Week 11

𝟐𝝓 IM MODELING:
ROTOR to STATOR FRAME
Lecturer: Dr.Eng. Wahyu Kunto Wibowo
Electrical Machine Drives
EE4112
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01 CONTENTS

2𝝓 ROTOR to STATOR FRAME

2𝝓 SYNCHRONOUS FRAME

TORQUE EQUATION

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02 𝟐𝝓 𝐑𝐎𝐓𝐎𝐑 𝐭𝐨 𝐒𝐓𝐀𝐓𝐎𝐑
Induction Motor β Model

stator, s

rotor, r

rotor, r r
stator, s

 v s   R s + pL s 0 pLms cos  r − pLms sin  r  i s 

v   where :
 s  =  0 R s + pL s pLms sin  r pLms cos  r  i s 
 v r   pLms cos  r pLms sin  r R r + pL r  i r  d
  
0
 
p=
v r   − pLms sin  r pLms cos  r 0 R r + pL r  i r  dt
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 03 𝟐𝝓 𝐑𝐎𝐓𝐎𝐑 𝐭𝐨 𝐒𝐓𝐀𝐓𝐎𝐑
Induction Motor β Model

 v s   R s + pL s 0 pLms cos  r − pLms sin  r  i s 

v   0 R s + pL s pLms sin  r  
pLms cos  r  i s   where :
 =
 s
d
 v r   pLms cos  r pLms sin  r R r + pL r 0  i r  p =
     dt
v r   − pLms sin  r pLms cos  r 0 R r + pL r  i r 

Assumption : Rotor and Stator β resistances are equal, Rotor and Stator β inductance equal

 v s   Rs + pLs 0 pLms cos  r − pLms sin  r  i s 

v    i 
 s  =  0 Rs + pLs pLms sin  r pLms cos  r    s 
 v r   pLms cos  r pLms sin  r Rr + pLr 0  i r 
    
v r   − pLms sin  r pLms cos  r 0 Rr + pLr  i r 
 A 
v  =  A  i 
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http://people.ece.umn.edu/users/riaz/animations/sinvec.html
04 𝟐𝝓 𝐑𝐎𝐓𝐎𝐑 𝐭𝐨 𝐒𝐓𝐀𝐓𝐎𝐑
β to d-q transformation

•Projecting rotor β into d-q frame Transformation matrix can be applied to

•Stator β and d-q is on the same frame current, voltage, and also flux
•Rotor and stator become one frame

qsr stator β frames to d-q frames

ds =  s  d s   s 
q  =  
qs =  s  s  s
stator, s

Rotor β frames to d-q frames

r d r =  r cosr −  r sin  r
qr =  r sin r +  r cos r
rotor, r
dr  cosr − sin r   r 
rotor, r r dsr  q  =  sin  cos    
 r  r r  r

stator, s Rotor d-q frames to β frames

 r = dr cosr + qr sin r
r = −dr sin r + qr cosr
 r   cosr sin r   dr 
   = − sin  cos   q 
 r  r r r

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05 𝟐𝝓 𝐑𝐎𝐓𝐎𝐑 𝐭𝐨 𝐒𝐓𝐀𝐓𝐎𝐑
β to dq transformation
qsr qsr

stator, s stator, qs

r
rotor, r rotor, qr

change
rotor, r r dsr rotor, dr stator, ds dsr
stator, s

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06 𝟐𝝓 𝐑𝐎𝐓𝐎𝐑 𝐭𝐨 𝐒𝐓𝐀𝐓𝐎𝐑
β to dq transformation
qsr qsr

stator, s stator, qs

r
rotor, r rotor, qr

change
rotor, r r dsr rotor, dr stator, ds dsr
stator, s

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07 𝟐𝝓 𝐑𝐎𝐓𝐎𝐑 𝐭𝐨 𝐒𝐓𝐀𝐓𝐎𝐑
β to dq transformation
Step 1 : vdq  = C  v  v  =  A  i 

