In The Name of God The Most

Compassionate, The Most Merciful

General Theory of Electric Machines

2017 Shiraz University of Technology Dr. A. Rahideh

 Table of Contents

1. Introduction

2. Transformers

3. Reference-Frame Theory

4. Induction Machines

5. Synchronous Machines
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2017 Shiraz University of Technology Dr. A. Rahideh

Chapter 3
Reference-Frame Theory

3.1. Introduction

3.2. Fortescue’s Transformation

3.3. Clarke’s Transformation

3.4. Concordia’s Transformation

3.5. Park’s Transformation

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2017 Shiraz University of Technology Dr. A. Rahideh

 Introduction

Some of the applications of the Mathematical Transformations are

as follows:

1. To decouple variables;

2. To facilitate the solution of differential equations with time-

varying coefficients;

3. To refer all variables to a common reference frame.

2017 Shiraz University of Technology Dr. A. Rahideh

 Fortescue’s Transformation
• This transformation is known as the method of symmetrical
components and developed by Fortescue.

• This transformation states that N unbalanced phasors can be

represented by N systems of N balanced phasors.

• It uses a complex transformation to decouple the abc phase

variables.

• The method of symmetrical components is used to simplify

analysis of unbalanced three phase power systems under both
normal and abnormal conditions.

• It is used to decouple an unbalanced three-phase network into

three simpler sequence (zero, positive and negative) networks. 5

2017 Shiraz University of Technology Dr. A. Rahideh

 Fortescue’s Transformation
• The method of symmetrical components is expressed as follows

 f0   fa 
f012   T012 f abc 
f012    f1  f abc    f b 
f abc   T012  f012 
1
 f 2   f c 

• Variable f may be the currents, voltages or fluxes and the

transformation and its inverse are given by

1 1 1 1 1 1 2
1
T012  1 a a 2  T012 1  1 a 2 a  where a  e 3
j

3
1 a 2 a  1 a a 2 
6

2017 Shiraz University of Technology Dr. A. Rahideh

 Clarke’s Transformation
• The stationary two-phase variables of Clarke’s transformation are
denoted as a and b.

• As shown below, the a-axis coincides with the phase a-axis and the
b -axis leads the a-axis by /2.
b-axis

• A third variable known as the

b-axis
zero-sequence component =0
is also included.
a-axis
• Clarke’s transformation is not a-axis
power-invariant (i.e. the values of
power before and after the c-axis
transformation are not the same.
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2017 Shiraz University of Technology Dr. A. Rahideh

 Clarke’s Transformation
• Clarke’s transformation is expressed as follows

 fa   fa 
f   T  f 
ab 0 ab 0 abc
fab 0    f b  f abc    f b 
f abc   Tab 0 1 fab 0   f 0   f c 

• Similarly variable f may be the currents, voltages or fluxes and the

transformation and its inverse are given by
1  12  12  1 0 1
Tab 0  3 0 23
2
 23  Tab 0 1   12 2
3
1
 12 12 1 
2 
 12  2
3
1
8

2017 Shiraz University of Technology Dr. A. Rahideh

 Concordia’s Transformation
• Concordia’s transformation is similar to Clarke’s transformation.

• The only difference is that Concordia’s transformation is power-

invariant (i.e. the values of power before and after the
transformation are identical.
b-axis

• To have the power-invariant

b-axis
property, the transformation =0
matrix must be orthogonal.
a-axis
• A matrix is orthogonal if its inverse a-axis
and its transpose are the same, i.e.
c-axis
• M is orthogonal if M 1  M T
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2017 Shiraz University of Technology Dr. A. Rahideh

 Concordia’s Transformation
• Concordia’s transformation is similarly expressed as follows

 fa   fa 
f   T  f 
ab 0 ab 0 abc
fab 0    f b  f abc    f b 
f abc   Tab 0 1 fab 0   f 0   f c 

• The transformation and its inverse are given by

1  12  12  1 0 1 
2 3 2 1 
Tab 0  3  0 Tab 0   3  2
2
1
2
3
 2 2
3 1
2 
1 1 1   1  3 1 
 2 2 2   2 2 2 
10

2017 Shiraz University of Technology Dr. A. Rahideh

 Power-Invariant Property
Example: Consider a balanced 3-phase system with ohmic load. Show
that:

