VECTOR ANALYSIS OF A THREE-PHASE STATOR

Ronald De Four
Department of Electrical & Computer Engineering, The University of the West Indies
St. Augustine, Trinidad
rdefour@eng.uwi.tt
Emily Ramoutar
University of Trinidad & Tobago, Point Lisas Campus, Trinidad
eramoutar@tstt.net.tt
Juliet Romeo
Department of Electrical & Computer Engineering, The University of the West Indies
St. Augustine, Trinidad
jnromeo@hotmail.com
Brian Copeland
Department of Electrical & Computer Engineering, The University of the West Indies
St. Augustine, Trinidad
bcopeland@eng.uwi.tt
Abstract
Vector analysis is widely used for the analysis, modeling and control of electrical machines
excited with sinusoidal supply voltages. However, since the presentation of the theory to
field, it is not evident that any attempt had been made to justify the existence and location of
vector currents and voltages and the equality of scalar and vector current magnitudes. This
paper presents the development of an equivalent electric and magnetic circuit to show the
production of a magnetic vector current from a scalar electric current in a winding, provide
justification for the equality of scalar and vector current magnitudes and support the
existence and location of voltage vectors. In addition, the development of the equivalent
electric and magnetic circuits of a three-phase stator would provide a platform for vector

Copyright 2007 by Ronald De Four

All rights reserved. No part of this publication may be reproduced in any material form without
the written permission of the Copyright Owner, except in accordance with the provisions of the
Copyright Act 1997 (Act No. 8 of 1997) or under the terms of a License duly authorized and issued
by the Copyright Owner.

analysis of electrical machines excited with non-sinusoidal and dc supplies as is the case with
brushless dc machines.
Keywords: Vector Analysis; three-phase; stator.

1. Introduction
Vector analysis of three-phase electrical machines was developed by Kovacs and Racsz in [1]
and is widely used in the modeling, transient analysis and control of these machines. The
technique developed in [1] has been documented in many books of reputed authors. [2-5], and
has many advantages over other methods, some of which are: a reduction in system equations,
easier to control the machine, a clear conceptualization of machine dynamics and easier
analytical solution of dynamic transients of machine variables [6] However, the detailed material
presented by Kovacs in [7] for the development of the vector analysis theory of a three-phase
stator raises some issues of great concern.
This paper is intended to present the issues of concern in the vector analysis theory presented in
[7] and provide a basis for the existence of current and voltage vectors associated with the threephase stator of an electrical machine, through the development of an equivalent electric and
magnetic circuit.

2. Space Vector Theory Issues

The material presented by Kovacs in [7], for the development of the vector analysis theory of a
three-phase stator, raises the following issues of concern:
(1) It was reported by Kovacs in [7] that a current flowing through a stator phase winding
produces a related current vector along the windings magnetic axis. In addition, if the
instantaneous value of the winding current is given by i, the magnetomotive force (mmf)
produced was given by
F = Ni

(1)

where, N represented the number of turns in the winding. The mmf was reported to be a vector
quantity, lying on the magnetic axis of the winding and given by
r
r
F = Ni

(2)
2

r
r
which presents the existence of a current vector i which is collinear with the mmf F . However,
the current flowing through the winding was also regarded as a vector. Hence, the mechanism
and process by which a scalar current flowing through the winding produces a vector current
along the windings magnetic axis were not clearly presented.
(2) It was stated that the magnitude of the scalar current i in the winding was equal to that of the
r
vector current i lying on the windings magnetic axis, but no proof was given for this equality.
(3) The current vectors produced by each phase winding of a three-phase, two-pole stator,
whose phase windings were separated from each other by 120 electrical degrees, were added
vectorially to produce the resultant current vector, which was represented by
r
r
r2
i r = i a + a ib + a i c

(3)

r
where, i r represents the resultant current vector, i a , i b and ic are the instantaneous values of
r
r
currents in phase windings a, b and c respectively. Vectors a and a 2 are unit position vectors

representing the position of magnetic axes for windings b and c respectively. It was then inferred
that the resultant voltage vector could be produced in a similar manner by the vector addition of
the voltage vectors produced by each phase winding and given by
r
r
r
v r = v a + a vb + a 2 v c