Step 2 : vdq  = C   A  i  i  = C  idq 

−1

:  dq          dq         idq 
−1
       
T
Step 3 v = C A C i = C A C

Step 1 :
 vds  1 0 0 0   v s 
v    
 qs  = 0 1 0 0  v s 
vdr  0 0 cos r − sin  r  v r 
    
vqr  0 0 sin  r cos r  v r 
Step 2 :
 vds  1 0 0 0   Rs + pLs 0 pLms cos r − pLms sin  r  i s 
v     
 qs  = 0 1 0 0   0 Rs + pLs pLms sin  r pLms cos r  i s 
vdr  0 0 cos r − sin  r   pLms cos r pLms sin  r Rr + pLr 0  i r 
     
vqr  0 0 sin  r cos r   − pLms sin  r pLms cos r 0 Rr + pLr  i r 
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08 𝟐𝝓 𝐑𝐎𝐓𝐎𝐑 𝐭𝐨 𝐒𝐓𝐀𝐓𝐎𝐑
β to dq transformation
Step 2:
 vds  1 0 0 0   Rs + pLs 0 pLms cos r − pLms sin  r  i s 
v     
 qs  = 0 1 0 0  0 Rs + pLs pLms sin  r pLms cos r  i s 
vdr  0 0 cos r − sin  r   pLms cos r pLms sin  r Rr + pLr 0  i r 
     
vqr  0 0 sin  r cos r   − pLms sin  r pLms cos r 0 Rr + pLr  i r 
 vds  ( Rs + pLs ) 0 pLms cos r − pLms sin  r  i s 
v    
 qs  =  0 ( Rs + pLs ) pLms sin  r pLms cos r  i s 
vdr   pLms r Lms cos r ( Rr + pLr ) − sin  r ( Rr + pLr )  i r 
    
vqr   −r Lms pLms sin  r ( Rr + pLr ) cos r ( Rr + pLr )  i r 

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09 𝟐𝝓 𝐑𝐎𝐓𝐎𝐑 𝐭𝐨 𝐒𝐓𝐀𝐓𝐎𝐑
β to dq transformation
Step 3 :
 vds  ( Rs + pLs ) 0 pLms cos r − pLms sin  r  1 0 0 0  ids 
v     
 qs  =  0 ( s
R + pLs) pL ms sin  r pL ms cos  r  0 1 0 0  iqs 
vdr   pLms r Lms cos r ( Rr + pLr ) − sin  r ( Rr + pLr )  0 0 cos r sin  r  idr 
     
vqr   −r Lms pLms sin  r ( Rr + pLr ) cos r ( Rr + pLr )  0 0 − sin  r cos r  iqr 
 vds  ( Rs + pLs ) 0 pLms 0  ids 
v    
 qs  =  0 ( Rs + pLs ) 0 pLms  iqs 
vdr   pLms r Lms ( Rr + pLr ) r Lr  idr 
    
vqr   −r Lms pLms −r Lr ( Rr + pLr ) iqr 
 A

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10 𝟐𝝓 𝐑𝐎𝐓𝐎𝐑 𝐭𝐨 𝐒𝐓𝐀𝐓𝐎𝐑
Final equation of dq transformation

vdq  =  Adq  idq 

 vds  ( Rs + pLs ) 0 pLms 0  ids 
v    i 
 qs  =  0 ( Rs + pLs ) 0 pLms   qs 
vdr   pLms r Lms ( Rr + pLr ) r Lr  idr 
    
vqr   −r Lms pLms −r Lr ( Rr + pLr ) iqr 

• Rotor and stator is on one frame (dq frame)

• The value is AC quantity

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11 𝟐𝝓 SYNCHRONOUS FRAME
dq to dqc transformation

•dqcsr is arbitrary frame Transformation matrix can be applied to

•Rotate the dqsr frame into dqcsr current, voltage, and also flux

qsr
Rotor dqc frames to dq frames
stator, qs

d = d c cosc − q c sin c
q = d c sin c + qc cosc
c
d  cosc − sin c   d c 
 q  =  sin  cos   c 
   c c  q 
rotor, qr

