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15
SUMMARY
1. INTRODUCTION
2. THEORY
0378-7796/84/$3.00
@ Elsevier Sequoia/Printed
in The Netherlands
+d axis
rotor phase
A axis
stator phase
A axis
+q axis
Fig. 1. D, Q axes superimposed
[FOdq]
[Po][F
onto a three-phase
induction
motor.
(1)
ABcJ
Lss Lm
1/;ds
where
0
0
1/;ejr
Lm
Lrr 0
ids
1/2
1/2
1/;qS
Lss Lm
ejr
lqs
cos(e - A)
cos(e + A)
1/;qr
Lm
iqr
sin(e - A)
sin(e + A)
1/2
[Po]
= 2/3 cose
sin e
]
(2)
A new variable called the zero sequence component is included with the d,q variables in
order to handle unbalanced voltages and to
invert Park's transform.
The transformation
of rotor ABC variables
to rotor d,q variables is again carried out using Park's transform, but this time the angle {3
in Fig. 1 is used instead of e.
The voltage balance equations for the d,q
coils are as follows [5]:
W
{3
= pe = 0
(5)
=e - er =-e r
(6)
(7)
Vds
Rsids
+ P1/;ds
1/;qSpe
(3a)
Vqs
= Rsiqs
+ p1/;qS
1/;dsPe
(3b)
Substituting
Vejr
= Rriejr
+ p1/;ejr +
(3c)
Vds =
Vqr
= Rriqr
+ p1/;qr -1/;ejrP{3
where
1/;qrp{3
(3d)
Lrr
(4)
eqns.
(5)
- (7)
Rsids
+ P1/;ds
(8a)
(8b)
Vqs
Rsiqs
+ p1/;qS
Vejr
Rriejr
+ p1/;ejr
wr1/;qr
(8c)
= Rriqr
Vqr
+ ptJ;qr + wrtJ;dr
(8d)
+ wr[G][i]
(9)
(10)
[i] = [ids'
(11)
idr,
iqs, iqr]T
= [B]{[v]
- [R][i] - wr[G][i])
(12)
= V rn cos( wst
Vbs = V rn cos(wst
Vcs = V rn cos( wst
vas
+ 7)
(13a)
+ 7 -;\)
(13b)
+ 7 + ;\)
(13c)
and the motor terminals are connected directly to the busbars, then using Park's transform
of eqn. (2),
Vds = V rn cos( wst + 7)
VqS
= - V rn sin(wst
+ 7)
(14)
= Vrn cos(wst
+ 7) - v~ - RLids - LLPids
(15)
VqS =-
(16)
The voltage components v~ and v~ across the
series capacitor are found by integrating the
equations:
= ids/Cs
= iqs/Cs
pv~
pv~
(17)
(18)
= {- Vrn sin(wst + 7) -
RLiqL
(20)
where
PVds
Vqs}/LL
= (idL - ids)/C
(21)
iqs)/C
(22)
It is possible to formulate
the equations
where shunt and series capacitors are connected simultaneously
to the motor. However, such a system is rather unlikely in practice and is therefore not considered here.
(b) Synchronously
rotating reference frame
Now 0 = wst; this is called the synchronously rotating reference frame because the
d,q axes rotate at synchronous speed. From
Fig. 1,
PVqs =(iqL
w = pO = Ws
(23)
{3=O-Or=wst-Or
p{3= Ws- wr
(24)
Substituting
eqns.
(25)
(23)
- (25)
(26a)
(26b)
Vdr
=Rridr
(26c)
Vqr
= Rriqr
+ ptJ;qr -
(26d)
(ws":"'- wr)tJ;dr
(27)
Vrn
cos 7
VqS = -Vrn
sin 7
(28)
Vqs
= Vm cos - 0:lsLLiqs
Vd-
"1
=-
RLids
LLPids
(29)
(30)
= ids/Cs -
wsv~
(31)
(32)
When there are shunt capacitors connected
across the terminals of the motor (without
series capacitors), eqns. (19) - (22) become
pidL
= (V m cos
"1
RLidL
Vds
- w.LLiqd/LL
(33)
piqL
= (- Vm sin
"1
RLiqL
= Rriqr
VqS + WsLLidd/LL
IS
= (idL - ids)/C -
PVqs
= (iqL -
p[i]
(35)
WsVqs
Vds
= Vm cos(S0:lst
(42)
+ "1)
Vm sin(swst + "1)
(43)
The d,q voltages are therefore of slip frequency and the d-axis rotor current behaves
exactly as the phase A rotor current does.
This means that it is not necessary to compute the phase A rotor current at each step of
the digital integration process through the inverse of Park's transform. This saves computer
time and hence is an advantage of the rotor
reference frame when studying rotor quantities.
