EE595S: Class Lecture Notes

Chapter 3: Reference Frame Theory

S.D. Sudhoff

Fall 2005
 Reference Frame Theory

• Power of Reference Frame Theory:

¾Eliminates Rotor Position Dependence
Inductances and Capacitances
¾Transforms Nonlinear Systems to Linear
Systems for Certain Cases
¾Fundamental Tool For Rigorous Development
of Equivalent Circuits
¾Can Be Used to Make AC Quantities Become
DC Quantities
¾Framework of Most Controllers
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 History of Reference Frame Theory

• 1929: Park’s Transformation

¾ Synchronous Machine; Rotor Reference Frame
• 1938: Stanley
¾ Induction Machine; Stationary Reference Frame
• 1951: Kron
¾ Induction Machine; Synchronous Reference Frame
• 1957: Brereton
¾ Induction Machine; Rotor Reference Frame
• 1965: Krause
¾ 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
T
f bs f cs ] (3.3-3)

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 3.3 Equations of Transformation
⎡ ⎛ 2π ⎞ ⎛ 2π ⎞⎤
• Forward ⎢cos θ cos ⎜θ − ⎟ cos ⎜θ + ⎟
3 ⎠⎥⎥
⎢ ⎝ 3 ⎠ ⎝
Transformation 2⎢
K s = sin θ
⎛
sin ⎜θ −
2π ⎞ ⎛
⎟ sin ⎜θ +
2π ⎞ ⎥
⎟ (3.3-4)
3⎢ ⎝ 3 ⎠ ⎝ 3 ⎠⎥
⎢ 1 1 1 ⎥
⎢ ⎥
⎢⎣ 2 2 2 ⎥⎦

⎡ ⎤
⎢ cosθ sin θ 1⎥
• Inverse ⎢
− ⎛ 2π ⎞ ⎛ 2π ⎞ ⎥ (3.3-6)
Transformation (K s ) = ⎢cos ⎜θ − ⎟ sin ⎜θ − ⎟ 1⎥
1
⎢ ⎝ 3 ⎠ ⎝ 3 ⎠ ⎥
⎢ ⎛ 2π ⎞ ⎛θ + 2π ⎞ 1⎥
⎢ ⎜
cos θ + ⎟ sin ⎜ ⎟
⎣ ⎝ 3 ⎠ ⎝ 3 ⎠ ⎥⎦

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 3.3 Equations of Transformation

• Geometrical Interpretation

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 3.3 Equations of Transformation

• Transformation of Power
¾ Starting Point
• Pabcs = vas ias + vbs ibs + vcsics (3.3-9)

¾ Result
• Pqd 0 s = Pabcs (3.3-10)
3
= (vqsiqs + vdsids + 2v0 si0 s )
2

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 3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
• Resistive Circuits
¾ v abcs = rs i abcs (3.4-1)

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 3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference Frame
• Inductive Circuits
¾ v abcs = pλ abcs (3.4-4)

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 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
abcs = pq abcs
¾i (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
¾ rs = diag [ rs rs rs ] (3B-1)
⎡ Ls M M⎤
¾ Ls = ⎢M Ls M⎥ (3B-2)
⎢ ⎥
⎢⎣ M M Ls ⎥⎦

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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
¾ Voltage Equations
• vqs = rs iqs + ωλds + pλqs (3B-13)
• vds = rs ids − ωλqs + pλds (3B-14)
• v0s = rsi0s + pλ0s (3B-15)

¾ Flux Linkage Equations

• λqs = ( Ls − M )iqs (3B-16)
• λ ds = ( Ls − M )ids (3B-17)
• λ0 s = ( Ls + 2 M )i0 s (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 Trans-
frame speed Interpretation Variables formation
ω f qd0s or Ks
Stationary circuit variables referred to the
(unspecified)
arbitrary reference frame fqs, fds, f0s
0 s
fqd0 K ss
Stationary circuit variables referred to the s or
stationary reference frame s
fqs s
, fds, f0s
ωr r
fqd0 K rs
s or
Stationary circuit variables referred to a
reference frame fixed in the rotor r r
fqs , fds , f0 s

ωe e
fqd Kes
Stationary circuit variables referred to 0s or
the synchronously rotating reference frame e e
fqs, fds, f0s

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 3.6 Transformation Between
Reference Frames
• Consider Reference Frame x
¾ f qd 0 s = K s f abcs
y y
(3.6-1)
• Consider Reference Frame y
¾ fx = K x
s f abcs (3.6-2)
qd 0 s
• Thus

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 3.6 Transformation Between
Reference Frames
• Evaluating Yields
⎡cos (θ y − θ x ) − sin (θ y − θ x ) 0⎤
x y ⎢
¾ K = sin (θ y − θ x ) cos (θ y − θ x ) 0⎥ (3.6-7)
⎢ ⎥
⎢⎣ 0 0 1⎥⎦

• It Can Be Shown That

¾ ( x K y ) −1 =( x K y )T (3.6-8)

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 3.7 Transformation of a Balanced Set

• Consider 3-phase Variables

¾ f as = 2 f s cosθef (3.7-1)

¾ fbs = 2 f s cos ⎛⎜θ ef − 2π ⎞⎟ (3.7-2)

⎝ 3 ⎠
⎛ 2π ⎞
¾ f cs = 2 f s cos ⎜θ ef + ⎟ (3.7-3)
⎝ 3 ⎠

• Where
dθef
¾ ωe = (3.7-4)
dt

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3.7 Transformation of a Balanced Set

• It Can Be Shown
¾ f qs = 2 f s cos (θ ef − θ ) (3.7-5)