Rotor dq frames to dqc frames

d c = d cosc + q sin c
c dsr qc = −d sin c + q cosc
rotor, dr stator, ds d c   cosc sin c  d 
 c =   q 
 
q  − sin  c cos  c  

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12 𝟐𝝓 SYNCHRONOUS FRAME
dq to dqc transformation
Stator transformation matrix
ds 
qsr  d sc   cosc sin c 0 0   qs 
 c = 
0 0   d r 
C 
 qs   − sin c cosc
stator, qs

  d sc   cosr sin r 0 0  ds 

 qr   c   q 
q
 s= − sin  r cos  r 0 0  s
c Rotor transformation matrix
drc   0 0 cosr sin r  dr 
ds   c   
 r   0 0 − sin  cos  r   qr 
sin  r   qs 
q
 d rc  0 0 cos r
r
rotor, qr

 c = 
 qr  0 0 − sin  r cos r   d r 
 
c dsr  qr 
rotor, dr stator, ds

Transformation matrix Inverse transformation matrix

 cos r sin  r 0 0  cos r − sin  r 0 0 
 − sin  cos 0 0   sin  cos 
C  =  0 r 0 r cos sin   0
C  =  0 r 0 r cos − sin  
−1 0
r r
  
r r

 0 0 − sin  r cos  r  0 0 sin  r cos  r 

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13 𝟐𝝓 SYNCHRONOUS FRAME
dq to dqc transformation
 vds  ( Rs + pLs ) 0 pLms 0  ids 
v    
 qs  =  0 ( Rs + pLs ) 0 pLms  iqs 
vdr   pLms r Lms ( Rr + pLr ) r Lr  idr 
    
vqr   −r Lms pLms −r Lr ( r
R + pLr )
 iqr 
 Adq 

Step 1 : vdqc  = C  vdq  vdq  =  Adq  idq 

Step 2 : vdqc  = C   Adq  idq  idq  = C  idq

−1c


Step 3 : vdqc  = C   Adq  C −1 idqc  = C   Adq  C T idqc 

         

Step 1 :
 vdsc   cosc sin c 0 0   vds 
 c   v 
v
 qs  =  − sin  c cos  c 0 0   qs 
vdrc   0 0 cosc sin c  vdr 
 c   
vqr   0 0 − sin c cosc  vqr 
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14 𝟐𝝓 SYNCHRONOUS FRAME
dq to dqc transformation
Step 2 :
vdsc   cosc sin c 0 0  ( Rs + pLs ) 0 pLms 0  ids 
 c    
v
 qs  =  − sin  c cos  c 0 0  0 ( Rs + pLs ) 0 pLms  iqs 
vdrc   0 0 cosc sin c   pLms r Lms ( Rr + pLr ) r Lr  idr 
 c    
 qr  
v 0 0 − sin  c cos   −r Lms
c pLms −r Lr ( r r ) iqr 
R + pL
vdsc   cosc ( Rs + pLs ) sin c ( Rs + pLs ) cosc pLms sin c pLms  ids 
 c   i 
v
 qs  =  − sin  c( s
R + pL s) cos  c( s
R + pLs) − sin  c pLms cos  c pLms   qs 
vdrc   cosc pLms − r Lms sin c r Lms cosc + sin c pLms cosc ( Rr + pLr ) − r Lr sin c sin c ( Rr + pLr ) + r Lr cosc  idr 
 c   
vqr   − sin c pLms − r Lms cosc −r Lms sin c + cosc pLms − sin c ( Rr + pLr ) − r Lr cosc cosc ( Rr + pLr ) − r Lr sin c  iqr 

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14 𝟐𝝓 SYNCHRONOUS FRAME
dq to dqc transformation
Step 3 :
vdsc   cosc ( Rs + pLs ) sin c ( Rs + pLs ) cosc pLms sin c pLms  cosc − sin c 0 0  idsc 
 c    i c 
v
 qs  =  − sin  c ( R s + pL s ) cos  c ( R s + pL s ) − sin  c pLms cos  c pL ms  c sin  cos  c 0 0   qs 
vdr   cosc pLms − r Lms sin c r Lms cosc + sin c pLms cosc ( Rr + pLr ) − r Lr sin c sin c ( Rr + pLr ) + r Lr cosc   0
c
0 cosc − sin c  idrc 
 c    c 
 qr  
v − sin  c pLms −  L
r ms cos  c − L
r ms sin  c + cos  c pLms − sin  c( r
R + pL r) −  L
r r cos  c cos  c( r
R + pL r) −  L
r r sin  c   0 0 sin  c cos  c  iqr 

vdsc   ( Rs + pLs ) −c Ls pLms −c Lms  idsc 

 c   
vqs  =  c Ls ( Rs + pLs ) c Lms pLms  iqsc 
vdrc   pLms − (c − r ) Lms ( Rr + pLr ) − (c − r ) Lr  idrc 
 c   c 
vqr  (c − r ) Lms pLms ( c r ) r ( r r )  iqr 
 −  L R + pL