If there are compensating capacitors connected to the motor, then for the case when
only series capacitors are present, the terminal
voltage eqns. (15) and (16) become
Vds
Vqs
(36)
iqs)/C + WsVds
(41)
(34)
PVds
(40d)
+ pl/Jqr
Vqs =-
+ 0:lsLLids
PVd
Vqr
Vd -
RLids
(44)
- LUJiqs + 0:I.LLids
(45)
where
= iqs/Cs
pv~
(46)
(47)
+ 0:lrVd
W = p(J = 0:lr
(37)
{3= (J -
(38)
pidL
=0
(Jr
p{3= 0
= Rsids
VqS = Rsiqs
Vds
eqns. (37)
- (39)
piqL
= {- Vm
(40a)
+ pl/JqS - wrl/Jds
(40b)
PVd = (idL
(40c)
pv~
= (iqL -
(48)
+ 0:I.LLidL
+ P I/Jds+ 0:lrI/Jqs
+ "1) - RLidL
- 0:I.LLiqL- vds}/LL
(39)
Substituting
= {V m cos(S0:lst
VqJ/LL
(49)
ids)/C - WrVqS
(50)
iqs)/C
(51)
+ WrVds
= wbLm(idIiqs
The mechanical
PWr
= (Te
iqricts)/2
(52)
motion is described by
- Td/J
(53)
3. RESULTS
TERMINAL VOLTAGE
1.~
::3
n:
6.
TORQUE
1. Ii!JIII.
:::i
n: 4.
. 5111
Ia...
-.5111
(/)
...
.J -1. Nj.
a
>
-1. 5
t-
la.1N
DU/\
sa. IN
TIME
"c
/\
1... IN
(a)
1sa. I!II/J
2lll1a.RII!I
W
::J
CJ
0:
a
...
Ia.
-2.
2SIa. IN
B.IN
51!1.RII!I
11!1a.IN
TIME
milli-SEC
"'1
151!1.&1111
(b)
2IIIa. I!II/J
2SIa. RII!I
mi 11 i-SEC
SPEED
1111.
:::i
n: 5.
:::i 1.
n:
Ia.
...
ffi
0:
0:
::J
U
-5.
a
w
w
n.
(/)
-11a.
&I.B
SIZI.IIIiI
Ia.
11Z111.1.
TIME
Fig. 2. Predicted
starting
lSIJ.1N
I!II/J
up performance
(c)
21i'11!1.B
mi 11 i-SEC
of a 22 kW induction
251!1.IN
la.1iJIII
sa. 111111
TIME
motor.
1&1111.IN
lSla.1N
(d)
21111!1.RII!I
mi 11 i -SEC
2S1Z1.1!11/J
D-AXIS
-+
i as
STATOR
CURRENT
ids
0.:
0.:
Iz -5.
w
It:
It:
::J
U
-ll!l.
-11!1.
g.1!II!I
ll!ll!l.1!II!I
51!1.1!11!1
TIME
l51!1.1!11!1
(a)
21!11!1.1!I1!1
I!I.I!II!I
251!1. I!II!I
ll!l.
11!1.
i
0.:
51!1.1!I1!1
ar
5.
0.:
D-AXIS
ROTOR
l51/J. ''''
ll!ll!l. I!II!I
TIME
milli-SEC
(b)
21!11!1.
I!II!I
251!1.1!I1II
milli-SEC
CURRENT
idr
5.
I!I.
I-
IZ -5.
W
It:
It:
::J
U
Z -5.1!I1
W
It:
It:
::J
U
-ll!l.
I!I.I!II!I
5111.0111
11!11!1.1!11!1
Fig. 3. Predicted
starting
l51!1.1!I1!I
(c)
TIME
up current
21!11!1.1!11!1
251!1.1!I1!1
reference
5IZI.1!I1!1
TIME
milli-SEC
frame.
ll!ll!l.1!II!I
l51!1.1!I1!I
(d)
21!11!1.1!I1!I
milli-SEC
251!1.1!11!1
11/1.
::5
0:
as
::5
0:
r
I
~ds
iI
...
Z
...
z -5. 1111
UI
0::
0::
:J
U
w
0::
0::
:J
U
-5. //I
II
-1111.//I
Sill. 111111
TIME
1//I. //I
2//1//1.//1//1
15111.//1//1
1111111.//1//1
(a)
mi
13.//1//1
25111.//1//1
11 i-SEC
Sill. ""
TIME
1//10. //I" .
ar
::5
0:
mi IIi
(b)
::5
0:
15".111111
2111111.111//1
25//1.111111
-SEC
I
idr
-1//1. //I
13.//1111
5//1.//1//1
TIME
1//1111.
//1//1
(c)
15//1.//1111
2111//1.//1//1
mi 11 i -SEC
25//1. //1111
1"//1.111"
15111.""
