Electrical Machines Modelling and Control

ELECTRICAL MACHINES
MODELLING AND CONTROL

Drago Dolinar
University of Maribor
Faculty of Electrical Engineering and Computer Science
e-mail: dolinar@uni-mb.si
http://www.pe.feri.uni-mb.si/labie/dolinar/
Universite dArtois
Faculte des Sciences Appliquees (F.S.A.)
Bethune - France
April 2001
ii
Drago Dolinar: Electrical Machines Modelling and Control
Contents
Introduction to the Modelling of Electrical Machines

1.1
Voltage and torque equations of the cylindrical electrical machine

with two windings . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2
Induced voltages - (EMFs - electro motive forces) . . . . . . . . .
1.3
General circuit model of the electrical machine . . . . . . . . . .
1.3.1
An example of the machine with two coils . . . . . . . .
Mathematical description of the mechanical system . . . . . . . .
10
1.4
1.4.1
1.5
2
Determination of the instantaneous power in the machine with four coils . . . . . . . . . . . . . . . . . . .
11
Transfer functions and block diagrams . . . . . . . . . . . . . . .
14
DC machine
17
2.1
Separately excited DC machine . . . . . . . . . . . . . . . . . . .
17
2.1.1
Efficiency of the machine . . . . . . . . . . . . . . . . .
20
2.1.2
Determination of the block diagram of the separately

excited DC machine . . . . . . . . . . . . . . . . . . .
20
iv
CONTENTS
2.2
Speed and position control of DC machine . . . . . . . . . . . . .

2.2.1
27
Basic Transformations in the Analysis of Electrical Machines
29
3.1
Three-phase to two-phase transformation . . . . . . . . . . . . . .
31
3.2
Transformation to the new reference frame - rotation . . . . . . .
34
3.3
Transformation to the common reference frame . . . . . . . . . .
36
3.4
Diagonalization . . . . . . . . . . . . . . . . . . . . . . . . . . .
38
Modelling of the Induction Machine
39
4.1
Induction machine model in the fixed stator reference frame . . . .
39
4.2
Induction machine model in the common dqreference frame . . .
46
4.3
Stationary model of the induction machine in the form of the

equivalent circuit . . . . . . . . . . . . . . . . . . . . . . . . . .
56
4.3.1
Approximate equivalent circuit . . . . . . . . . . . . . .
58
4.3.2
Torque-speed curve . . . . . . . . . . . . . . . . . . . .
59
4.3.3
Variable voltage operation . . . . . . . . . . . . . . . .
61
4.3.4
Variable frequency operation . . . . . . . . . . . . . . .
61
4.3.5
Variable-stator current . . . . . . . . . . . . . . . . . .
63
Scalar control methods . . . . . . . . . . . . . . . . . . . . . . .
63
4.4.1
Open-loop US =s speed control . . . . . . . . . . . . .
65
4.4.2
Vector control of speed . . . . . . . . . . . . . . . . . .
66
4.4
Analysis of the DC machine speed and position control

using Matlab and Simulink . . . . . . . . . . . . . . . .
22
Control of Induction Motor Drives
69
5.1
73
Field oriented control of induction machine . . . . . . . . . . . .
CONTENTS
5.2
Decoupling of the field oriented IM model . . . . . . . . . . . . .
76
5.3
Speed control of the field oriented induction machine . . . . . . .
78
5.3.1
81
Synchronous Machine with Permanent Magnet Excitation
83
6.1
The modelling procedure . . . . . . . . . . . . . . . . . . . . . .
83
6.2
Decoupling of the synchronous machine model . . . . . . . . . .
87
6.3
Speed control of the synchronous machine . . . . . . . . . . . . .
88
6.3.1
Analysis of the induction machine speed control using

Matlab and Simulink . . . . . . . . . . . . . . . . . . .
Analysis of the synchronous machine speed control using Matlab and Simulink . . . . . . . . . . . . . . . . .
92
Synchronous Reluctance Machine
93
7.1
The modelling procedure . . . . . . . . . . . . . . . . . . . . . .
93
7.2
Decoupling of the synchronous machine model . . . . . . . . . .
95
7.3
Speed control of the reluctance synchronous machine . . . . . . .
97
7.3.1
Analysis of the reluctance synchronous machine speed

control using Matlab and Simulink . . . . . . . . . . . . 101
C HAPTER
Introduction to the Modelling of Electrical

Machines
Why do we need dynamic models of electrical machines?
There are at least two reasons for this:
Dynamical machine models are used for the analysis of devices.

When the electric machines are a part of an electric drive, the dynamic models are
used for the control design.
The model should be able to represent the actual device as accurately as it is required
for the purposes of the analysis. This means that the model has to react to the same
inputs in the same way as the actual device itself.
A more complex model normally behaves more like the actual device. Therefore,
the modelling procedure is a search for the compromise between complexity and
applicability.
There are two different approaches to the modelling of electrical machines:
the field approach and

the circuit approach
INTRODUCTION TO THE MODELLING OF ELECTRICAL MACHINES
The circuit approach is chosen to represent the rotating electrical machines in this
presentation.
Simplifications:
the saturation of the iron core and hysteresis are neglected, and
the actually distributed windings in the machine are presented by the lumped parameters.
Figure 1.1: Presentation of the rotor winding in the commutator machine model: a - original, space distributed
windings; b - lumped presentation of the rotor winding with one turn; c - circuit model of the rotor winding
1.1 Voltage and torque equations of the cylindrical electrical machine with two
windings
The basic two-winding electric machine is shown in Fig. 1.2. is the angle between
the axes fixed to the moving coil on the rotor and the stationary coil on the stator.
Voltage conditions of both coils in Fig. 1.2 are defined by equations (1.1).
u1
u2
R1 i1 +
R2 i2 +
d

d
L11 i1 +
L12 i2
dt
dt
d

d
L22 i2 +
L21 i1
dt
dt
(1.1)
L11 and L22 are the so-called self-inductances of the two windings, while L12 and L21
are the mutual inductances between them. In writing these mutuals it is conventional
to associate the first suffix with the voltage and the second suffix with the current.
1.1 Voltage and torque equations of the cylindrical electrical machine with two windings
winding 2 axis
i2
u2
1
winding 1 axis
i1
u1
Figure 1.2: Electrical machine with two coils
It is necessary to note that in equations (1.1) all inductances and currents are time
dependent functions, therefore the chain rule of derivation has to be applied.
u1
u2
di1
dL11
di2
L12
+ i1
+ L12
+ i2
dt
dt
dt
dt
R1 i1 + L11
di
dL
di
L
R2 i2 + L22 2 + i2 22 + L21 1 + i1 21
dt
dt
dt
dt
(1.2)
The instantaneous power of the machine is defined by the next equation:
u1i1 + u2i2
R1 i21 + R2 i22 + L11 i1

+L12 i1
di1 2 dL11
di2 2 dL22
+ i1
+ L22 i2
+ i2
dt
dt
dt
dt
(1.3)
di2
L12
di1
L21
+ i1 i2
+ L21 i2
+ i1 i2
dt
dt
dt
dt
Under similar saturation conditions of the iron core, L12 = L21 = L, therefore, the
subscripts may be dropped. Equation (1.3) takes the simpler form
u1i1 + u2i2
di1 2 dL11
di2 2 dL22
+ i1
+ L22 i2
+ i2
dt
dt
dt
dt
R1 i21 + R2 i22 + L11 i1