1. Clarke’s transformation is not power-invariant,

2. Concordia’s transformation is power-invariant.

va  Vm cos( t ) ia  I m cos( t )

 
vb  Vm cos( t  2 / 3) ib  I m cos( t  2 / 3)
v  V cos( t  4 / 3) i  I cos( t  4 / 3)
 c m c m

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2017 Shiraz University of Technology Dr. A. Rahideh

 Power-Invariant Property
Example: Part 1) Clarke’s transformation is not power-invariant,

• Using the 3-phase expressions at t = 0

va  Vm ia  I m
  P  va ia  vb ib  vc ic  32 Vm I m
 vb  2 Vm ib  2 I m
1 1

 v  1 V  i  1 I
 c 2 m c 2 m
Therefore not
• Using Clarke’s transformation at t = 0 power-invariant

va  Vm ia  I m
 
vb  0 ib  0 P  va ia  vb ib  v0 i0  Vm I m
v  0 i  0
 0 0
12

2017 Shiraz University of Technology Dr. A. Rahideh

 Power-Invariant Property
Example: Part 2) Concordia’s transformation is power-invariant,

• Using the 3-phase expressions at t = 0

va  Vm ia  I m
  P  va ia  vb ib  vc ic  32 Vm I m
 vb  2 Vm ib  2 I m
1 1

 v  1 V  i  1 I
 c 2 m c 2 m
Therefore
• Using Concordia’s transformation at t = 0 power-invariant

va  32Vm ia  32 I m

 
v b  0  ib  0 P  va ia  vb ib  v0 i0  32 Vm I m
v  0 i  0
 0 0 13

2017 Shiraz University of Technology Dr. A. Rahideh

 n-phase to 2-phase Transformation
• Another commonly-used transformation is the polyphase to
orthogonal two-phase transformation.

• For the n-phase to two-phase case, it is expressed as

f   T f
xy 12 3 n 
where
cos  cos  a   cos  (n  1)a 
T   2
 sin 
n
 sin   a   sin   (n  1)a 
and a is the electrical angle between adjacent magnetic axes of
the uniformly distributed n-phase winding. The coefficient 2 n is
to make the transformation power-invariant.
14

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation
• Park’s transformation is a well-known 3-phase to 2-phase
transformation in synchronous machine analysis.

• Three different cases are introduced:

Case 1: The q-axis is leading the d-axis by 90 electrical degrees;

and the angle between the d-axis w.r.t. the a-axis is used.

Case 2: The q-axis is lagging the d-axis by 90 electrical degrees;

and the angle between the d-axis w.r.t. the a-axis is used.

Case 3: The q-axis is leading the d-axis by 90 electrical degrees;

and the angle between the q-axis w.r.t. the a-axis is used.

15

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation Case 1
Case 1: The q-axis is leading the d-axis by 90 electrical degrees; and
the angle between the d-axis w.r.t. the a-axis is used.

 = s
d-axis

q-axis b-axis

d

=0
a-axis

c-axis
16

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation Case 1
• The case 1 of Park’s transformation is expressed as:

 fd   fa 
f   T
dq 0 dq 0 
( d ) f abc  f dq 0   f q  f abc    f b 
 f 0   f c 
where

 cos  d cos  d  2 3 cos  d  2 3 

  2
Tdq 0 ( d )   sin  d
3
 sin  d  2 3  
 sin  d  2 3 
 12 1
2
1
2


d   t  0
17

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation Case 1
• The case 1 of inverse Park’s transformation is expressed as:

 fd   fa 
fabc   Tdq0 (d )1 fdqo f 
dq 0   f q  f abc    f b 
 f 0   f c 
where

 cos  d  sin  d 1
 
Tdq 0 ( d )  cos  d  2 3  sin  d  2 3 1
1

cos  d  2 3  sin  d  2 3 1

d   t  0
18

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation Case 2
Case 2: The q-axis is lagging the d-axis by 90 electrical degrees; and
the angle between the d-axis w.r.t. the a-axis is used.

