EE595S: Class Lecture Notes
Chapter 3: Reference Frame Theory
S.D. Sudhoff
Fall 2005
Reference Frame Theory
Power of Reference Frame Theory:
Eliminates Rotor Position Dependence
Inductances and Capacitances
Transforms Nonlinear Systems to Linear
Systems for Certain Cases
Fundamental Tool For Rigorous Development
of Equivalent Circuits
Can Be Used to Make AC Quantities Become
DC Quantities
Framework of Most Controllers
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History of Reference Frame Theory
1929: Parks Transformation
Synchronous Machine; Rotor Reference Frame
1938: Stanley
Induction Machine; Stationary Reference Frame
1951: Kron
Induction Machine; Synchronous Reference Frame
1957: Brereton
Induction Machine; Rotor Reference Frame
1965: Krause
Arbitrary Reference Frame
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3.3 Equations of Transformation
f qd 0 s = K s f abcs
(3.3-1)
(f qd 0 s )T = [ f qs
f ds
f0s ]
(3.3-2)
(f abcs ) = [ f as
f bs
f cs ]
(3.3-3)
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3.3 Equations of Transformation
Forward
Transformation
Inverse
Transformation
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cos
2
K s = sin
3
1
2
2
cos
cos +
3
3
2
2
sin
sin +
3
3
1
1
2
2
cos
sin
1
2
2
1
(K s ) = cos sin 1
3
3
2
+ 2 1
+
cos
sin
3
3
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(3.3-4)
(3.3-6)
3.3 Equations of Transformation
Geometrical Interpretation
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3.3 Equations of Transformation
Transformation of Power
Starting Point
Pabcs = vas ias + vbs ibs + vcsics
(3.3-9)
Result
Pqd 0 s = Pabcs
3
= (vqsiqs + vdsids + 2v0 si0 s )
2
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(3.3-10)
3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
Resistive Circuits
v abcs = rs i abcs
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(3.4-1)
3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
Inductive Circuits
v abcs = p abcs
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(3.4-4)
3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
Inductive Circuits (Continued)
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3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
Capacitive Circuits
i
abcs = pq abcs
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(3.4-19)
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3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
Capacitive Circuits (Continued)
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3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
Example 3B
rs = diag [ rs
Ls
Ls = M
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M
Ls
M
rs
rs ]
M
M
Ls
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(3B-1)
(3B-2)
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3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
Example 3B (Continued)
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3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
Example 3B (Continued)
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3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
Example 3B: Summary
Voltage Equations
vqs = rs iqs + ds + pqs
vds = rs ids qs + pds
v0s = rsi0s + p0s
(3B-13)
(3B-14)
(3B-15)
Flux Linkage Equations
qs = ( Ls M )iqs
ds = ( Ls M )ids
0 s = ( Ls + 2 M )i0 s
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(3B-16)
(3B-17)
(3B-18)
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3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
Equivalent Circuit
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3.5 Commonly Used Reference
Frames
Notation
Reference
frame speed
(unspecified)
0
Interpretation
Stationary circuit variables referred to the
arbitrary reference frame
Stationary circuit variables referred to the
stationary reference frame
r
Stationary circuit variables referred to a
reference frame fixed in the rotor
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Stationary circuit variables referred to
the synchronously rotating reference frame
Variables
f qd0s or
Transformation
Ks
fqs, fds, f0s
s
fqd0
s or
K ss
s
s
fqs
, fds
, f0s
r
fqd0
s or
r
K rs
fqs , fds , f0 s
e
fqd
0s or
Kes
e e
fqs
, fds, f0s
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3.6 Transformation Between
Reference Frames
Consider Reference Frame x
y
y
f qd 0 s = K s f abcs
Consider Reference Frame y
x
fx
=
K
s f abcs
qd 0 s
(3.6-1)
(3.6-2)
Thus
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3.6 Transformation Between
Reference Frames
Evaluating Yields
cos ( y x ) sin ( y x ) 0
x y
K = sin ( y x ) cos ( y x ) 0
0
0
1
(3.6-7)
It Can Be Shown That
( x K y ) 1 =( x K y )T
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(3.6-8)
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3.7 Transformation of a Balanced Set
Consider 3-phase Variables
f as = 2 f s cosef
(3.7-1)
fbs = 2 f s cos ef 2
(3.7-2)
(3.7-3)