+Li1
(1.4)
di2
di1
L
+ 2i1 i2
+ Li2
dt
dt
dt
If the rotor is fixed in position so that the values of L11 , L and L22 are constant and
their derivatives are zero. Equation (1.4) takes the form
u1i1 + u2i2
R1 i21 + R2i22 + L11 i1

R1 i21 + R2i22 +
d
dt
di1
di2
di2
di1
+ L22 i2
+ Li1
+ Li2
dt
dt
dt
dt
1
1
L11 i21 + L22 i22 + Li1 i2
2
2
(1.5)
The quantity in brackets is the total stored magnetic energy. When L11 , L and L22 are
variable, the value of its derivative is
d
dt
1
1
L11 i21 + L22 i22 + Li1 i2
2
2

=
L11 i1
di1 1 2 dL11
di2
+ i1
+ L22 i2
dt 2 dt
dt
(1.6)
di2
di1
1 2 dL22
dL
i2
+ Li1
+ i1 i2
+ Li2
2 dt
dt
dt
dt
so that the original power equation 1.4 my be written

d
u1i1 + u2i2 = R1 i21 + R2 i22 +
dt
1
1
L11 i21 + L22 i22 + Li1 i2
2
2
(1.7)
+
1 2 dL11 1 2 dL22
dL
i1
+ i2
+ i1 i2
2 dt
2 dt
dt
The total torque is obtained by replacing t by in the last group of equation (1.7).
The torque is thus
1.2 Induced voltages - (EMFs - electro motive forces)
1 dL
1 dL
dL
te = i21 11 + i22 22 + i1 i2
2 d
2 d
d
(1.8)
Voltage equations (1.2) and the torque equations (1.8) represent the mathematical
model of the basic two-winding machine.
1.2 Induced voltages - (EMFs - electro motive forces)

The last four terms in voltage equations (1.2) represent the induced voltages - EMFs.
Equations (1.2) in a different form are:
u1
u2
=
=
R1 i1 + e1
R2 i2 + e2
(1.9)
e1 and e2 are induced voltages in coil 1 and 2. From (1.9) we get

di1
dt
e1
L11
e2
L22
di2
| {zdt}
self ind. transformer voltage
di2
dt
di1
| {zdt}
L12
L21
i1
dL11
dt
dL22
dt }
| {z
i2
transformer voltage
i2
i1
dL12
dt
dL21
dt
only by salient machine
{z
(1.10)
generator voltage eg
The first two terms are often called the transformer voltages.
The third and the fourth term appear whenever there is a relative movement between
the two coils. With the manipulation of the third and the fourth term we get
e1g
e2g
dL
dL
i1 11 + i2 12
dt
dt
i2
dL22
dL21
+ i1
dt
dt
dL
dL
i1 11 + i2 12
d
d
i2
dL22
dL21
+ i1
d
d
d
dt
(1.11)
d
dt
dL
22
where d
dt is the instantaneous angular velocity, or speed of rotation. The terms d
dL
and d21 are by definition coefficients of rotational inductance and they have the
dimension of inductance.
With the introduction of new symbols for all four coefficients of rotational inductance
M11 , M12 , M22 and M21 the generator voltages are
e1g
e2g
=
=
+i M
i1 M11
2 12
+i M
i2 M22
1 21
(1.12)
The coefficients M11 and M22 are different from zero only in the salient machine.
1.3 General circuit model of the electrical machine
The following specifications are very common for the general circuit model of the
electrical machine:
The coil x is the element of the circuit with its resistance Rx, self inductance Lxx,
coils are linked with the mutual inductances Lxy .
The idealized circuit model is magnetically linear (saturation and hysteresis are
neglected) and radially symmetrical.Therefore, the principle of superposition is
applicable.
The model coils are located in two axes (dq), which are chosen to be perpendicular.
The model coils are chosen to be stationary. The fact that coils on the physical machine may rotate is handled mathematically, where necessary by a transformation
of coordinates
The model is always a two-pole machine.

Higher harmonic components in the distribution of magneto-motive forces (MMFs)
are neglected.
The circuit model of the electric machine with four coils is shown in Fig. 1.3. Let
us assume that rotor coils are stationary due to the commutator with the two sets of
brushes in the d- and the q- axis.
Symbols:
q -axis
- transformer voltage
+
- induced speed voltage
i2
2
ia
A
Symbols are used to

mark the positive polarity
u2
uA
a
1
ia
ua
i1
u1
d -axis
+
ROTOR
STATOR
Figure 1.3: Circuit model of the commutator electrical machine
There can be no mutual flux between coils on the perpendicular axes, because the
axes are in quadrature.
The transformer-induced voltages exist between all coils on the same axis, but they
do not exist between the coils on the perpendicular axes. The standard dot notation
is used to mark the plus polarity of the induced voltages.
The stator coils, by definition, do not have any generated voltage due to the rotation
(speed voltage) of the rotor.
However, the rotor coils do have a speed voltage and are defined to have a speed mutual voltage with respect to each coil on the perpendicular axis, but not with respect
to any other coil on the same axis.
The polarity of this voltage is indicated by a triangle mark . The mark is put to
is oriented counterthat side of the rotor coil which has the positive polarity when
clockwise.
The model in Fig. 1.3 is described by the following set of voltage equations
u1
u2
ua
uA
= (R1 + L11 p)i1 +

= (R2 + L22 p)i2 +
=
=
La1 pi1
LA2 pi2
+
+
L1a pia
L2A piA
(Ra + Laa p)ia
(RA + LAA p)iA
Ma2 i2p
MA1 i1p
MaA iA p
MAa iA p
(1.13)
d
has been introduced here.
dt
Equations (1.13) are rewritten in matrix form as shown in equation (1.14).
The operator p :=
u1
R1 + L11 p
6u 7 6
0
6 2 7=6
4 ua 5 4 L p
a1
uA
MA1 p
0
R2 + L22 p
Ma2p
LA2 p
32
L1a p
0
i1
6 7
0
L2A p 7
76 i2 7
Ra + Laa p
MaAp 54 ia 5
MAa p RA + LAA p
iA
(1.14)
The short notation with sub-matrices is also possible.

uS
uR

=
ZSS
ZRS
ZSR
ZRR

iS
iR
(1.15)
or
u = Zi
where uS , uR and iS , iR are vectors of stator and rotor voltages and currents.
(1.16)
uS
= [ u1
u2 ]T
uR
= [ ua
uA ]T
iS
= [ i1
i2 ]
iR
= [ ia
iA ]T
(1.17)
The sub-matrices in (1.15) have the following meaning

ZSS
ZSR
ZRS
ZRR
R1 + L11 p
0
0
R2 + L22 p
L1a p
0
0
L2A p
La1 p
Ma2 p
MA1 p LA2 p
Ra + Laa p
MAap
(1.18)
MaA p
RA + LAA p
1.3.1 An example of the machine with two coils
The voltage equations

u1
uA

=
R1 + L11 p
MA1 p
0
RA + LAA p

i1
iA
(1.19)
The electromagnetic torque tA is acting in the direction to align the axis of MMF
vA = iA NA in the shortest way with the axis of the MMF v1 = i1 N1 . The torque tA
acts opposite to the rotation of the rotor p, therefore, the machine operates as a
generator.
10
q -axis
q -axis
tA
vA
ia
vA
A
uA
v1
1
v1
i1
u1
d -axis
ROTOR
d -axis
+
ROTOR
1
STATOR
STATOR
Figure 1.4: Interpretation of the two-coil machine model
1.4 Mathematical description of the mechanical system

