SPACE-VECTOR THEORY

Basic assumptions
Flux density in the air gap of an electrical machine is sinusoidally
distributed
Magnetisation curve is a straight line
Iron losses can be neglected
Resistances and inductances are independent from frequency
Sinusoidal spatial variation is assumed; time variation can
be arbitrary

h
m
i
Sinusoidal spatial distribution (fundamental harmonic)
Currents in
stator slots
Fundamental harmonic of
the current distribution
Fundamental harmonic of
the magnetomotive force
A sinusoidal spatial distribution is uniquely specified by the amplitude
(maximum value) and phase angle (direction of the maximum value)
One complex variable, a vector in the complex plane, can be used to
specify this information (magnitude and direction)
Magnetomotive force of a symmetric three-phase winding
a
b
c
0
( ) ( ) ( )
( )
0 0 0
0
t
| |
= +
|

\ .

t (
| |
+
|
(
\ .

2
, cos cos
3
4
cos
3
s se sa sb
sc
f t N i t i t
i t
=
t
2
ws s
se
k N
N
p
Using complex notation and a spatial rotation operator
where is the space vector of current.
t
=
j2 / 3
a e
( ) ( ) ( ) ( )

0
0
(
= + +

2 -j
3 2
, Re a a e
2 3
s se sa sb sc
f t N i t i t i t
( ) ( ) ( ) ( )
2
2
a a
3
sa sc sb s
i t i t i t i t
(
= + +

phase ais in the direction of real axis (a
0
=1)
phase bis in direction 2t/ 3
phase cin direction 4t/ 3
A space vector is constructed
by adding the vectors corresponding
to the single phases
Im
Re
a
b
c
a
0
a
1
a
2
t
= = +
1 j2 / 3
1 3
a e j
2 2
t
= =
2 j4 / 3
1 3
a e j
2 2
Magnetic axis of the winding phases
s
i
Re
3
2
s
i
Im
a
2
a
2
a
sc
i
a
sb
i
sa
i
( ) ( ) ( ) ( )
2
2
a a
3
sa sc sb s
i t i t i t i t
(
= + +

( )
( ) ( ) j j

cos e e
2
i i
t t
s
sa s i
i
i i t
e e
e
+ +
(
= + = +

( ) ( )
2 2
j j
3 3
j j 2

cos e e
3 2

a e ae
2
i i
i i
t t
s
s i sb
t t
s
i
i i t
i
t t
e e
e e
t
e
| | | |
+ +
| |
\ . \ .
+ +
(
| |
(
= + = +
|
( \ .

(
= +

( ) ( )
2 2
j j
3 3
j j 2

cos e e
3 2

ae a e
2
i i
i i
t t
sc s i
t t
s
i
i i t
i
t t
e e
e e
t
e
| | | |
+ + + +
| |
\ . \ .
+ +
(
| |
(
= + + = +
|
( \ .

(
= +

A balanced three-phase system with frequency e
space vector for a steady-state current
The magnitude of the vector is
constant equal to the peak value
of the phase currents
The vector rotates at a constant
angular frequency e, which is the
line frequency
3 3
2 4 2
1 a a 1 1 1 3
1 a a 1 a a 0

+ + = + + =


`
+ + = + + =

)
( )
( )
( )
( )
( )
( )
2
j j 3 3 2 4
2
a a
3

e 1 a a e 1 a a
3 3
i i
sa sc sb s
t t
s s
i t i i i
i i
e e + +
= + +
= + + + + +
( ) j

e
i
t
s s
i i
e +
=

( )
s s
i t i =
( )
i
t t o e = +
A balanced three-phase system with frequency e
space vector for a steady-state current
Im
Re
^
i
s
e
If a three-phase current contains a zero-sequence component, i.e.
we can always write
The space vector of the three-phase current is
since
=>A space vector does not model zero-sequence components
Zero-sequence components
+ + = =
0
3 0
sa sb sc s
i i i i
= + = + = +
' ' '
0 0 0
; ;
sa sa s sb sb s sc sc s
i i i i i i i i i
( ) ( ) ( )
(
(
= + + + + + = + +


' ' ' ' ' ' 2 2
0 0 0
2 2
a a a a
3 3
sa s sb s sc s sa sb sc s
i i i i i i i i i i
( )
+ + =
2
0
1 a a 0
s
i
0
sa sc sb
i i i + + =

( )
2 1
Re a cos
3 2
t
= =

( )
2
2 1
Re a cos
3 2
t
= =


2
2
Re Re a a
3
2 1 1
3 2 2
s sa sc sb
sa sc sa sb
i i i i
i i i i
= + +
| |
= =
|
\ .

2
Re a
sb s
i i =

Re a
sc s
i i =

0
Re a
s
i
a
2
a
sc
i
sb
i
sa
i
Phase currents can be obtained from the projections
of the space vector
0
sa sc sb
i i i + + =
( )
o
= + + +
sa s h sa sb sc
L L i Mi Mi
Flux linkages
Sinusoidally distributed air-gap flux density
0 0 = = t = cos ; 2 3 =>
2
h
h
L
M L M
( ) ( ) ( )
o o
o
= + + + = + + + +
| |
= +
|
\ .
3

2
sa s h sa sb sc s h sa sa sb sc
s h sa
L L i Mi Mi L L M i M i i i
L L i
as far as
New notations:
( )
o o
= = + = + =
3
; =>
2
m h s s m sa s m sa s sa
L L L L L L L i L i
Im
Re
r
a
r
b
r
c
sa
s
b
s
c

Flux linkage of stator phase adue to
stator currents

t t
| | | |
= + + + + +
| |
3 3 \ . \ .
2 4
cos cos cos
sa s sa h ra h rb h rc
L i L i L i L i
Total flux linkage of stator phase a
Space vectors of stator and rotor currents in their own reference frames
(
= + +