(4)

r
where, v r is the resultant voltage vector and v a , vb and vc are the instantaneous values of
phase voltages for windings a, b and c respectively. Although the above equation exists, it was
not proven how scalar supply phase voltages were transformed into vector supply phase voltages
and how these vector supply phase voltages lie on the magnetic axes of the windings.
(4) And finally, the multiplication of a scalar voltage differential equation for a phase winding
by a unit position vector representing the position of the magnetic axis of that winding, although
mathematically correct, fails to show how these scalar voltages are physically transformed into
vector quantities. For example, Kovacs in [7] presented Eq. (5) which represent the scalar
voltage differential equation for winding b as
vb = i b Rb +

d b
dt

(5)

where, vb , i b and b are the scalar phase supply voltage, scalar phase current and scalar phase
flux linkage respectively and Rb the stator phase resistance for winding b. Eq. (5) was then
r
multiplied by a , the unit position vector indicating the direction of the positive magnetic axis of
winding b, producing Eq. (6).
r
r
r d b
a vb = a i b Rb + a
dt

(6)

Eq. (6) is mathematically correct, however, no physical steps were taken by Kovacs in [7] to
show how scalar voltages ib Rb and

d b
in Eq. (5) were transformed to vector quantities in Eq.
dt

(6).
It was also reported by Kovacs in [7] that the vector method is a simple but mathematically
precise method that makes visible the physical background of the various machine phenomena.
This is absolutely correct, however, the issues presented in (1) to (4) above, has failed to use the
physical background of the various phenomena in the development of the vector quantities and
equations. As a result, the full power and benefits of the vector method in the analysis of threephase machines were not realized.
Holtz in [8-10] has employed and presented the space vector theory developed by Kovacs and
Racz [1] in the development of vector equations for electrical machines. However, the issues
raised in (1) to (4) were not addressed. In fact, Holtz summarized the space vector notation as
introduced by Kovacs and Racz by stating it represents the sinusoidal field by a complex vector.
He added, it is postulated that the causes and effects of such field, namely the currents and
voltages, also have the property of space vectors owing to existing formal properties [10].

3. Equivalent Circuits of a Three-Phase Stator

A cross section of the stator windings of a two-pole, three-phase machine is shown in Fig. 1. The
phase windings are shown to be displaced from each other by 120 degrees and the positive
direction of current flowing through each winding is upwards through the non-primed side and
downwards through the primed side of each winding. Using this convention of current flow
through the windings, positive magnetic axes were developed for each phase winding, along
which all magnetic quantities exists.
4

Fig. 1 Stator Windings of a Two-Pole, Three-Phase Machine

The analysis of electromagnetic systems has traditionally been performed with the production of
two circuits, an electrical circuit for electrical analysis and a magnetic circuit for magnetic
analysis [11]. However, quantities in the electrical circuit affect quantities in the magnetic circuit
and vice versa. As a result of the dependence of both electrical and magnetic circuits on each
other, the development of an equivalent circuit containing both electrical and magnetic quantities
would prove to be very useful in the analysis of electromagnetic systems. Since the three-phase
stator is an electromagnetic system, then the development of an equivalent circuit containing
both electrical and magnetic quantities would be a powerful tool in the vector analysis approach
of this electromagnetic system.
For this analysis, one phase winding of the three-phase stator, winding aa' was selected for
analysis. This winding is represented by its center conductors and current flow through the
winding is in the positive direction as shown in Fig. 2(a). The phase winding possesses resistance
which is an electrical quantity and inductance which is both an electrical and a magnetic
quantity.
5

The winding resistance R a being an electrical quantity is removed from the winding together
with La

di a
di
, which is an electrical voltage. These two quantities R a and La a are placed on
dt
dt

the left (electric) side of the circuit with the supply voltage V a . The winding with its magnetic
quantities and electric current is on the right side of the circuit of Fig. 2(a). This process was
undertaken in order to separate the electrical quantities from the magnetic quantities. The electric
scalar current i a , which leaves the electric circuit flows through the winding and produces
r
vector magnetic field intensity H a along the positive magnetic axis of winding aa' as shown in
r
Fig. 2(a). The magnitude of H a , is obtained by a Amperes Circuital Law and is given by
ia N a
r
, where l a is the length of the path of H a and N a is the number of turns of winding aa'.
la
r
r
r
The magnetic field intensity H a produces flux density B a , which is collinear with H a , and
r
r
whose magnitude is given by | H a | , where is the permeability of the medium in which B a
r
r
r
exists. Flux density B a produces flux a , which is also collinear with B a and whose