The electromagnetic torque can be calculated in a different manner. For instance,
it can be calculated from the instantaneous power, which in fact is the difference
between the rate at which energy is fed into the circuit and the rate at which energy
is stored.
= te d
te
dt
dWsupply
dt
dWstored
dt
dWloss
dt
(1.20)
where
te electromagnetic torque
angular position of the shaft
p = = d
dt angular velocity of the shaft
Wsupply energy fed to coils
Wstored energy stored in the field of the self- and the mutual inductances of coils
Wloss energy loss in the stator and the rotor coils
11
Note that these quantities can be obtained using the matrix equations of the circuit
model, as it will be shown later. The electromagnetic torque from equation (1.20) is
te =
dWsupply
d
dWstored
d
dWloss
d
(1.21)
The instantaneous mechanical power is
pm = te
(1.22)
p
te = m
(1.23)
The instantaneous torque is
Applying Newtons law to the mechanical system (according to Fig. 1.5)

tL
SHAFT
te
Figure 1.5: Torques at the shaft
te = J + f tL
(1.24)
where J is the inertia moment, f is the coefficient of viscous friction and tL is the
load torque.
According to equation (1.24), the sum of all torques on the shaft is zero.
1.4.1 Determination of the instantaneous power in the machine with four coils
Let us write the voltage equations in the matrix form again

12
u1
R1 + L11 p
0
L1a p
6u 7 6
0
0
R2 + L22 p
6 27=6
4 ua 5 4 L p
Ma2 p
Ra + Laa p
a1
uA
MA1 p
LA2 p
MAap
32
i1
6 7
L2A p 7
7 6 i2 7
MaA p 5 4 ia 5
RA + LAA p
iA
(1.25)
Equation (1.25) can be written shorter as

u = Zi
(1.26)
p = iT u = iT Zi
(1.27)
The instantaneous power is equal to
Equation (1.27) is simple and will be solved step by step.

2
u1

6 u 7
27
p = i1 ; i2 ; ia ; iA 6
4 ua 5 = i1 u1 + i2 u2 + ia ua + iA uA =
uA
+i1 (R1 + L11 p)i1 + i1 L1a pia
+i2 (R2 + L22 p)i2 + i2 L2A piA
+ia (La1 pi1 + Ma2 pi2 + (Ra + Laa p)ia + MaA piA )
+iA (
MA1 pi1 + LA2 pi2
MAa pia + (RA + LAA p)iA )
The separate terms in equation (1.28) can be classified as:

1. i2x Rx rate at which energy is converted to the heat in coils
2. ix Lxx pix rate at which energy is stored in the field of self inductances
3. ix Lxy piy rate at which energy is stored in the field of mutual inductances
4. ix iy Mxy p rate at which energy is converted for external use
(1.28)
13
The rate at which energy is converted to the mechanical power is

= ix iy Mxy
(W)
pm = te
te = ix iy Mxy
(Nm)
(1.29)
(1.30)
The equation of movement has the following form
ix iy Mxy
t = 0
f
L
sign above f or motor

sign below f or generator
(1.31)
= 0, and currents have their steady-state values Ix and

= ,
In the steady-state
Iy ; the speed is
Ix Iy Mxy
TL = 0
Ix Iy Mxy
f
(1.32)
TL
(1.33)
Motor running at no-load with TL = 0:

TL = 0
0 =
Ix Iy Mxy
f
no load speed
(1.34)
When we start from the matrix form of voltage equations

u = [R; Lp] i
(1.35)
the general form of the torque equation, is
te =
1T
i
2
d
L i
d
(1.36)
The equation above can be used for all electrical machines, therefore, it is general.
14
1.5 Transfer functions and block diagrams

Sometimes it is convenient to present the mathematical description of a physical
system in the form of the input-output model.
Let us suppose that the system is described by a set of differential equations. If
the equations are linear, or can be linearized, their Laplace transform can be found.
The initial conditions are set to zero and the transfer function G(s) is defined as the
quotient between the system output and the system input in the Laplace domain.
G(s) =
Y (s)
U (s)
(1.37)
Transfer functions can be presented with a block diagram. This block diagram is
suitable for visualization and for the analysis of the signal flow.
Before proceeding with the discussion and presentation of examples it is suitable to
summarize the procedure of the transfer function and block diagram determination
in the following four steps:
1. The differential equations are transformed by Laplace transformation to algebraic
equations in the Laplace domain. The initial conditions have to be taken into account (it is the easiest when they are set to zero).
2. The input U (s) and the output Y (s) from the system are chosen (in the case of an
electrical machine the input is the voltage u or the current i, and the output is the
or the position ).
speed
3. The output from the system is expressed in the Laplace domain (The system of
algebraic equations is solved).
4. The transfer function G(s) is calculated as a quotient of the output and the input of
the system in the Laplace domain.
Some basic elements of the block diagram algebra are shown in Fig.1.7.
15
1.5 Transfer functions and block diagrams
a) Block diagram with the general transfer function G(s)
U (s)
Y (s)
G(s)
b) Combining blocks in cascade
U (s)
Y (s)
G1 (s)
U (s)
Y (s)
G1 (s)G2 (s)G3 (s)
G3 (s)
G2 (s)
c) Paralel connection of blocks
G1 (s)
U (s)
G2 (s)
Y (s)
U (s)
+
)
G1 (s) G2 (s)
Y (s)
d) Elimination of the feedback loop
U (s)
Y (s)
U (s)
G1 (s)
1G1 (s)G2 (s)
G1 (s)
Y (s)
(+)
G2 (s)
Equivalent diagram
Original diagram
Figure 1.6: Basic block diagram algebra
An example of determination of the transfer function of the DC generator - a twocoil system

The circuit model of a separately excited DC generator is shown in Fig. 1.7.
Operating condition:
= p =
constant.
The voltage equations are

U1 (s)
1.
UA (s)

=
R1 + L11 s
0
MA1 RA + LAA s

I1 (s)
IA (s)
2. Let the output be the induced voltage EA (s) = MA1 I1(s)
16
q -axis
iA
A
1
uA
i1
u1
d -axis
+
ROTOR
STATOR
Figure 1.7: Circuit model of separately excited DC generator
3. I1(s) =
U1 (s)
R1 + L11 s
UA (s) = MA1
|
U1 (s)
+(RA + LAA s)IA (s)
R1 + L11 s
{z
EA (s)
IA (s) = 0
4.
EA (s)
U1 (s)
EA(s) =
MA1
U1 (s)
R1 + L11 s
MA1
R1 + L11 s
U1 (s)
MA1
R1 +L11 s
EA (s)
Figure 1.8: Block diagram of the DC generator in the no-load
C HAPTER
DC machine
2.1 Separately excited DC machine
The circuit diagram of the DC machine is shown in Fig. 2.1. The voltage equations
q -axis
ia
uA uL
1
i1
u1
d -axis
+
ROTOR
STATOR
Figure 2.1: Circuit diagram of the separately excited DC machine
are:
18
DC MACHINE
u1
uA

