i
I
(
(
(
(
(
(
(
(

+
=
' '
' '
' ' '
0 0 0
q q
d d
k k
k k
f f f
s
d r q sq q
q r d sd d
i R
i R
i R v
i R v
i R v
i R v
e
e
V
V L
I
1
=
dt
d
or

15 DQ Theory

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15 DQ Theory

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Synchronous Machine

Relevance to Synchronous Machine

Through derivations, we have

and are effective number of

Inductance Matrix in dq0 Frame

For round rotor machine,

Voltage Equations (4)

Through derivations, we have

and are effective number of turns of

Equivalent Circuit on d Axis (2)

and are effective number of turns of

Equivalent Circuit on q Axis (2)

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