¾ f ds = − 2 f s sin (θ ef − θ ) (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…
¾ Fas = 2Fs cos [ωet + θ ef (0)] (3.8-1)
jθef ( 0) jωet
= Re [ 2Fs e e ]

⎡ 2π ⎤
¾ Fbs = 2Fs cos ⎢ωet + θ ef (0) − ⎥ (3.8-2)
⎣ 3⎦
j[θ ef ( 0) − 2π / 3] jωet
= Re [ 2Fs e e ]

⎡ 2π ⎤
¾ Fcs = 2Fs cos ⎢ωet + θ ef (0) + ⎥ (3.8-3)
⎣ 3⎦
j[θ ef ( 0 ) + 2π / 3] jωet
= Re [ 2Fs e e ]

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 3.8 Balanced Steady-State Phasor
Relationships
• From (3.7-5) and (3.7-6)
¾ Fqs = 2Fs cos [(ωe − ω )t + θ ef (0) − θ (0)] (3.8-4)
j[θef ( 0) −θ ( 0)] j (ωe −ω )t
= Re [ 2Fs e e ]

¾ Fds = − 2Fs sin [(ωe − ω )t + θ ef (0) − θ (0)] (3.8-5)

j[θef ( 0) −θ ( 0)] j (ωe −ω )t
= Re [ j 2Fs e e ]

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 3.8 Balanced Steady-State Phasor
Relationships
• From (3.8-1)
¾ F~as = Fs e jθef (0) (3.8-6)
• Consider Non-Synchronous Reference
Frame
~ j[θ ( 0 ) −θ ( 0 )]
¾ Fqs = Fs e ef (3.8-7)
~ ~
¾ Fds = jFqs (3.8-8)
• With Appropriate Choice of Reference
Frame
¾ F~as = F~qs (3.8-9)
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 3.8 Balanced Steady-State Phasor
Relationships
• For Synchronous Reference Frame
e j[θ ef (0) −θ e (0)]
¾ Fqs = Re [ 2Fs e ] (3.8-10)

e j[θef (0) −θe (0)]

¾ F = Re [ j 2Fs e ] (3.8-11)
ds

• With Appropriate Choice of Frame

e = 2F cosθ (0)
¾ Fqs (3.8-12)
s ef
e = − 2F sin θ (0)
¾ Fds (3.8-13)
s ef

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 3.8 Balanced Steady-State Phasor
Relationships
• Thus, Choosing Time Zero Position of Zero
¾ 2F~as = Fqs
e e
− jFds (3.8-14)

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 3.9 Balanced Steady-State Voltage
Equations
• Consider Non-Synchronous Reference Frame
• Recall
¾ F~ = F e jθef (0) (3.8-6)
as s
¾ F~qs = Fs e j[θef (0)−θ (0)] (3.8-7)
• Now Suppose
~ ~
¾ as
V = Z I
s as (3.9-4)
• We Can Show That
¾V~qs = Z s I~qs (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 3-
Phase Wye-Connected RL Circuit
¾ vas = 2Vs cos ωet (3.10-1)

⎛ 2π ⎞
¾ vbs = 2Vs cos ⎜ ωet − ⎟ (3.10-2)
⎝ 3 ⎠

¾ vcs = 2Vs cos ⎛⎜ ωet + 2π ⎞⎟ (3.10-3)

⎝ 3 ⎠

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 3.10 Variables Observed From
Several Frames of Reference
• Using Basic Circuit Analysis Techniques

2Vs
¾ ias = [−e −t /τ cos α + cos (ωet − α )] (3.10-4)
Zs

2Vs ⎡ −t / τ ⎛ 2π ⎞ ⎛ 2π ⎞⎤
¾ ibs =
Z s ⎢⎣
− e cos ⎜
⎝
α + ⎟
3 ⎠
+ cos ω
⎜ e
⎝
t − α − ⎟ (3.10-5)
3 ⎠⎥⎦

2Vs ⎡ −t / τ ⎛ 2π ⎞ ⎛ 2π ⎞ ⎤
¾ ics = ⎢⎣ − e cos ⎜ α − ⎟ + cos ω
⎜ e t − α + ⎟ ⎥(3.10-6)
Zs ⎝ 3 ⎠ ⎝ 3 ⎠⎦

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 3.10 Variables Observed From
Several Frames of Reference
• In (3.10-4)-(3.10-8)

¾ Z s = rs + jωe Ls (3.10-7)

Ls
¾ τ= (3.10-8)
rs

−1 ωe Ls
¾ α = tan r (3.10-9)
s

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 3.10 Variables Observed From
Several Frames of Reference
• Transforming to the Synchronous Reference
Frame
{−e −t / τ cos (ωt − α )
2Vs
¾ iqs = (3.10-10)
Zs
+ cos [(ωe − ω )t − α ]}
2Vs −t / τ
¾ ids = {−e sin (ωt − α ) (3.10-11)
Zs
− sin [(ωe − ω )t − α ]}

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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

2 ⎡cos(θ e − π / 6) sin(θ e ) ⎤
K ie = ⎢ sin(θ − π / 6) − cos(θ )⎥
3⎣ e e ⎦

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 Transformation of Measured Line-
to-Line Voltages
• Suppose we are measuring voltages in a
delta-connected load …

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 Transformation of Line-to-Line
Voltages

• Result

2 ⎡cos(θ e ) − cos(θ e + 2π / 3)⎤

K ev = ⎢
3 ⎣ sin(θ e ) − sin(θ e + 2π / 3) ⎥⎦

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