=
R1 + L11 p
MA1p
0
RA + LAA p

i1
iA
(2.1)
The instantaneous power is

= [ i1
=
iA ]
R1 + L11 p
0
MA1p
RA + LAA p

i21 R1 + i2ARA + i1L11 pi1 + iA LAA piA
i1
iA
(2.2)
MA1i1 iA p
The rate of electrical power, which is converted to mechanical power is the last term
MA1 i1 iA p. The electromagnetic torque is defined by
te =
MA1i1 iA p
p
(2.3)
The equation of motion is

te = KT iA = MA1 i1 iA = J p2 + f p tL
(2.4)
The steady-state value of the electromagnetic torque is

Te = MA1 I1IA
(2.5)
Note that the steady-state values are from now on written by capital letters.
The mechanical equilibrium on the shaft is defined by
+ f
t
te = MA1 i1 iA = J
L
sign above f or motor

sign below f or generator
(2.6)
The instantaneous values of both currents are:

i1 =
u1
R1 + L11 p
iA =
uA MA1 i
1
RA + LAA p
(2.7)
19
(+TL ; +Te )
Te =
TST
UA MA1 I1
MA1 I1
RA
= MA1 IA I1
2 I2
MA1
1
RA
IA =
UA MA1 I1
RA
UA IA RA
UA
MA1 I1 = MA1 I1
RA
MA1 I1 IA
UA = constant
MOTOR
IAST
TL ; Te )
IA
GENERATOR
Figure 2.2: Steady-state characteristics of the separately excited DC machine
The steady-state values of currents are:

I1 =
IA =
U1
R1
(2.8)
UA MA1I1
RA
In equation (2.8), UA is the rotor voltage and MA1 I1 is the induced speed voltage.
Without the load torque TL on the shaft the equation of motion is
)
MA1 u1(uA MA1i1
J + f =
(R1 + L11 p)(RA + LAA p)
(2.9)
Equation (2.9) can not be solved analytically, because there exists one nonlinear term
In the steady-state it is
i1 .
2 U I
MA1U1UA MA2
1 1
TL f =
R1 RA
MA1U1
(U MA1 I1 )
R1 RA A
(2.10)
The steady-state characteristics of the separately excited DC machine are shown in

Fig. 2.2.
20
DC MACHINE
2.1.1 Efficiency of the machine
The efficiency of the machine is normally defined as the quotient of the output mechanical power and the input power
pout.
pinp.
(2.11)
pinp.
i1(R1 + L11 p)i1 + iA(RA + LAA p)iA + i1 iA M

A1
(2.12)
pout.
MA1i1 iA
(2.13)
{z
te
2
f
|{z}
friction
is the mechanical power.

The term MA1 i1 iA
In the steady-state the efficiency is defined by equation (2.14):
Pout.
Pinp.
Pout.
Ploss + Pout.
MA1I1 IA f 2
I12R1 + IA2 RA + MA1I1 IA
f 2
(2.14)
The instantaneous value of the efficiency does not have any meaning.
2.1.2 Determination of the block diagram of the separately excited DC machine
Transient states are obtained with the solution of equations (2.1) and (2.4).
u1 = (R1 + L11 p)i1
(2.15)
Equation (2.15) describes the conditions in the excitation winding. When the excitation U1 is constant, it is possible to define the new parameter KV = MA1I1 (in the
steady-state) and we do not need to solve the equation (2.15).
The block diagram of the DC machine will be determined manipulating the next two
equations
21
uA
p MA1 I1 +iA RA + LAA piA
(2.16)
| {z }
KV
KT iA
Note, KT
= KV
= (J p + f )p
tL
(2.17)
if base physical units are used (A,V,s,rad/s, ....).
Equations (2.16) and (2.17) are transformed by the Laplace transformation; zero
initial conditions are used.
(RA + LAA s)IA (s) =
UA (s)
MA1I1 s((s))
| {z }
(2.18)
KV
Te (s)
s(s)
KT IA (s)
= (Te
(2.19)
TL) Js 1+ f
(2.20)
It is easy to recognize the graphical interpretation of equations (2.18) to (2.20) in the

block diagram shown in Fig. 2.3.
TL (s)
UA (s)
1
RA +LAA s
IA (s)
Te (s)
KT
KV s(s)
s(s)
1
Js+ f
s(s)
KV
Figure 2.3: Block diagram of the DC machine
The block diagram in Fig. 2.3 enables us to analyze the time behavior of the machine
with two inputs uA and tL . If it is necessary to take into account the variable excitation
voltage u1, then the diagram has to be extended to the one in Fig. 2.4.
22
DC MACHINE
TL (s)
UA (s)
1
RA +LAA s
IA (s)
Te (s)
KV s(s)
U1 (s)
1
R1 +L11 s
s(s)
1
Js+ f
s(s)
I1 (s)
MA1
Figure 2.4: Block diagram of DC machine with the variable excitation voltage u1
2.2 Speed and position control of DC machine

The model of the DC machine in form of the block diagram in Fig. 2.3 will be used
for the design of control. A simple cascade control structure in Fig.2.5 consists of
the following three controllers:
Gci(s) is the PI- current controller

Gc (s) is the PI- speed controller and
K is proportional gain of the P- position controller.
The sequence torque-acceleration-speed-position is a natural one as it confirms the
structure of the plant.
Note that a proportional type of controller has to be used for position control. The
use of such controllers assures that the steady-state errors E 1 (s), E2 (s) and E3 (s)
disappear.
The current loop, forming the innermost control function, may be regarded as approximately creating an impressed current source to the rotor winding.
The current controller primarily has to deal with the dynamics of the power supply
and the rotor winding. It provides the fastest available control action. By limiting
the reference IAr , the inner control loop also assures a protective function.
23
Of course, this multiloop structure can only operate under the assumption that the
bandwidth of the control increases towards the inner loops with the current loop
being the fastest and the position loop the slowest.
For the practical application it is normally of no consequence whether the current
controller admits a steady-state control error during acceleration or not, because the
current control represents an inner (auxiliary) function, being part of the superimposed speed loop. The main purpose of the current controller is to prevent the motor
overloading.
C
O
TL
N
r
E3
IAr
E2
UrA
E1
UA
Te
IA
Gci (s)
G (s)
c
Ge (s)
s
1
s
Gm (s)
KT
T
KV s
s
KV
Figure 2.5: Block diagram of the DC machine position control
The speed control loop is shown separately in Fig. 2.6.

C
O
TL
N
r
IAr
E2
G (s)
c
UrA
E1
Gci (s)
UA
Te
I
A
Ge (s)
Gm (s)
KT
s
1
s
T
E
R
KV s
s
KV
Figure 2.6: Block diagram of the DC machine speed control
As mentioned, the current controller has to be determined first.

