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+v b
i bs r
r
s
axis of rotor r
phase b +vbr
ibr
iar
r+
va
ias axis of stator
phase a
vas+
v cr+
i cr
cs
+v
ics
axis of stator
phase c r
axis of rotor
phase c
Voltage Equations
d as phase a
+v b
v as i as rs r
i bs r
s
dt
axis of rotor r
phase b +vbr
d bs
ibr
v bs i bs rs iar
dt
r+
va
ias axis of stator
phase a
vas+
v cr+
d cs
i cr
v cs i cs rs cs
+v
dt ics
axis of stator
phase c r
axis of rotor
phase c
Voltage Equations (contd)
Rotor Voltage Equations:
axis of stator
phase b
d a r
axis of rotor
phase a
v a r i a r rr
+v b
i bs r
dt r
s
axis of rotor r
d br phase b +vbr
v br i br rr
ibr
iar
dt
r+
va
ias axis of stator
phase a
d cr vas+
v cr+
i cr
v cr i cr rr
dt
cs
+v
ics
axis of stator
phase c r
axis of rotor
phase c
axis of stator
+v b
r
Equations r
i bs
s
axis of rotor r
phase b +vbr
ibr
iar
r+
va
ias axis of stator
phase a
vas+
v cr+
i cr
cs
+v
ics
axis of stator
+v b
r
Equations r
i bs
s
axis of rotor r
phase b +vbr
ibr
In general, we can assume: iar
r+
va
ias axis of stator
i as i bs i cs 0 vas+
phase a
v cr+
i cr
Let:
cs
+v
ics
Lss Ls M s
axis of stator
as Ls i as M s (i bs i cs ) phase c r
axis of rotor
phase c
M sr i ar cos( r ) M sr i br cos( r 120 ) M sr i cr cos( r 120 )
bs M s (i as i cs ) Ls i bs
M sr i ar cos( r 120 ) M sr i br cos( r ) M sr i cr cos( r 120 )
axis of stator
+v b
i bs r
Equations r
s
axis of rotor r
phase b +vbr
ibr
In general, we can assume: iar
r+
i ar i br i cr 0
va
ias axis of stator
phase a
vas+
v cr+
i cr
Let:
cs
+v
ics
Lrr Lr M r
axis of stator
phase c r
axis of rotor
phase c
ar M sr i as cos( r ) M sr i bs cos( r 120 ) M sr i cs cos( r 120 )
Lr i ar M r (i br i cr )
br M sr i as cos( r 120 ) M sr i bs cos( r ) M sr i cs cos( r 120 )
Lr i br M r (i ar i cr )
Flux Linkage Equations
Stator:
as Lss i as M sr i ar cos( r ) i br cos( r 120 ) i cr cos( r 120 )
bs Lss i bs M sr i ar cos( r 120 ) i br cos( r ) i cr cos( r 120 )
cs Lss i cs M sr i ar cos( r 120 ) i br cos( r 120 ) i cr cos( r )
Rotor:
ar M sr i as cos( r ) i bs cos( r 120 ) i cs cos( r 120 ) Lrr i ar
br M sr i as cos( r 120 ) i bs cos( r ) i cs cos( r 120 ) Lrr i br
d as
v as i as rs
dt
Model of Induction Motor
To build up our simulation equations, we
could just differentiate each expression for
, e.g.
d as d
v as i as rs First raw of the Matrix
dt dt
But since Lsr depends on position ,
which will generally be a function of time,
the trigonometric terms will lead to a mess!
Parks Transformation
The Parks transformation is a three-phase to two-
phase transformation for synchronous machine
analysis. It is used to transform the stator variables
of a synchronous machine onto a dq reference
frame that is fixed to the rotor.
+v b
i bs r with synchronous speed ()
r
axis of rotor s r
phase b +vbr
ibr
iar
r+
va ias axis of stator d-axis
phase a
vas+
v cr+
i cr
cs
+v
fd fa
f T f
q dq 0 b
f0 fc
where f can be i, v, or .
Parks Transformation (contd)
2 2
cos d cos d cos
d
3
3
2 2
Tdq 0 (d ) K sin d sin d sin
d
3 3
1 1 1
2
2 2
where K is a convenient constant. The current id and iq are
proportional to the components of mmf in the direct and quadrature
axes, respectively, produced by the resultant of all three armature
currents, ia, ib, and ic. For balanced phase currents of a given
maximum magnitude, the maximum value of id and iq can be of the
same magnitude. Under balanced conditions, the maximum magnitude
of any one of the phase currents is given by ia, peak ib, peak ic, peak id2 iq2 . To
achieve this relationship, a value of 2/3 is assigned to the constant K.
Parks Transformation (contd)
The inverse transform is given by:
cos d sin d 1
1 2 2
Tdq 0 (d ) cos d sin d 1
3 3
2 2
cos d 3 sin d 1
3
Of course, [T][T]-1=[I]
Parks Transformation (contd)
Thus,
vd va
v T v T v
q dq 0 b dq 0 abc
v0 vc
and
id ia
i T i T i
q dq 0 b dq 0 abc
i0 ic
Induction Motor Model in dq0
q-axis
iqs +
vqs
iqr +
vqr
d-axis
idr ids
vdr+ vds+
Induction Motor Model in dq0 (contd)
Lets us define new dq0 variables.
ROTOR:
"abc": abcr [ LTsr ] iabcs [ Lrr ]iabcr
"dq0": dq 0 r Tr abcr Tr [ LTsr ]Ts1 Ts iabcs [ Lrr ] Tr iabcr
dq 0 s Tr [ LTsr ]Ts1 idq 0 s [ Lrr ] idq 0r
1 0 0 1 0 0
Lss Lss 0 1 0 Lrr Lrr 0 1 0
0 0 1 0 0 1
Induction Motor Model in dq0 (contd)
Now:
3
2 M sr 0 0
TrTsrT Ts1 Ts LsrTr1 0 0
3
M sr
2
0 0 0
Just constants!!
T s T s 1dq 0s
1 d
T s RT s i dq 0s
dt
T s T s 1dq 0s
d
R i dq 0s
dt
Induction Motor Model in dq0 (contd)
dq 0s T s T s 1 dq 0s
d d
v dq 0s R i dq 0s
dt dt
d
0 0
dt
d
dq 0s
d
R i dq 0s 0 0 dq 0s
dt dt
0 0 0
Induction Motor Model in dq0 (contd)
0 0
0 0
0 0 0
d dr
v dr i dr rr ( r )qr
dt
d qr
v qr i qr rr ( r )dr
dt
d 0 r
v 0r i 0 r rr
dt
Induction Motor Model in dq0 (contd)
where P= # of poles
F=ma, so:
d r
J ( e l )
dt
where l = load torque