2
2
a a
3
s
sa sb sc s
i i i i
(
= + +

2
2
a a
3
r
ra rb rc r
i i i i
Space vector of rotor currents presented in stator frame of reference

(
= = + +

j j 2
2
e a a e
3
s r
ra rc rb r r
i i i i i
Space vector for stator flux linkage

(
= + +

2
2
a a
3
s
sa sb sc
s
Substitution of the flux linkages
of the phases gives
= +

s s s
s s m r
s
L i L i

= +
j

e
s r s
s s m r
s
L i L i
About the notations
Complex numbers are underlined. As space vectors are complex valued
variables, their symbols are underlined
A subscripts in a space-vector symbol denotes, whether a stator (s) or
rotor (r) variable is considered.
A superscripts in a space-vector symbol denotes the frame of reference
in which the space vector is presented. Commonly used frames of
reference are the stator frame (s), rotor frame (r) and a frame rotating at
an arbitrary angular velocity (k).
As an example, denotes the space vector of stator flux linkage
expressed in the rotor frame of reference.
A superscript may be missing from a space-vector symbol, if the frame
of reference used is obvious or the equation considered is valid for all
the frames of references.

(
= = + +

j j 2
2
e a a e
3
s r
ra rc rb r r
i i i i i
r
s

= +
= +
= +
d
d
d
d
d
d
sa
sa s sa
sb
sb s sb
sc
sc s sc
u R i
t
u R i
t
u R i
t
Voltage equations
Equations for the phases Space vector of stator voltages
(
= + +

2

2
a a
3
s
sa sb sc s
u u u u
Voltage equation for stator winding using space vectors

= +

d
d
s
s
s s
s s s
u R i
t
= + +


d d
d d
s s
s s
s r
s s s s m
i i
u R i L L
t t
o
=
j

e
s
i i
Coordinate transformations
Current vector in
stator reference frame
Inverse transformation
Current vector in the
rotating frame
( ) o 0 0
= =
j j

e e
k k
k s
i i i
Im(s)
I
m
(
k
)
Re(s)
R
e
(
k
)
0
k
o

0
k
o
i
0
=
j
e
k
s k
i i
Transformation of voltage equation
0 0 0
= = =
j j j

e ; e ; e
k k k
s k s k s k
s s s s s s
u u i i
( )
0
0 0
0 0 0

0

= +
= + +
j
j j

j j j

d e
e e
d
d
d
e e j e
d d
k
k k
k k k
k
s
k k
s s s
k
s
k k k
s s s
u R i
t
R i
t t

= +

d
d
s
s
s s
s s s
u R i
t
Transformation of voltage equation (cont.)

0

0
e
= + +
=

d
d
j
d d
d
d
k
s
k k k
k
s s s s
k
k
u R i
t t
t

e = + +

d
j
d
k
s
k k k
s s s k s
u R i
t
Voltage drop
in resistance
Voltage induced
by flux changing
in time
=>
Voltage induced
by motion

= +

d
d
r
r
r r
r r r
u R i
t
Rotor voltage equation in
rotor reference frame
( )

e e = + +

d
j
d
k
r
k k k
r r r k r
u R i
t
Rotor voltage equation in a reference
frame rotating at angular frequency e
k
Instantaneous power
( ) ( ) ( )
( ) ( )
j
( )
(
| |
= + + + +
|
(
\ .

(
= + + + +
(

= + +
(
+ + + + + +
(

=
*
* * 2 2

2 2

2 2 4 2

3 3 2 2
Re Re a a a a
2 2 3 3
3 2 2
Re a a a a
2 3 3
2
3
Re a a a a a a
2
s s sa sb sc sa sb sc
sa sb sc sa sb sc
sa sa sb sb sc sc
sa sb sa sc sb sa sb sc sc sa sc sb
u i u u u i i i
u u u i i i
u i u i u i
u i u i u i u i u i u i
( ) ( ) ( )


(

(
+ + + + + + +
`
(


)
= + + =
1
3 2
sa sb sc
sa sa sb sb sc sc sa sb sc sb sa sc sc sa sb
i i i
sa sa sb sb sc sc
u i u i u i u i i u i i u i i
u i u i u i P

=>
( ) ( )
= =
* *

3 3
Re Re
2 2
s s s s
P u i u i
Energy balance and torque
ele loss field mech c
dW dW dW dW = + +
Rotor frame of reference e
k
=e
( )
*
elec
3
Re
2
s s
dW Pdt u i dt = =
*
* *
elec
*
2 *

d
3
Re j
2 d
d
3 3
Re j
2 2 d
r
s
r r r
s s s s
r
s r r
s s s s
dW Pdt R i i dt
t
R i i dt
t

e
(
| |
( = = + |
|
(
\ .

(
| |
( = + |
|
(
\ .

Including the rotor current and flux
( )
* *
2 2 *
elec
d d
3 3
Re j
2 2 d d
r r
s r r r r
s s r r s s r
dW R i R i i i dt
t t

e
(
| |
( = + + + |
|
(
\ .

Im
Re
r
a
r
b
r
c
sa
s
b
s
c

Energy balance and torque (cont.)
Resistive energy loss Energy stored in the magnetic field
( ) ( )
* *
mech
3 3
Re j Im
2 2
r r r r
s s s s
dW i dt i dt e e = =
Mechanical work (energy)
( )
2 2
loss
3
2
s s r r
dW R i R i dt = +
* *
field
d d
3
Re
2 d d
r r
s r
r r
s r
dW i i dt
t t

| |
= + |
|
\ .
e
o = = =
mech e m e e
d
dW T d T T dt
p p
( ) ( )
= =
* *

3 3
Im Im
2 2
r r
e s s s s
T p i p i