With the introduction of the additional feed-forward loop in Fig. 2.7 the speed voltage is compensated and this enables a much easier determination of the current controller.
The current loop is shown in the block diagram in Fig. 2.8.
24
DC MACHINE
C
IAr (s)
r (s) E2 (s)
1+T s
T s
E1 (s)
Ki
1+Ti s
Ti s
KV
KV s(s)
O
N
V
E
R
T
E
R
TL (s)
UA (s)
1
RA +LAA s
s(s)
IA (s)
1
Js+ f
KT
KV s(s)
s(s)
KV
Figure 2.7: Block diagram of the DC machine speed control with the compensation of the speed voltage
C
KV s(s)
IAr (s)
1+T s
Ki T si
i
O
N
V
E
UA (s)
1
RA +LAA s
R
T
E
R
IA (s)
KV s(s)
Figure 2.8: Block diagram of the DC machine current control
Due to compensation of EMF the design of the current controller is simple. Let us
suppose that the gain of the converter is one. The open-loop transfer function of the
current controller is
1 + Ti s
1
GI (s) = Ki
Ti s RA + LAA s
1 + Tis RA
= Ki
Ti s 1 + TAs
(2.21)
Taking into account Ti = TA the open loop transfer function is

1
1 + TAs RA
GI (s) = Ki
TA s 1 + TAs
(2.22)
Note that the pole of the current control open loop transfer function can be canceled
by the controller zero. The result after cancellation is
25
GI (s) = Ki
1 1
TA s RA
(2.23)
The closed-loop transfer function of the current controller is
TI (s) =
GI (s)
1 + GI (s)
Ki
TA sRA
=
=
K
1 + T sRi
A A
Ki
TA RAs + Ki
1
1+
TA RA
Ki s
(2.24)
It is obvious that we can speed up the behaviour of the current loop by the selection
of a higher gain Ki . A too high value of the gain can cause an unsuitable behaviour
of the system. When Ki = RA is selected, we get
TI (s) =
1
1 + TA s
(2.25)
and the inner loop behaves suitably as a first order system.

In the next step it is necessary to determine the speed controller shown in Fig. 2.9.
The parameters K and T my be chosen by several different methods. In servo drive
applications, the use of the so-called method of optimum output response can be
the appropriate choice.
r (s)
(s)
1+T s
K T s
1
1+TA s
1
Js+ f
KT
Figure 2.9: Block diagram of the DC machine speed control
According to Fig. 2.8, the speed open loop transfer function G (s) is
G (s) = K
1 + T s
T s
TI (s)KT
1
Js + f
= K
1 + T s
T s
TI (s)KT
1 1
1 + Tms f
(2.26)
where Tm = Jf . It is supposed that Tm > TA , therefore, the appropriate choice is

T = Tm . Then the transfer function (2.26) is
26
DC MACHINE
G (s) = K
1 + Tms
1 1
TI (s)KT
Tm s
1 + Tms f
(2.27)
It is obvious that the speed open loop transfer function pole can be canceled by the
controller zero. After cancellation we obtain
G (s) = K
1
1 KT
Tm s 1 + TAs f
(2.28)
We have to select the speed controller gain. The good choice (for servo applications)
is K = 2KTm Tf . The chosen value of the gain is inserted into equation (2.28); this
T A
yields
G (s) =
Tm f 1
1 KT
2KT TA Tm s 1 + TA s f
(2.29)
After cancellation we obtain

G (s) =
1 1 1
2TA s 1 + TAs
1
2TA s(1 + TAs)
1
2TA2 s2 + 2TA s
(2.30)
Finally, the closed loop transfer function of the speed control T (s) is calculated
1
2TA2 s2 +2TA s
T (s) =
=
=
1 + G (s) 1 + 2 21
2TA s +2TA s
G (s)
1
2TA2s2 + 2TAs + 1
(2.31)
Note that the position control loop behaves as the second order system with a relatively short time delay.
The block diagram of the speed control is shown in Fig. 2.10.
It is possible to determine the gain of the position controller with the root locus
method.
27
r (s)
(s )
1
2TA2 s2 +2TA s+1
Figure 2.10: Block diagram of the speed control
2.2.1 Analysis of the DC machine speed and position control using Matlab and Simulink
28
DC MACHINE
C HAPTER
Basic Transformations in the Analysis of

Electrical Machines
The original mathematical machine model is always determined using basic physical
laws and the original geometry of the machine. The voltage equations for the stator
and the rotor are written in the original reference frame for the stator and the rotor.
The machine model in such original form is relatively complicated, but model voltages and currents are directly measurable.
It is possible to achieve a considerable simplification of the model by the use of a
corresponding transformation into the new reference frame.
Voltages and currents are not directly measurable in the case of a transformed model.
The original machine model in the form of voltage equations
u = Zi
(3.1)
is easier to solve when we transform it into the new reference frame.

The model is solved in its transformed form and the results are then transformed
back to the original reference frame.
The transformation has to fulfill two conditions:
the power of the transformed model has to be equal to the original one, and
30
BASIC TRANSFORMATIONS IN THE ANALYSIS OF ELECTRICAL MACHINES
the transformation of currents and voltages has to be the same.

Let C 1 be the transformation from the original to the transformed model in the
following form
u0 = C 1 u
(3.2)
i0 = C 1 i
where u and i are the original voltage and current vectors and u0 and i0 are the transformed model voltage and current vectors. The inverse transformation has the following form
u
i
=
=
Cu0
Ci0
(3.3)
The original machine model in the form of the voltage equations

u = Zi
(3.4)
has to be transformed to the equivalent one

u0 = Z0 i0
(3.5)
where u0 and i0 are transformed voltage and current vectors.

In equation (3.5) it is necessary to determine the matrix Z0 . It is done simply by
replacing u and i in equation (3.4) by equations (3.3).
Cu0 = ZCi0
(3.6)
Equation (3.6) is multiplied by C on the left side

u0 = C
ZCi0 = Z0 i0
(3.7)
It is quite obvious from equation (3.7), that

Z0 = C
ZC
(3.8)
31
3.1 Three-phase to two-phase transformation
Equation (3.8) will be used in the continuation for the calculation of the impedance
matrix of the transformed model Z0 .
Transformations are very convenient when the transformation matrices C and C
occurring in equations (3.8), are orthogonal or unitary.
Orthogonal matrix CT
T
Unitary matrix C
=C
=C
(for real matrix)
(for complex matrix)
1,
(3.9)
(3.10)
The transpose of matrix C is expressed by CT and the conjugate complex form of C

is expressed by C .
Three-phase to two-phase transformation will be presented first. The transformation
itself is three-phase to three-phase, but due to the star connected original windings,
the so-called zero current and voltage will be always zero.