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15 𝟐𝝓 SYNCHRONOUS FRAME
Final equation of dqc transformation

vdqc  =  Adqc  idqc 

vdsc   ( Rs + pLs ) −c Ls pLms −c Lms  idsc 
 c   c 
vqs  =  c Ls ( Rs + pLs ) c Lms pLms  iqs 
vdrc   pLms − (c − r ) Lms ( Rr + pLr ) − (c − r ) Lr  idrc 
 c   c 
vqr  (c − r ) Lms pLms (c − r ) Lr ( Rr + pLr )  iqr 

• Rotor and stator is rotating (dqc frame)

• The value is DC quantity

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16 𝟐𝝓 IM MODELING
Commonly used induction motor models

1. Stator reference frames model

2. Rotor reference frames model
3. Synchronous rotating reference frames model

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17 𝟐𝝓 IM MODELING
1. Stator reference frames model
• Only rotor that rotating
• dqc model is exactly the same as the dq modeling when c = 0

 vdsc   ( Rs + pLs ) −c Ls pLms −c Ls  idsc 

 c   c 
 vqs  =  c Ls ( Rs + pLs ) c Ls pLms  iqs 
vdrc   pLms − (c − r ) Ls ( Rr + pLr ) − (c − r ) Lr  idrc 
 c    c 
vqr  (c − r ) Ls pLms (c − r ) Lr ( Rr + pLr )  iqr 
c = 0
 vds  ( Rs + pLs ) 0 pLms 0  ids 
    
 vqs  =  0 ( Rs + pLs ) 0 pLms  iqs 
vdr   pLms r Ls ( Rr + pLr ) r Lr  idr 
    
vqr   −r Ls pLms −r Lr ( Rr + pLr ) iqr 

Te =
3P
22
(
Lms iqsidr − idsiqr )
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18 𝟐𝝓 IM MODELING
2. Rotor reference frames model
• Only stator that rotating

 vdsc   ( Rs + pLs ) −c Ls pLms −c Ls  idsc 

 c   c 
 vqs  =  c Ls ( Rs + pLs ) c Ls pLms  iqs 
vdrc   pLms − (c − r ) Ls ( Rr + pLr ) − (c − r ) Lr  idrc 
 c    c 
vqr  (c − r ) Ls pLms (c − r ) Lr ( Rr + pLr )  iqr 
 c =  r  c = r
 vdsr  ( Rs + pLs ) −r Ls pLms −r Ls  idsr 
 r    r 
 vqs  =  r Ls ( Rs + pLs ) r Ls pLms  iqs 
vdrr   pLms 0 ( Rr + pLr ) 0  idrr 
 r    r 
vqr   0 pLms 0 ( Rr + pLr ) iqr 

Te =
3P
22
(
Lms iqsr idrr − idsr iqrr )
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19 𝟐𝝓 IM MODELING
3. Synchronous rotating reference frames model

 vdsc   ( Rs + pLs ) −c Ls pLms −c Ls  idsc 

 c   c 
 vqs  =  c Ls ( Rs + pLs ) c Ls pLms  iqs 
vdrc   pLms − (c − r ) Ls ( Rr + pLr ) − (c − r ) Lr  idrc 
 c    c 
vqr  (c − r ) Ls pLms (c − r ) Lr ( Rr + pLr )  iqr 
c = s
 vdse   ( Rs + pLs ) −s Ls pLms −s Ls  idse 
 e   e 
 vqs  =  s Ls ( Rs + pLs ) s Ls pLms  iqs 
vdre   pLms − (s − r ) Ls ( Rr + pLr ) − (s − r ) Lr  idre 
 e    e 
vqr  (s − r ) Ls pLms (s − r ) Lr ( Rr + pLr )  iqr 

Te =
3P
22
(
Lms iqse idre − idse iqre )
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20 POWER AND TORQUE
The power input to the 3 phase motor should be equal to the power input on the 2 phase motor

Pm = vabc  iabc  = vaia + vbib + vcic

T
Power :