r
magnitude is given by B a Aa , where Aa is the cross-sectional area of concern. The flux linking
r
r
winding aa' is given by a , which is collinear with a and whose magnitude is given by
r
r
a
r
r
a N a . And the flux linkage a produces current vector i a whose magnitude is given by
La
r
which is collinear with a , where L a is the inductance of winding aa'. Hence magnetic
r r r
r
r
quantities H a , B a , a , a and current vector i a all lie along the positive (+ ve) magnetic axis
of winding aa' and are spatial vector quantities possessing both magnitude and direction. Since
r
r
current vector i a leaves the magnetic circuit, a similar current vector i a must also enter the
series connected magnetic circuit of Fig. 2(b). In addition, since the electric and magnetic
circuits are connected in series, this implies that the scalar electric current i a is of same
r

magnitude as the vector magnetic current i a . The separation of electric and magnetic circuits is
shown by the dotted vertical line I in Fig. 2(b).
r
The vector magnetic current i a , on entering the electric circuit, produces a scalar current i a in

the electric circuit, and the scalar electric current i a on entering the magnetic circuit, produces a
6

r
vector magnetic current i a on the magnetic axis of winding aa' as shown in Fig. 2(b). Hence
r
the magnetic axis of winding aa' completes the electric circuit making i a and i a of same

magnitude.

Fig. 2 Equivalent Circuits of Winding aa' (a) Electric and Magnetic- Electric
Equivalent Circuits (b) Electric and Magnetic Equivalent Circuits
7

If i a is changing, then the effect of the magnetic circuit on the electric circuit is seen in the
voltage La

di a
r
which opposes the current i a . Since the magnitude of i a and i a are equal, and
dt

di a
r
can be referred
i a lies along the windings magnetic axis, then the voltages i a R a and La
dt

to the magnetic axis of winding aa' without changing their magnitudes. The vector summation
r
dia
r
of i a R a and La
along the magnetic axis of winding aa', produces the supply voltage
dt
r
vector V a along the magnetic axis of winding aa'. Applying Kirchhoffs voltage law to the
electric and magnetic sides of Fig. 2(b) yields,
V a = i a Ra + La

di a
dt

for the electric side,

(7)

for the magnetic side.

. (8)

and

r
dia
r
r
V a = i a R a + La
dt

The production of an equivalent circuit containing electric and magnetic quantities for the
electromagnetic system represented by one phase winding of a three-phase stator, clarifies the
issues raised in (1) to (4) above. A summary of the benefits gained from the above analysis
utilizing the equivalent circuit containing electric and magnetic quantities as it relates to the
issues raised in (1), (2) and (4) are as follows [12-13].
(5)

It shows, when a scalar current i a of an electromagnetic system, leaves the electric circuit
r
and enters the magnetic circuit, it is converted into a vector quantity i a of the same magnitude
as the scalar current. This is as a result of the series nature of the electric and magnetic circuits
resulting in the same magnitude of both scalar and vector currents. The location of the current
vector is along the magnetic axis of the winding, because all magnetic quantities are located on
its magnetic axis.
(6)

Since the vector current is of the same magnitude as the scalar current and this current

vector lies on the magnetic axis of the winding, then, scalar voltages i a R a and La

di a
can be
dt

r
dia
r
referred to the magnetic axis of the winding becoming i a R a and La
dt

respectively, with

these vector voltages being of same magnitude as their scalar counterparts. In addition, since the
di a
in the electric circuit results in the scalar supply
dt
r
dia
r
voltage, then, the sum of the vector voltages i a R a and La
results in the vector supply
dt

sum of the scalar voltages i a R a and La

voltage, which is of the same magnitude as the scalar supply voltage.

(7)

In addition to showing the process by which scalar voltages are referred to the magnetic

circuit of the electromagnetic system, the analysis provides a scalar and a vector voltage
differential equation as shown in Eqs. (7) and (8). If scalar analysis is being performed, then the
scalar voltage differential equation is utilized, while, if vector analysis is being performed on the
electromagnetic system formed by the stator, then, the vector voltage differential equation would
be utilized.

