Reference Frame Theory

Dr R GOMATHI BHAVANI, BPDC

 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
Dr R GOMATHI BHAVANI, BPDC
 History of Reference Frame Theory

• 1929: Park’s 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

Dr R GOMATHI BHAVANI, BPDC

In this chapter, this transformation
is set forth and, it is applied to the
equations that describe resistive,
inductive, and capacitive circuit
elements.

Although changes of variables are

used in the analysis of ac machines
to eliminate time-varying
inductances, changes of variables
are also employed in the analysis of
Dr R GOMATHI BHAVANI, BPDC
various static, constant-parameter
power-system components and
control systems associated
with electric drives
 Reference Frame Theory

Dr R GOMATHI BHAVANI, BPDC

Introduced by R.H. Park in 1929 to model synchronous machines

 Three-Phase Transformation
to the Arbitrary Reference Frame
A change of variables that formulates a transformation of the three-phase variables of
stationary circuit elements to the arbitrary reference frame may by expressed as
fqd 0 s  K s fabcs

 fqs   fas 
f qd 0s   f ds  f abcs   f bs 
 
f0s  fcs 

f = voltage, current, or flux linkage

q = q-axis (quadrature axis) a = a-phase

d = d-axis (direct axis) b = b-phase
0 = zero sequence c = c-phase

Dr R GOMATHI BHAVANI, BPDC

Zero sequence current which occurs for a three phase ac

machine modeling, besides the physical dq model, completes
the equivalence. It is zero for Y connection or for symmetric
(balanced) operation.
The Reference Frame Transformation


    2  cos  2 
cos cos   
 3   3 

2  2  
K s  sin  sin  sin 
2
  
3  3   3 
 1 1 1 
 
 2 2 2 

ω = dϴ /dt
reference frame speed (rad/sec)
 = reference frame position (rad)

Dr R GOMATHI BHAVANI, BPDC

The Inverse Transformation

f abcs  K s1 f qd 0 s

 
 cos  sin  1
 
 2   2  1
K s1  cos   sin   
 3   3 
 

cos  2   2  
 sin   1
  3   3  

Dr R GOMATHI BHAVANI, BPDC

Portraying the transformation as
shown in next Figure 3.3-1 is
particularly convenient when
applying it to ac machines where
the direction of fas , fbs , and fcs
may also be thought of as the
direction of the magnetic axes
of the stator windings.

The direction of fqs and fds can be

considered as the direction of the
magnetic axes of the “new”
windings created by the change of
variables.
Dr R GOMATHI BHAVANI, BPDC
Dr R GOMATHI BHAVANI, BPDC
Numerical example

Dr R GOMATHI BHAVANI, BPDC

Example: Three-Phase Set of Voltages

vas  2 Vs cos e  v 

2 
vbs  2 Vs cos e  v  
 3 
2 
vcs  2 Vs cos e  v  
 3 

e  e t f - electric frequency (Hz)

e - electric radian frequency (rad/sec)
e  2 f
 e - electrical position (rad)
Vs - rms Voltage (V)
v - phase shift (rad)

Dr R GOMATHI BHAVANI, BPDC

Transform to the Arbitrary Reference Frame

vqd 0s  Ksvabcs

   2  cos   2   
  
cos  cos      
  3   3  
2 V s cos  e   v  
 vqs 
 v   2  sin   2   2      2 
 ds  3    sin   
3  sin   
3   2 Vs cos 
 e v  
       3 
v0s 
 1 1 1   2 
   2 Vs cose  v  3 
 2 2 2   

Dr R GOMATHI BHAVANI, BPDC

 Voltages in Arbitrary Reference Frame
q-axis voltage
2
vqs  2Vscos  cos  e  v   cos   23 cos e  v  23   cos   23 cos e  v  23 
3
using the identity,
3
cos  x cos  y   cos x  2
3 cos  y  2
3  cos x  2
3 cos  y  2
3  cos x  y 

2
vqs  2Vs cos   e  v 

d-axis voltage
2
vds  2Vssin cos e  v   sin   23 cos e  v  2
3   sin   23 cos e  v  23 
3
using the identity,
3
sin x cos  y   sin x  2
3 cos  y  23  sin x  23 cos  y  23   sin x  y 
2
vds  2Vs sin   e  v 

zero sequence voltage

1
v0s  2Vs cos e  v   cos e  v  23   cos e  v  23   0
3
Dr R GOMATHI BHAVANI, BPDC
THREE-PHASE TRIGONOMETRIC
RELATIONS