 = s
d-axis

b-axis

d

=0
a-axis

q-axis
c-axis
19

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation Case 2
• The case 2 of Park’s transformation is expressed as:

 fd   fa 
f   T
dq 0 dq 0 
( d ) f abc  f 
dq 0   f q  f abc    f b 
 f 0   f c 
where

cos  d cos  d  2 3 cos  d  2 3

  2
Tdq 0 ( d )   sin  d
3
  
sin  d  2 3 sin  d  2 3   
 12 1
2
1
2


d   t  0
20

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation Case 2
• The case 2 of inverse Park’s transformation is expressed as:

 fd   fa 
fabc   Tdq0 (d )1 fdqo f 
dq 0   f q  f abc    f b 
 f 0   f c 
where

 cos  d sin  d 1
 
Tdq 0 ( d )  cos  d  2 3 sin  d  2 3 1
1

cos  d  2 3 sin  d  2 3 1

d   t  0
21

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation Case 3
Case 3: The q-axis is leading the d-axis by 90 electrical degrees; and
the angle between the q-axis w.r.t. the a-axis is used.

 = s
q-axis

b-axis

q

=0
a-axis

d-axis
c-axis 22

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation Case 3
• The case 3 of Park’s transformation is expressed as:

 fq   fa 
f   T
qd 0 qd 0 ( q )  f 
abc f 
qd 0   f d  f abc    f b 
 f 0   f c 
where

cos  q cos  q  2 3 cos  q  2 3

  2
Tqd 0 ( q )   sin  q
3
  
sin  q  2 3 sin  q  2 3  
 12 1
2
1
2


 q   t   0  q   d  2
23

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation Case 3
• The case 3 of inverse Park’s transformation is expressed as:

 fq   fa 
f abc   Tqd 0 ( q ) 1 f qd 0  f 
qd 0   f d  f abc    f b 
 f 0   f c 
where

 cos  q sin  q 1
 1

  
Tqd 0 ( q )  cos  q  2 3 sin  q  2 3 1 
cos  q  2 3 sin  q  2 3 1
 
 q   t   0  q   d  2
24

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation on a 3-phase
Sinusoidal System
• Consider the following 3-phase voltage:
va  Vm cos( t ) 
v abc   vb   Vm cos( t  2 / 3)
vc  Vm cos( t  4 / 3)

• The aim is to find the case 3 of Park’s transformation.

v   T
qd 0 qd 0 ( q )  v 
abc

cos  q cos  q  2 3 cos  q  2 3

  2
Tqd 0 ( q )   sin  q
3
sin  q  2 3 sin  q  2 3
 12 1
2
1
2

25

2017 Shiraz University of Technology Dr. A. Rahideh

 Park’s Transformation on a 3-phase
Sinusoidal System
• Therefore

cos  q cos  q  2 3 cos  q  2 3  Vm cos  t  

v 
qd 0
2
  sin  q
3
sin  q  2 3 sin  q  2 3 Vm cos  t  2 3
 12 1
2
1
2
 Vm cos  t  4 3

• Which yields

cos    t   q   t  0
q cos  0 
v  V
qd 0 m
 sin 
 q   t  v 
qd 0  Vm  sin  0 
 0   0 

26

2017 Shiraz University of Technology Dr. A. Rahideh

 Power Transfer of Park’s Transformation
• The power in abc reference frame is expressed as

va  ia 
Pabc  v abc  i abc 
T
where v abc   vb  and i abc   ib 
 vc  ic 

• Using inverse Park’s transformation on the voltage and current

yields:

v abc   Tqd 0  1 v qd 0 
   v    T  i  
Pabc  Tqd 0
1 T 1

i abc   Tqd 0  1 i qd 0 
qd 0 qd 0 qd 0

27

2017 Shiraz University of Technology Dr. A. Rahideh

 Power Transfer of Park’s Transformation
   v    T  i  
Pabc  Tqd 0
1
qd 0
T
qd 0
1
qd 0

P  v   T   T  i 
T 1 T 1
abc qd 0 qd 0 qd 0 qd 0

• Using the inverse transformation matrix and its transpose we have:

 32 0 0
 T   T 
qd 0
1 T
qd 0
1
 0 32 0 Pabc  Pqd 0
0 0 3

• Therefore Park’s transformation is not power-invariant.

• To have power-invariant property the above matrix should be
identity. 28

2017 Shiraz University of Technology Dr. A. Rahideh

 Generalized Park’s Transformation
• The rotational velocity of the d-q frame can be arbitrary
(synchronous, asynchronous or zero)

f   T
qd 0 qd 0 ( )  f 
abc

where

cos  cos   2 3 cos   2 3

  2
Tqd 0 ( )   sin 
3 1
sin   2 3 sin   2 3
 2 1
2
1
2


29

2017 Shiraz University of Technology Dr. A. Rahideh