f cs = 2 f s cos ef +
Where
e =
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def
(3.7-4)
dt
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3.7 Transformation of a Balanced Set
It Can Be Shown
f qs = 2 f s cos ( ef )
f ds = 2 f s sin ( ef )
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(3.7-5)
(3.7-6)
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3.7 Transformation of a Balance Set
Some Special Cases
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3.8 Balanced Steady-State Phasor
Relationships
For Steady State Conditions
Fas = 2Fs cos [et + ef (0)]
= Re [ 2Fs e
(3.8-2)
j[ ef ( 0) 2 / 3] jet
e
]
Fcs = 2Fs cos et + ef (0) +
3
= Re [ 2Fs e
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jef ( 0) jet
e
]
Fbs = 2Fs cos et + ef (0)
3
= Re [ 2Fs e
(3.8-1)
(3.8-3)
j[ ef ( 0 ) + 2 / 3] jet
e
]
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3.8 Balanced Steady-State Phasor
Relationships
From (3.7-5) and (3.7-6)
Fqs = 2Fs cos [(e )t + ef (0) (0)]
= Re [ 2Fs e
j[ef ( 0) ( 0)] j (e )t
(3.8-4)
Fds = 2Fs sin [(e )t + ef (0) (0)] (3.8-5)
= Re [ j 2Fs e
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j[ef ( 0) ( 0)] j (e )t
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3.8 Balanced Steady-State Phasor
Relationships
From (3.8-1)
F~as = Fs e jef (0)
(3.8-6)
Consider Non-Synchronous Reference
Frame
j[ ( 0 ) ( 0 )]
~
Fqs = Fs e ef
~
~
Fds = jFqs
(3.8-7)
(3.8-8)
With Appropriate Choice of Reference
Frame
F~as = F~qs
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(3.8-9)
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3.8 Balanced Steady-State Phasor
Relationships
For Synchronous Reference Frame
j[ ef (0) e (0)]
e
Fqs = Re [ 2Fs e
]
(3.8-10)
j[ef (0) e (0)]
e
F = Re [ j 2Fs e
]
ds
(3.8-11)
With Appropriate Choice of Frame
e = 2F cos (0)
Fqs
s
ef
(3.8-12)
e = 2F sin (0)
Fds
s
ef
(3.8-13)
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3.8 Balanced Steady-State Phasor
Relationships
Thus, Choosing Time Zero Position of Zero
e
e
2F~as = Fqs
jFds
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(3.8-14)
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3.9 Balanced Steady-State Voltage
Equations
Consider Non-Synchronous Reference Frame
Recall
F~ = F e jef (0)
as
s
F~qs = Fs e j[ef (0) (0)]
(3.8-6)
(3.8-7)
Now Suppose
~
~
V
=
Z
I
as
s as
(3.9-4)
We Can Show That
V~qs = Z s I~qs
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(3.9-9)
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3.9 Balanced Steady-State Voltage
Equations
Proof
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3.10 Variables Observed From
Several Frames of Reference
Suppose Following Voltages Applied to 3Phase Wye-Connected RL Circuit
vas = 2Vs cos et
(3.10-1)
= 2Vs cos et
(3.10-2)
vcs = 2Vs cos et + 2
(3.10-3)
vbs
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3.10 Variables Observed From
Several Frames of Reference
Using Basic Circuit Analysis Techniques
2Vs
ias =
[e t / cos + cos (et )]
Zs
ibs =
ics =
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(3.10-4)
2Vs t /
2
2
cos
cos
+
+
e
(3.10-5)
Z s
3
3
2Vs
Zs
2
2
t /
cos
cos
+
e
(3.10-6)
3
3
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3.10 Variables Observed From
Several Frames of Reference
In (3.10-4)-(3.10-8)
Z s = rs + je Ls
(3.10-7)
Ls
=
rs
(3.10-8)
1 e Ls
=
tan
(3.10-9)
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3.10 Variables Observed From
Several Frames of Reference
Transforming to the Synchronous Reference
Frame
2Vs
{e t / cos (t )
iqs =
Zs
(3.10-10)
+ cos [(e )t ]}
2Vs
t /
ids =
{e
sin (t )
Zs
(3.10-11)
sin [(e )t ]}
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3.10 Variables Observed From
Several Frames of Reference
In Stationary Reference Frame
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3.10 Variables Observed From
Several Frames of Reference
In Synchronous Reference Frame
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3.10 Variables Observed From
Several Frames of Reference
In Strange Reference Frame
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Transformation of Measured
Quantities
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Transformation of Measured
Currents
Suppose we are measuring 2 of 3 currents in
a wye-connected load
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Transformation of Measured
Currents
Result
K ie
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2 cos( e / 6) sin( e )
=
sin( / 6) cos( )
3
e
e
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Transformation of Measured Lineto-Line Voltages
Suppose we are measuring voltages in a
delta-connected load
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Transformation of Line-to-Line
Voltages
Result
K ev
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2 cos( e ) cos( e + 2 / 3)
=
3 sin( e ) sin( e + 2 / 3)
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