Dr R GOMATHI BHAVANI, BPDC

 Numerical Example

208 V, 3-phase, Y connected, f = 60 Hz (208 V line-to-line rms)

208 V v  0
Vs   120 V
3 Sinusoidal vqs, vds
1. Stationary reference frame   0

vqss  2Vs cos e 

vdss   2Vs sin e 

2. Synchronous reference frame    e

vqse  2Vs cosv  2Vs

vdse   2Vs sin v  0

Dr R GOMATHI BHAVANI, BPDC Constant vqs, vds

Axis Sketch with =0

vqss  2Vs cose 

vdss   2Vs sin e 

Dr R GOMATHI BHAVANI, BPDC

Axis Sketch with =e

vqse  2Vs cos v   170 V

vdse   2Vs sin v  0

Dr R GOMATHI BHAVANI, BPDC

 =e and v=30o

vqse  2 Vs cos v   147 V

vdse   2 Vs sin v   85 V

Dr R GOMATHI BHAVANI, BPDC

For balanced steady state conditions, the q and d variables
are
1) Sinusoidal in arbitrary, stationary, rotor reference
frames but
2) Constant for synchronously rotating reference frames
 Stationary circuit variables referred to
Commonly Used Reference Frames
Arbitrary   fqs , fds , f 0 s Ks

Stationary 0 f s, f s, f K ss
qs ds 0s

Synchronous   e f e, f e, f
qs ds 0s
K se

Rotor   r f r, f r, f K sr
qs ds 0s

1
compact notation Notes: In all reference frames f 0s  f as  f bs  f cs 
3
vqd 0s  Ksvabcs

0 s  K s v abcs
vqd
e e

Synchronously rotating frame –rotating at angular velocity

Dr R GOMATHI
corresponding to fundamental BHAVANI,
frequency of BPDC
variables associated with
stationary circuits ….> e = 2Πf
In an AC machine, e = Electric angular velocity of air gap rotating
magnetic fields established by stator currents of fundamental frequency
Real Power in the q-d Reference Frame

ias 
Pin  vas ias  vbs bsi  vcs csi  vas vbs vcs ibs   vabcs
T
i
abcs

ics 

Pin  K s1 vqd 0s  K s1iqd 0 s   v qdT 0s K s1  K s1 iqd 0s

T T

3 0
2 0
 
3
K   0 0
T
1
K s1
s
 2 
0 0 3

 

Pin 
3
vqs iqs  vds ids  3v0 si0s
2

Dr R GOMATHI BHAVANI, BPDC

 Reference Frame Transformation

Developed by R.H. Park in 1929 for analysis of synchronous

machines.

Allows treatment of balanced three-phase ac systems as two-phase

dc systems.
• This leads to application of classical control theory
• Also simplifies control equations of some systems

Dr R GOMATHI BHAVANI, BPDC

 3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference
Frame

• Resistive Circuits
vabcs  rsiabcs (3.4-1)

23
Resistive circuits
•All stator phase windings of either a
synchronous or a symmetrical induction
machine are designed to have the same
resistance.
•Transformers, capacitor banks, transmission
lines
•All power-system components are designed
so that all phases have equal resistances.
•Power-system loads are distributed between
phases so that all phases are loaded nearly
equal

Dr R GOMATHI BHAVANI, BPDC

 If the nonzero elements of the diagonal
matrix rs are equal, then

Resistance matrix associated with the arbitrary reference

variables ( fqs , fds , and f0s ) = Resistance matrix associated
with the actual variables if each phase of the actual circuit
has the same resistance.
If the phase resistances are unequal (unbalanced
or unsymmetrical), then the resistance matrix
associated with the arbitrary reference-frame
variables contains sinusoidal functions of θ except
Dr R GOMATHI BHAVANI, BPDC
when ω = 0, (stationary) whereupon Ks is algebraic.
Numerical Example

Dr R GOMATHI BHAVANI, BPDC

 3.4 Stationary Circuit Variables
Transformed to Arbitrary Reference
Frame

• Inductive Circuits
 v abcs  pλabcs (3.4-4)

27

Fall 2005 EE595S Electric Drive Systems

•Inductance of a balanced three-phase
inductive load
•A three-phase set of line reactors used in
high-voltage transmission systems
•Any symmetrical three-phase inductive
network without coupling between phases

Dr R GOMATHI BHAVANI, BPDC

 Self inductance Ls =Lls+ Lms
Mutual inductance M =- (1/2) Lms
Stator phases of
•Symmetrical induction machines
•Round-rotor synchronous machines
Dr R GOMATHI BHAVANI, BPDC