4.

Magnetic and Electric Vectors of a Three-Phase Stator

The application of the above technique to the three-phase, two-pole stator shown in Fig. 1, whose
phase windings are displaced from each other by 120 electrical degrees, produces the magnetic
and electric quantities of each phase along the phase magnetic axes as shown in Fig. 2.
Each magnetic or electric phase variable can now be added vectorially to produce the resultant of
r
r
r
that variable. Hence the resultant magnetic field intensity H res , flux density B res , flux res ,
r
r
r
flux linkage res , current vector i res , stator resistance voltage drop i res R s , inductance voltage

Ls

r
d i res
dt

r
and supply voltage V res are given by the vector addition of their phase variables

shown on the magnetic axes of Fig. 3, which yield:

r
r
r2
H res = H a + a H b + a H c

(9)

r
r
r2
B res = B a + a Bb + a B c

(10)

r
r
r
res = a + a b + a 2 c

(11)
9

Ls

r
r
r2
res = a + a b + a c

(12)

r
r
r2
i res = i a + a ib + a i c

(13)

r
r
2
i res R s = i a R a + a i b R b + a i c R c

(14)

r
d i res

(15)

dt

r
dia

r
r
r d i b r2 d i c
= La
+ a Lb
+ a Lc
dt
dt
dt
r
r
r
v res = v a + a v b + a 2 v c

(16)

where, R s = R a = Rb = Rc and L s = L a = Lb = Lc .
r
r
In Eqs. (9) to (16), a and a 2 are unit vectors representing the position of the positive magnetic

axes of windings bb' and cc' respectively and the magnetic and electric variables on the right
hand side of these equations are the instantaneous values of these variables for the particular
winding. In addition, the stator resistance and inductance of each phase winding are represented
by R s and L s respectively.
The application of Kirchhoffs law to the vector voltages on each magnetic axis yields,
va = ia Ra +

d a
dt

r
r
r d b
r
v b = a vb = a ib Rb + a
dt
r
r
r
r d c
.
v c = a 2 vc = a 2 ic Rc + a 2
dt

(17)

(18)

(19)

Eqs. (16) to (19) show that both the phase vector supply voltage and the resultant voltage vector
of the three phase windings were obtained by vector addition of vector voltages that exist on the
axes of the phase windings of Fig. 3 which addresses the issue raised in (4).

10

Fig. 3 Magnetic and Electric Quantities of Two-Pole, Three-Phase Stator Shown on Magnetic
Axes of the Windings

5.

Conclusion

The development of equivalent magnetic and electric circuits for a phase winding of a threephase stator produced electrical quantities on the electric side of the circuit and magnetic
quantities on the magnetic side. The boundary separating the electric and magnetic circuits is
interfaced by the scalar electric current on the electric side and the vector magnetic current on the
magnetic side of the equivalent circuit. This indicates that a scalar electric current flowing
through a stator phase winding produces a vector magnetic current on the magnetic axis of the
winding, with the reverse taking place when the vector magnetic current enters the electric
circuit. The equality of scalar electric current and the magnitude of vector magnetic current are
also realized by the manner in which the electric and magnetic circuits are connected. This
11

equality in scalar electric and vector magnetic current magnitudes permit the referral of scalar
electric voltages, including the supply voltage, to the magnetic circuit and lying on the magnetic
axis of the winding. The absence of this equivalent electric and magnetic circuit and the above
results derived from it has not inhibited growth in the area of transient analysis and modeling of
electrical machines under sinusoidal excitation. However, its introduction to the analysis of
electrical machines under sinusoidal excitation reveals the background of the various phenomena
occurring in the machine. In addition, the introduction of the equivalent electric and magnetic
circuits of a three-phase stator would provide a platform for vector analysis of electrical
machines excited with non-sinusoidal and dc supplies as is the case with brushless dc machines.

References
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12. De Four R., A Self-Starting Method and an Apparatus for Sensorless Commutation of
Brushless DC Motors WIPO Publication No. WO 2006/073378 A1 July 13, 2006.
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Brushless DC Motors TT Patent TT/P/2006/00070, 27 October, 2006.

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