(
Pm = v o  C  ) C  i o 
T

1 − 1 − 1  1 0 1
3 phase → 2 phase :  2 2 
T 
 
= v o  0 − 3 3  − 1 − 3

1 i o 
  2 2   2 2
1 0 1 1
a       1 1   1 
− 3 1
b  =  − 1 − 3 1      2 2 
   2 2   3
 c      0 0
 2 
− 1 3 
= v o   0 3 0  i o 
T
1
 2 2   2 
C  0 0 3
 
1 0 0  i 
= v v vo  0
3
(
1 0  i  = ( v i + v i ) + 2voio
3
)
vabc  = C  v o  2
0 0 2   io 
2

iabc  = C  i o 
Pm = ( v i + v i )
3
Power equivalence :
2
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21 2𝝓 IM MODELING
Voltage equation of the system :
 vdsc   ( Rs + pLs ) −c Ls pLms −c Lms  idsc 
 c   c 
 vqs  =  c Ls ( Rs + pLs ) c Lms pLms  iqs 
vdrc   pLms − (c − r ) Lms ( Rr + pLr ) − (c − r ) Lr  idrc 
 c   
vqr  (c − r ) Lms pLms (c − r ) Lr ( Rr + pLr )  iqrc 
Consist of :
vdq
c
 =  R idq
c
 +  L p idq
c
 + G r idq
c
 +  F c idq
c

Total power of induction motor :
T
Pm( 2 phase ) = idq
c
 vdq
c


= i   R  i  + i   L  p i  + i  G r i  + i   F c idq
c T
dq
c
dq
c T
dq
c
dq
c T
dq
c
dq
c c T

dq

  R  idq
T
idq
c c
 = 0 : Stator and rotor resistive losses (copper losses)

i   L  p idq
c T
dq
c
 = 0 : Rate of change of stored magnetic energy
Ideal
i  G r idq
c T
dq
c
 : Air gap power (product of the rotor speed and electromagnetic torque)

  F c idq
T
idq
c c
 = 0 : Reference frame power

Pm( 2 phase) = i  G r idq

c T
dq
c

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22 2𝝓 IM MODELING
Total power equation : Pm( 2 phase) = mTe( 2 phase )

mTe( 2 phase) = idqc  G r idqc 

T
Substitute :

matrix G  obtained from system matrix  Adq

c
 which contain r element

 ( Rs + pLs ) −c Ls pLms −c Lms 

 
 Adq  =
c  c Ls ( Rs + pLs ) c Lms pLms 
 pLms − (c − r ) Lms ( Rr + pLr ) − (c − r ) Lr 
 
(c − r ) Lms pLms (c − r ) Lr ( Rr + pLr ) 

 0 0 0 0
 0 0 0 0 
G  =  0 Lms 0 Lr 
 
 − Lms 0 − Lr 0

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23 2𝝓 IM MODELING
r
mTe( 2 phase) = idqc  G r idqc 
T
m =
P
2 T
idsc   0 0 0 0  idsc 
c  0  i c 
r  iqs   0 0 0   qs  
T =
P e ( 2 phase ) idrc   0 Lms 0 Lr  idrc  r
2 c   c 
iqr   − Lms 0 − Lr 0  iqr 
 0 
 0 
P c
Te( 2 phase) = ids iqsc idrc iqrc   
2  Lmsiqs + Lr iqr 
c c

 c 
− L i c
−
 ms ds r dr  L i

Te( 2 phase) =
P
2
(
Lmsiqsc idrc − Lmsidsc iqrc + Lr iqrc idrc − Lr idrc iqrc )
P
(
Te( 2 phase) = Lms iqsc idrc − idsc iqrc
2
)

Te =
3P
22
(
Lms iqsc idrc − idsc iqrc ) Power equivalence
condition

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 xx COURSE REFERENCES
1. Frank D. Petruzella, “Electric Motors and Control Systems”, McGraw Hill, 2016
2. R. Krishnan, “Electric Motor Drives: Modeling, Analysis, Control”, Prentice Hall
3. Stephen J. Chapman, “Electric Machinery Fundamentals, 4th Ed”, McGraw Hill.
4. Muhammad H. Rashid, “Power Electronic Handbook, 4th Ed”, Academic Press, 2014

And many more…

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 THANK YOU
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