The most frequently used transformation, when the modelling of the three phase
star-connected electrical machine is under consideration, is three-phase to two-phase
transformation.
The two most important reasons for using this transformation are:
A star-connected three-phase system is linearly dependent since one of the currents

and voltages is a linear combination of the remaining two.
The second reason is more pragmatic.
The matrix manipulations with two-phase

models are much easier than with the three-phase models.
The simplest way to derive the three-phase to a two-phase transformation is to consider the magneto motive-force distribution inside the machine.
The symmetrically distributed stator windings of the three-phase AC machine are
shown in Fig.3.1. The number of turns of each phase winding is N3 , and if the instantaneous currents are ia , ib and ic , then the phase ampere-turns, neglecting winding
factors, have the magnitudes va = N3ia , vb = N3 ib and vc = N3 ic .
32
-axis
-axis
winding b axis
winding a axis
ib ub
b
a
ia
ua
vb
va
-axis
i
u
-axis
vc
uc
c
ic
winding c axis
Figure 3.1: Three-phase to two-phase transformation
If ia + ib + ic = 0, then the resultant MMF, caused by the original three-phase currents,

could be done by currents in two-phase windings only. The magnitudes of the MMF
of a two-phase machine, which has N2 turns per phase, are v = N2 i and v = N2 i .
i and i are two-phase currents.
The necessary and sufficient condition for the resultant MMF of the two-phase winding to become the same as the three-phase MMF is simply that their components
along the - and the - axis in Fig.3.1 are equal.
If the angle = 0, then the projections of the ampere-turns are
N2 i
N2 i
N3ia

N2i
N2i
N3 ib cos(1200)
N3 ib sin(1200 )
N3 ia
2 N3 ib
p
3
2 N3 ib
+
+
N3ic cos(2400 )
N3ic sin(2400 )
(3.11)
1
2 N3 ic
p
3
2 N3 ic
(3.12)
The three-phase to two-phase transformation has to be square, otherwise it is impossible to calculate the inverse value of the transformation matrix.
33
Transformations (3.11) and (3.12) are not square, therefore we have to extend them
with the additional row
N2i0 = kN3ia + kN3ib + kN3ic
where the current i0 ; i0 = ia + ib + ic is introduced. The current i0 is zero in the case
of star-connected windings.
Parameter k will be determined later on. The extended equation (3.12), written in the
matrix form is now
2
=B
1 32 3
ia
p2
3 54i 5
b
2
i
k
c
1
p2
3
2
1
i
N3
4i 5 =
40
N2
i0
k
Equation (3.13) in the short form is
(3.13)
It is possible to calculate the inverse transformation matrix B by

2
B = (B
1 T
) = b4
p0
3
2p
1
1
2
1
2
k
k5
3
2
b=
N3
N2
(3.14)
The unknown parameters b in k will be calculated so that the product BB 1 will be

equal to the identity matrix I.
2
3 2
3
23
3
1
1 p 12
1
0
k
0
0
p
p2
2
3
1
1
24
3
3
4
5
4
5
5
k
B B=b 0 2
b
=b
0
0 32
2
2p
2
3
1
0 0 3k2
k k
k
k
2
2
(3.15)
b2
3
2
=1
b23k2 = 1
in
Let us assume that transformation B is power invariant, therefore

BT
=B
(3.16)
34
The condition is fulfilled, when
b=
q
k=
1
=
3b2
2
3
1
p1
2 = 2
(3.17)
2
q 6
B = 23 6
4
1
2
1
2
p
3
2
p
3
2
p1
2
7
1
p 7
25
1
p
2
Three-phase to two-phase transformation has the following form, when the angle
is different from zero
2 3 r 2
32 3
cos cos( + 1200) cos( + 2400 )
i
ia
2
0
0
4i 5 =
4 sin sin( + 120 ) sin( + 240 ) 5 4 i 5
(3.18)
b
3
1
1
1
p
p
p
i0
ic
2
2
2
2 3
ia
4i 5 =
b
ic
cos
26
0
4 cos( + 120 )
3
cos( + 2400)
sin
sin( + 1200 )
sin( + 2400 )
p1 3 2 i 3
2
7
1
p 54i 5
2
i0
p1
(3.19)
3.2 Transformation to the new reference frame - rotation

The windings in the actual machine are distributed in space. Stator windings are
fixed, while the rotor windings rotate with the rotor speed. The result of this fact is
that mutual impedances depend on the rotor position.
The self inductances are constant parameters if the machine is non-salient.
The model coils are placed in the axis of their MMF.
Therefore, the axis of the MMF (or ampere-turns iN = v) in the coil with N turns is
also the axis for the current i.
Two equal rotor windings and are shown in Fig. 3.2. They are perpendicular.
The natural or original axes of those windings are - and - axes.
35
3.2 Transformation to the new reference frame - rotation
d -axis
-axis
-axis
+
i
u
i
u
d -axis
ROTOR
STATOR
Figure 3.2: Two-phase model with two windings in the rotor
MMFs of these windings are v
= i N
in - axis and v
= i N
in - axis.
The new perpendicular dq- axes are, according to the original - one, rotated for
the angle . The MMF in the d- axis is
vd = v cos
v sin
and in the q- axis is

vq = v sin + v cos
Therefore, the transformation from the original - reference frame to the new dqreference frame is

vd
vq

=
cos
sin
sin
cos

v
v
(3.20)
The inverse transformation is
36
v
v
cos sin
sin cos

vd
vq
(3.21)
As mentioned, the same transformation is valid for currents and voltages as well,
because the number of turns is equal N = N = Nd = Nq = N. The negative angle
can also be applied in the transformations (3.20) and (3.21).
The transformations are:

C2
CT2
cos
sin
sin
cos
cos sin
sin cos
(3.22)
3.3 Transformation to the common reference frame

It is possible to introduce the common reference frame for the stator and the rotor
with the use of transformations (3.22).
In that case we have to chose the appropriate transformation angle for the stator
and the rotor.
Different possibilities are shown in Fig.3.3. Let - be the original stator reference
frame and - the original reference frame for the rotor. The new common reference
frame is the dqreference frame, the angles S and R represent the position of
the original stator and rotor in the new dqreference frame. The angle in Fig.3.3
represents the position between the stator and the rotor.
S = R +
(3.23)
What practical possibilities do we have to chose the new dqreference frames?
According to Fig.3.3 there are at least three possibilities:
37
3.3 Transformation to the common reference frame
-axis
-axis
q -axis
i
u
-axis
i
u
ROTOR
i
u
-axis
S
STATOR
d -axis
Figure 3.3: Machine model with two-windings at the stator and at the rotor
1. The - reference frame is chosen as the new common reference frame. We do

not need to transform the stator. It is necessary to transform the rotor. The transfor
=
mation angles in this case are: S = 0, R = and the rotor speed is
R
2. The - reference frame is chosen as the common reference frame. We do not need
to transform the rotor, but it is necessary to transform the stator. The transformation
angles in this case are: R = 0, s = = and the rotor speed related to the stator
.
=
is
S
3. The synchronously rotated dqreference frame is chosen as the common reference
frame. It is necessary to transform the stator and the rotor. The corresponding
angles are: S = t + So ; R = t + + Ro . The relative speed of the
= ;
is the angular velocity of the stator voltage
rotor to the stator is
R
and current in the steady-state.
38
The transformation changes the frequency of the transformed variables.

