ELEC-E8405 Electric Drives Exercise 6

Problem 1: Space-vector components from line-to-line voltages

Line-to-line voltages uab and ubc are known. Calculate uα and uβ .

Solution
The voltage space vector is
2
uss = ua + ub ej2π/3 + uc ej4π/3 = uα + juβ


3
where ua , ub , and uc are the phase voltages Since the zero-sequence component does
not affect the space vector, we can freely add an arbitrary voltage u0 to each phase
voltage without affecting the space vector. Let us denote the modified voltages as
u0a = ua + u0 , u0b = ub + u0 , and u0c = uc + u0 . We can select u0 = −ub and then apply
the space-vector transformation:
2 0
uss =ua + u0b ej2π/3 + u0c ej4π/3


3
2
(ua − ub ) + (ub − ub )ej2π/3 + (uc − ub )ej4π/3

=
3
2
uab − ubc ej4π/3


=
3
2 1 1
= uab + ubc + j √ ubc
3 3 3
√
Hence, the components are uα = (2uab + ubc )/3 and uβ = ubc / 3.

Problem 2: Inverse transformation

The inverse space-vector transformations are

ua = Re {uss } ub = Re uss e−j2π/3 uc = Re uss e−j4π/3

 

Let us consider the phase b as an example here. Show that the above expression for
the phase voltage ub holds.

Solution
The space vector is
2
uss =
ua + ub ej2π/3 + uc ej4π/3


3
−j2π/3
Multiplying both sides by e gives
2
uss e−j2π/3 = ub + ua e−j2π/3 + uc ej2π/3


3          
2 2π 2π 2π 2π
= ub + ua cos − + j sin − + uc cos + j sin
3 3 3 3 3

Taking the real part gives

      
 s −j2π/3 2 2π 2π 2 1
Re us e = ub + ua cos + uc cos = ub − (ua + uc )
3 3 3 3 2

1/4
ELEC-E8405 Electric Drives Exercise 6

since cos(2π/3) = −1/2. Since the space vector does not include the zero-sequence
component, we can use ua + ub + uc = 0, giving ua + uc = −ub . Hence, the inverse
transformation is
ub = Re uss e−j2π/3


Remark: The projection of the vector on the direction of the phase b (having the
angle of 2π/3) is illustrated in the figure below. It is worth noticing that the voltage
ub is negative in the figure.

ej2π/3

uss

ub
ej0
ua
ub ej2π/3

uss e−j2π/3
ej4π/3

Problem 3: Field weakening

Consider a three-phase four-pole permanent-magnet synchronous motor. The stator
inductance is Ls = 0.035 H and the stator resistance can be assumed to be zero. The
permanent magnets induce the rated voltage of 400 V at the rotational speed of 1 500
r/min. The rated current is 7.3 A.
(a) The control principle id = 0 is used. The motor is operated at the rated voltage
and current. Calculate the rotational speed, torque, and mechanical power.
(b) The motor is driven in the field-weakening region at the rated voltage and cur-
rent. The speed is increased until the absolute values of id and iq are equal.
Calculate the rotational speed, torque, and mechanical power.
Draw also the vector diagrams.

Solution
√
p current is iN = 2·7.3 A = 10.3 A
The peak-valued quantities will be used. The rated
and the rated line-to-neutral voltage is uN = 2/3 · 400 V = 326.6 V. It is known
that the induced voltage is |es | = uN at the electrical angular speed

1500 r/min
ωm = 2πpn = 2π · 2 · = 2π · 50 rad/s
60 s/min

Hence, the permanent-magnet flux linkage can be solved as

|es | 326.6 V
ψf = = = 1.040 Vs
ωm 2π · 50 rad/s

2/4
ELEC-E8405 Electric Drives Exercise 6

(a) Since id = 0 and iq = iN , the current vector is

is = id + jiq = jiN = j10.3 A

The stator flux linkage is

ψ s = Ls is + ψf = 0.035 H · j10.3 A + 1.040 Vs = 1.040 + j0.361 Vs

and its magnitude is

q √
|ψ s | = ψd2 + ψq2 = 1.0402 + 0.3612 Vs = 1.10 Vs

Omitting the stator resistance, the steady-state voltage equation is

us = jωm ψ s

Hence, the electrical angular speed of the rotor becomes

|us | 326.6 V
ωm = = = 296.9 rad/s
|ψ s | 1.10 Vs

and the corresponding rotational speed is

ωm 296.9 rad/s
n= = · 60 s/min = 1 418 r/min
2πp 2π · 2
The torque is
3p 3·2
TM = ψf iq = · 1.040 Vs · 10.3 A = 32.1 Nm
2 2
and the mechanical power is
ωm 296.9 rad/s
PM = TM ωM = TM = 32.1 Nm · = 4.77 kW
p 2
The vector diagram is shown at the end of the solution.
q
(b) Now |id | = |iq | and |is | = i2d + i2q = iN . Hence, the absolute values of the
current components are
√
|id | = |iq | = iN / 2 = 7.3 A

The component id is negative in the field-weakening region and the component

iq is positive at positive torque:

is = id + jiq = −7.3 + j7.3 A

The stator flux linkage is

ψ s = Ls is + ψf
= 0.035 H · (−7.3 + j7.3) A + 1.040 Vs = 0.785 + j0.256 Vs

3/4
ELEC-E8405 Electric Drives Exercise 6

and its magnitude is

q √
|ψ s | = ψd2 + ψq2 = 0.7852 + 0.2562 Vs = 0.825 Vs

Hence, the electrical angular speed of the rotor becomes

|us | 326.6 V
ωm = = = 395.9 rad/s
|ψ s | 0.825 Vs

and the corresponding rotational speed is

ωm 395.9 rad/s
n= = · 60 s/min = 1 890 r/min
2πp 2π · 2
The torque and mechanical power are
3p 3·2
TM = ψf iq = · 1.040 Vs · 7.3 A = 22.8 Nm
2 2
ωm 396 rad/s
PM = TM = 22.8 Nm · = 4.5 kW
p 2
The vector diagrams are shown below.

q q

jωm Ls is
jωm Ls is jωm ψf

us jωm ψf us

is
is = jiq jiq
ψs ψs
Ls is Ls is

ψf d id ψf d

(a) (b)

Remark: It can be noticed that the torque decreases more than inversely pro-
portionally to the speed in the field-weakening region and the mechanical power
decreases. In surface-mounted permanent-magnet machines, the d component
of the current produces no torque; it only magnetises against the permanent
magnets in order to decrease the stator flux magnitude.

4/4