•Linear three-phase coupled systems are magnetically

symmetrical if the diagonal elements are equal and all
off-diagonal elements of the inductance matrix are
also equal.
•Equation (3.4-17) is of this form
We see from (3.4-18) that, for a symmetrical system,
KsLs(Ks) − 1 yields a diagonal matrix that, in effect, magnetically
decouples the substitute variables in all reference frames

Note: Self- and mutual inductances between

the stator phases of the salient-pole
synchronous machine form a magnetically
Dr R GOMATHI BHAVANI, BPDC
unsymmetrical system.
 Coupled Inductors

voltage equations
vabcs  Riabcs  pabcs
 ds 
vqd 0s  Riqd0s  pqd 0s   dqs dqs   qs 
 0 

Dr R GOMATHI BHAVANI, BPDC

 Coupled Inductors

flux linkage equations

L 1 1 
 ls  Lms  Lms  Lms  i
as   2 2
  as 
     1 L 1
 bs   2 ms Lls  Lms  Lms  ibs 
2  i 
cs   1 1  cs 
 L  Lms Lls  Lms 
 2 ms 2 

abcs  L s iabcs

K s abcs  K s L s iabcs

qd 0s  K s L s K s1 iqd 0s

Dr R GOMATHI BHAVANI, BPDC

 L 3 0 
 ls 2 Lms 0
 3L 
K s Ls K s1  0 Lls  ms 0
 2 
 0 0 Lls 
 

expanded form


qs   Lls  3 Lms  iqs
 2 

ds   Lls  3 Lms  ids
 2 

0 s  Llsi0 s

Dr R GOMATHI BHAVANI, BPDC

Transforming Circuit Elements: R-L Example

voltage equations
vas  Rias  pas
vbs  Ribs  pbs

vcs  Rics  pcs

d
note: p 
dt

flux linkage equations

as  Lias
bs  Libs
cs  Lics

Dr R GOMATHI BHAVANI, BPDC

 Transform Flux Linkage Equations

1. Compress equations

abcs  Liabcs

2. Transform equations
K s abcs  K s Liabcs  LKsiabcs

qd 0s  Liqd 0 s

3. Expand equations
qs  Liqs
ds  Lids
0 s  Li0 s

Dr R GOMATHI BHAVANI, BPDC

 Transform Voltage Equations

1. Compress equations

vabcs  Riabcs  pabcs

2. Transform equations
Ksvabcs  Ks Riabcs  Ks pabcs

vqd 0s  Riqd 0s  K s p{K s1qd 0s }

 Riqd 0s  K s K s1 pqd 0s  K s p{K s1 }qd 0s

s I
K sK 1

Dr R GOMATHI BHAVANI, BPDC

  
 0
 sin  cos 
 
 2   2  0
p{K s1 }     sin    cos   
  3   3 
 2  2  
 
 sin    cos   0
  3   3  

 0  0
K s p{K s1 }    0 0
0 0 0
 ds 
vqd 0s  Riqd 0s  pqd 0s  dqs dqs  qs 
 0 
3. Expand equations
vqs  Riqs  pqs  ds
vds  Rids  pds  qs
v0s  Ri0s  p0s 29

Dr R GOMATHI BHAVANI, BPDC

 Equivalent Circuit

q-axis d-axis zero sequence

vqs  Riqs  pqs  ds vds  Rids  pds  qs v0s  Ri0s  p0s

qs  Liqs ds  Lids 0 s  Li0 s

Dr R GOMATHI BHAVANI, BPDC

 Transformation of Circuit Elements

Balanced three-phase ac circuits transformed to two-phase dc circuits

(neglecting the zero sequence and assuming analysis in the
synchronous reference frame)

Flux linkage equations for inductive circuits were used for generality to
other circuits; including electric machines

Coupling terms between the q- and d-axes result from the

transformation. These will later be viewed as back-emf terms when
observing electric machinery in the synchronous reference frame.

Dr R GOMATHI BHAVANI, BPDC

Reference Frame Theory

A three-phase inductive load is connected to a three-phase voltage source. The inductance

L  1 mH and the source has parameters of V  120
is s V ,   45v o
, and f  60 Hz (where
e  et  2 f t ). Calculate the steady-state q- and d-axis voltages and currents in the
synchronous reference frame. Sketch these quantities and the rotating voltage and current
vectors on the graph below.

Sketch the q- and d-axis voltages in the synchronous reference frame for two cycles
of e .

Dr R GOMATHI BHAVANI, BPDC