For example, the two phase voltages u
follows

ud
uq
cos sin
sin cos
= cos t

and u
cos t
sin t

=
= sin t
cos( t
sin( t
are transformed as
)
)
The transformed voltages ud , uq are AC voltages again, but their frequency is equal
to the difference of the rotation speed of dq- and - reference frame.
dq =
(3.24)
The most important reason to use transformations is the simplification of the machine
model. Note that the simplification is carried out only in the case, when the part of
the machine which is going to be transformed is axis symmetrical in construction.
3.4 Diagonalization
Let A be the matrix which we want to transform in the diagonal form. S is the
transformation matrix which in fact is composed of the eigen vectors of the matrix
A.
Diagonalization is quite often used in electrical engineering. The transformation
procedure is known as transformation on the symmetrical components.
Example:
2

A=4 5

1 6 4
2
S = p 4 ej 3 ej 3
2
4
3
ej 3 ej 3
Transformation of currents:
i+
0=S
iabc
1
7
15
1
ST
(3.25)
C HAPTER
Modelling of the Induction Machine

4.1 Induction machine model in the fixed stator reference frame
The two-phase model in the original frames in Fig.4.1 will be used for the determination of the model in the common - reference frame.
-axis
-axis
i
u
-axis
i
u
-axis
ROTOR
STATOR
Figure 4.1: Two-phase induction machine model in original reference frames
Voltage equations of the induction machine in the original frames are
40
MODELLING OF THE INDUCTION MACHINE
i R
i R
i R
i R
d
dt
d
dt
d
dt
d
dt
(4.1)
or in the matrix form

u = Ri +
dt
(4.2)
First we have to define the flux linkages
=
=
=
=
i L
i L
i L
i L
+
+
+
i L cos
i L sin
i L cos
i L sin
+
+
+
i L sin
i L cos
i L sin
i L cos
(4.3)
The derivatives of the flux linkages, defined by equations (4.3), are

d
dt
d
dt
d
dt
d
dt
L didt
di
L i sin d
dt
di
L i cos d
dt
L cos dt
L sin dt
di
dt
di
= L dt
di
L sin dt
L cos dt
L i sin d
dt
di
+ L cos dt
di
+ L sin dt
L i sin d
dt
di
dt
di
L i cos d
dt
L i cos d
dt
L sin didt
L i cos d
dt
di
L i sin d
dt
L cos dt
where inductances Lxy are constant. Let us introduce the operator p :=

(4.4) are inserted into voltage equations (4.1).
(4.4)
d
dt .
Equations
41
i R
pi L
i R
pi L
L cos pi
L sin pi
L sin pi
L cos pi
i R
pi L
L cos pi
L sin pi
+
+
i R
pi L
i L sin p
i L cos p
i L cos p
i L sin p
i L sin p
i L cos p
L sin pi
L cos pi
i L cos p
i L sin p
Equations (4.5), written in matrix form are

2u 3
6 u 7 6
6 7 6
6 7=6
6 u 7 6
4 5 6
4
u
R + L p
R + L p
L cos p
L sin p
L sin p
L cos p
L sin p
+L cos p
L cos p
L sin p
L cos p
L sin p
L sin p
+L cos p
R + L p
0
(4.5)
2i
L sin p
L cos p
L cos p 7 6 i
7
L sin p 7 6
76
0
6 i
R + L p
7
7
7
74 7
5
5
(4.6)
The voltage equations are not very simple, because they contain trigonometric functions of the rotor position . The reason for this is the fact that both the stator and
the rotor voltage equations are written in their original reference frame.
The important simplification of the obtained model in the original reference frame
(equations (4.6)) is possible when we transform the model to the common reference
frame. Let us use first the stator original - reference frame as the new common
reference frame.
It is possible to use the already known transformation (3.20) from the previous chapter.
According to Fig.4.1 and trasformations (3.20), we get
iR
iR
=
=
i cos
i sin
i sin
i cos
(4.7)
and in matrix form
42
iR
iR

i
i
cos
sin
sin
cos
cos sin
sin cos

i
i
iR
iR
(4.8)
The same transformation is used for voltages

u R
u R

u
u
cos
sin
sin
cos
cos sin
sin cos

u
u
u R
u R
(4.9)
There is no need to transform the stator voltages and currents, therefore, the transformation matrix is
2
i
6i 7 6
6 7=6
4i 5 4
R
iR
1
0
0
0
0
0
1
0
0 cos
0 sin
32
0
i
7
6
0 7 6 i 7
7
sin 5 4 i 5
cos
i
(4.10)
and the inverse transformation matrix is

2
i
6i 7 6
6 7=6
4 i 5 4
i
1
0
0
0
0
1
0
0
32
i
0
0
6
7
0
07
7 6 i 7
cos sin 5 4 iR 5
iR
sin cos
(4.11)
The transformation matrix which transforms the original rotor voltages and currents
from the - reference frame to the new stator reference frame - is
2
1
60
P 1=6
40
0
0
0
1
0
0 cos
0 sin
0
07
7
sin 5
cos
(4.12)
43
The transformed impedance matrix is obtained by calculating P

2
1
60
P 1 ZP = 6
40
0
2
6
6
6
6
6
6
6
6
6
6
4
R + L p
R + L p
L cos p
L sin p
L sin p
L cos p
1
60
6
40
0
0
1
0
0
Z P.
0
0
1
0
0 cos
0 sin
L sin p
+L cos p
L cos p
L sin p
0
0 7
7
sin 5
cos
L cos p
L sin p
L sin p
+L cos p
R + L p
L sin p
L cos p 7
7
L cos p 7
7
L sin p 7
7
7
0
7
R + L p
(4.13)
7
7
5
0
0
0
0 7
7
cos sin 5
sin cos
The rotor is axis symmetric, therefore

L
= L
in L
= L
The matrix multiplication from the left side is done first, then that from the right side
is done.
44
P
2
6
6
6
6
6
6
6
6
4
ZP =
R + L p
R + L p
L p
L p
L cos p
L sin p
L sin p
+L cos p
cos (R + L p)
sin (R + L p)
L p
1
60
6
40
0
L sin p
L cos p 7
7
7
L cos p
7
L sin p 7
7
sin (R + L p) 7
7
5
(4.14)
cos (R + L p)
3
0
1
0
0
0
0
0
0 7
7
cos sin 5
sin cos
The result is
P
2
R + L p
6
0
6
4 L p
L p
ZP = Z0 =
0
R + L p
L p
L p
L p
0
R + L p
L p
L p 7
7
L p 5
R + L p
(4.15)
By the definition of two new parameters

L p = a and
L p = a
it is possible to show how the calculation of a in equation (4.15) has been done.
45
= (L cos p
+(
L sin p) cos
L sin p L cos p)( sin )
L cos p(cos ) L sin cos p

+L sin p(sin ) + L cos sin (p)
L cos2p + L cos ( sin )p L sin cos p

2
+L sin p + L sin (cos )p + L cos sin p
(4.16)
L + L ) sin cos p
2
+( L + L ) sin cos p + L (cos2 + sin )p
= (
L p
It is obvious from the calculus that coefficient a is so simple only when the following is valid
R
= R
= L
= L
= L
(4.17)
The coefficient a is calculated in a similar way.

a
sin (R + L p) cos + cos(R + L p)( sin )
R sin cos + L sin cos p L sin sin (p)

R cos sin L cos sin p L cos cos (p)
R ) sin cos + (L
L (sin2 + cos2 )p
= (R
L ) sin cos p
(4.18)
L p
Remark: The transformed impedance matrix Z0 in the - reference frame is much

more convenient, because the trigonometric functions of the variable have disappeared.
The voltage equations of the transformed model in the matrix form are
46
u
R + L p
6u 7 6
0
6 7=6
4 u 5 4 L p
R
uR
M p
0
R + L p
M p
L p
L p
0
R + L p
M p
32
i
6
7
L p 7
7 6 i 7
M p 5 4 iR 5
R + L p
iR
(4.19)
The developed model in the - reference frame is most convenient for the analysis
of machine operation. The induction machine model in the form of equations (4.19)
cannot be used for the design of controlled drives.
4.2 Induction machine model in the common dqreference frame