2//1//1.//1111 25//1.//1"
(d)
mi 11 i-SEC
i
::5
as
ids
0:
I-
Iffi
0::
0::
;:)
U
-5. IIJI
~
0::
-8.11J
;:)
U
-1"-"
511J.1IJ11J
TIME
1".
l11J0. IIJIIJ
1511J.00
20"- IIJ0
250.0B
mi 11 i-SEC
(a)
e. BIIJ
50. "0
TIME
10m.IIJ0
(b)
15m.IIJ0
200. 00
mi 1 Ii-SEC
250.00
::5
::5
ar
0:
0:
Izw -5.
0::
0::
I-
idr
Z
W
0::
0::
;:)
U
;:)
U
50.00
TIME
l11J0.1IJ11J
(c)
15". 00
20"- DB
mil Ii-SEC
250. BB
Fig. 5. Predicted starting up current using the synchronously rotating reference frame.
50.011J
TIME
1011J.00
150."0
(d)
200.00
250.00
milli-SEC
I>:>
""
studies, since the input to the machine equations are constant prior to any disturbance.
Also, because the stator and rotor d-axis
variables vary slowly in this frame, a larger
integration step length may be used on a
digital computer, when compared to that used
with the other two reference frames, for the
same accuracy of results.
It is also preferable to use this reference
frame for stability of controller design where
the motor equations must be linearized about
an operating point, since in this frame the
steady state variables are constant and do not
vary sinusoidally with time.
4. CONCLUSIONS
ACKNOWLEDGEMENTS
The authors acknowledge the assistance of
D.C. Levy, R.C.S. Peplow and H.L. Nattrass
in the Digital Processes Laboratory of the
Department
of Electronic Engineering and
M.A. Lahoud of the Department of Electrical
Engineering, University of Natal. They are
also grateful for financial support received
from the CSIR and the University of Natal.
NOMENCLATURE
C
Cs
H
ids, Vds
icb:, Vcb:
iqs, v qs
iqr> Vqr
idL
iqL
J
LL
Lss
Lrr
Lm
p
RL
Rs
Rr
Te
TL
'Y
A
1/J
Wb
Ws
Wr
shunt capacitor
series capacitor
constant
= Jws/2
stator d-axis current and voltage
rotor d-axis current and voltage
stator q-axis current and voltage
rotor q-axis current and voltage
d-axis line current
q-axis line current
inertia of motor
line inductance
stator self inductance
rotor self inductance
mutual inductance
derivative operator d/dt
line resistance
stator phase resistance
rotor phase resistance
electrical torque
load torque
phase angle at which phase A voltage
is applied to motor
21T/3 rad
flux linkage
nominal speed at which p.u.torque =
inertia
S-1
REFERENCES
Bs
B
Bm
Br
Bs
Bm
Bm
Br
= I0 m 0
[B)
where
Bs
= Lrr/D,
Br = Lss/D
Bm = -Lm/D,
D = Ls"Lrr-Lm
0
[Gs]
=I 0
-Lm
[Gr]=1
-Lrr
-Lss
0
-Lm
0
Lm Lrr
0
0
0
0
Lss
0
Lm
0
APPENDIXA
D, Q axis model matrices
[R]
=I
Rr
Rs
Rr
Rs
0
APPENDIX
[L]
=I
Lss
L
0
[F]
(B-2
Lrr
0
Lss
Lm
[Pe] [VABcJL
Lm
Lrr
0 -Lm -c-Lrr
Lm
Lrr
Lss
Lm
-Lss-Lm
0
0
0
0
0
= [Pe]Lp
{[Perl [iOdq]}
= L[Pe]p{[por1[iOdq])
= Lp[iOdq] + L[Po]p[Por1[iodq]
Now, substituting
(B-3
(B-4
for
o
[Pe]p[por1 =
= Lp[Per1[iOdq]
=I
(B-1
= Lp[iABcJ
Lm
[VOdq]L
[G] = I
0
0
0
-w
r
w
01
(B-5
hence
26
[UABcJc
(B-8)
= (l/C) f[iABcJ dt
[Per1[UABcJc = (1/C)j[Per1[iOdq]
Differentiation gives
dt
(B-9)
[Per1p[UOdq] + p[Per1[UOdq]
= (1/C)[Per1[iodq]
Multiplication
(B-1 0)
by Pe gives
P[UOdq]+ [Pe]p[Per1[UOdq]
= (l/C)[
(B-ll)
iOdq]
Therefore
P[UOdq]
= (l/C)[iodq] -
[Pe]p[Per1[UOdq]
(B-12 )
Hence
PUd
PUq
= id/C
= iq/C
APPENDIX C
- WUq
(B-13 )
+ WUd
(B-14 )