The rotor axis symmetry has been required for the development of the - model of
the induction machine.
The axis symmetry of both the stator and the rotor is necessary to determine the
machine model in the common dqreference frame. The result of the required symmetry is:
RS = R
LS = L
M = L
= R
= L
RR = R
= R
LR = L
= L
= L = L = L = L = L = L = L
The circuit model in Fig.4.2 represents the two-phase model of the induction machine.
47
-axis
-axis
i
u
-axis
i
u
-axis
ROTOR
STATOR
Figure 4.2: Two-phase circuit model of induction machine
u
u
RS i
RS i
d
( )
dt
d
dt
RR i

d
dt
RR i

d
dt
(4.20)
where RS and RR are ohmic resistances of the stator and the rotor winding, M is the
mutual inductance between the stator and the rotor windings, LS and LR are corresponding self inductances. is the angle between the stator and the rotor.
The equations for flux linkages are determined as sums of projections of the corresponding products of currents and inductivities on the selected axis.
48
LS i
LS i
LR i
LR i
=
=
=
+
+
M cos i
M sin i
M cos i
M sin i
M sin i
M cos i
M sin i
M cos i
+
+
+
(4.21)
Voltage equations and the torque equation in the matrix form are
u = Ri +
d
fLig
dt
(4.22)
1 dL
te = iT
i
2 d
2
u
6u 7
7
u=6
4 u 5
u
i
6i 7
7
i=6
4 i 5
i
2
7
7
5
RS
R=6
4
RR
(4.23)
RR
LS
L=6
4
RS
LS
M sin
M cos
M cos
M sin
M cos
M sin
LR
M sin
M cos 7
7
5
(4.24)
LR
Remark: the stator and the rotor equations are still written in their original reference
frames, therefore, functions of the time dependent angle appear in the inductance
matrix.
In this case we have to transform both the stator and the rotor. The transformations
are

u
u
u
u

=

=
cos S
sin S
sin S
cos S
cos R
sin R
sin R
cos R
S = + R

ud
uq
ud
uq
(4.25)
49
-axis
-axis
q -axis
d -axis
i
u
s
-axis
R
S
-axis
i
u
ROTOR
STATOR
Figure 4.3: Two-phase induction machine model
R is the angle between the - axis of the rotor original reference frame and the daxis of the new common reference frame.
S is the angle between the - axis of the stator original reference frame and the daxis of the new common reference frame, is the rotor displacement.
Transformations for the voltage and the current vector are
0
u = Pu
i = Pi
where the transformation matrix P is

2
cos S
6 sin
S
6
P=4
sin S
cos S
(4.26)
cos R
sin R
7
7
sin R 5
T
=P
(4.27)
cos R
By transforming the voltage equations and the torque equation (4.22) we get
0
=P
1 RPi0 + P 1 d
dt
te =
1 0 T dL
2
Pi
LPi
0
(4.28)
Pi
50
Separate terms will be calculated step by step. The first one in the voltage equation
is
2
cos S
6 sin
S
6
R=4
sin S
cos S
RS cos S
6 R sin
S
S
6
32
cos R
sin R
RS sin S
RS cos S
RS cos S
6 R sin
S
S
6
4
cos S
6 sin
S
6
4
sin S
cos S
2
RR
RR
3
7
7
RR sin R 5
RR cos R
RR sin R
RR cos R
cos R
sin R
3
7
7
RR sin R 5
RR cos R
3
7
7
sin R 5
cos R
3
RS
7
7
5
RS
RP = 6
4
7
7=
5
RS
cos R
P 1 RP =
RS sin S
RS cos S
RR cos R
RR sin R
76
76
sin R 5 4
RS
RR
RR
The second term P

written as follows
0o
d n
LPi , which occurs in the voltage equation (4.28), can be
dt
n
0o
1d
P
LPi = P
dt

1
Taking into account the well known theorems:
0
d
d n 0o
fLPg i + LP dt i
dt
51
cos( + )
cos( )
sin( + )
sin( )
cos( ) cos( ) sin( ) sin( )

cos( ) cos( ) + sin( ) sin( )
sin( ) cos( ) + cos( ) sin( )
sin( ) cos( ) cos( ) sin( )
we obtain
2
6
M cos
M sin
LR
LS
LS
M cos M sin
M sin M cos
2
cos S
sin S
6 sin
cos S
S
6
4
cos R
sin R
LP = 6
4
LS cos S
6 L sin
S
S
6
4 M cos(
S )
M sin(S )
LS cos S
6 L sin
S
S
LP = 6
4 M cos
R
M sin R
sin
LS
S
S
6 L
cos
S
6 S S
4 M
sin
R
R
M R cos R
3R
7
7=
sin R 5
cos R
LS sin S
M cos(R + )
LS cos S
M sin(R + )
M sin(S )
LR cos R
M cos(S )
LR sin R
S = + R
M sin
M cos 7
7
and R = S
LS sin S
LS cos S
M sin R
M cos R
M cos S
M sin S
LR cos R
LR sin R
d
fLPg =
dt
cos
sin
LS
M
S
S
S
S
sin
cos
LS
M
S
S
S
S
sin
cos
M
L
R
R
R R
R
M R sin R LR R cos R
M sin(R + )
M cos(R + ) 7
7
LR sin R 5
LR cos R
M sin S
M cos S 7
7
LR sin R 5
LR cos R
cos
M
S
S
sin 7
M
S
S 7
cos 5
LR
R
R
LR R sin R
52
cos S
6 sin
S
6
LP = 4
LS cos S
6 L sin
S
6 S
4 M cos
R
M sin R
LS sin S
LS cos S
M sin R
M cos R
2
1
LP = 6
4
sin S
cos S
cos R
sin R
M cos S
M sin S
LR cos R
LR sin R
LS
LS
LR
M
cos S
6 sin
S
6
d
fLPg = 4
dt
sin
LS
S
S
cos
6 L
S
6 S S
4 M
sin
R
R
cos
M
R
R
cos
LS
S
S
sin
LS
S
S
cos
M
R
R
sin
M
R
R
2
6L
d
S
S
6
f
LPg = 4
dt
M
R
sin S
cos S
cos R
M sin S
M cos S 7
7
LR sin R 5
LR cos R
3
7
7
sin R 5
M7
7
5
LR
3
cos R
sin R
7
7
sin R 5
sin
M
S
S
cos
M
S
S
sin
LR
R
R
cos
LR
R
R
cos R
3
cos
M
S
S
sin 7
M
S
S 7
cos 5
LR
R
R
sin
LR
R
R
LS
S
M
S
M
R
7
7
5
LR
R
M
S
LR
R
It is possible to write the voltage equation (4.28) in a different form

0
=P
RPi
+P
0
d
f
LPg i + P
dt
LP
d 0
i
dt
Finally, voltage equations of the induction machine in the common dqreference
frame are
53
uSd
6u 7
6 Sq 7
4u 5
Rd
uRq
2
6
4
M
R
LS
6
4M
LS
S
LS
LR
M
M
S
M
R
M
iSd
76 i 7
7 6 Sq 7
54i 5
Rd
RR
iRq
RR
LS S
+ 6
4
+ 6
32
RS
iSd
0 6 iSq 7
7
i =6
4i 5
R
iRq
RS
= 6
uSd
0 6 uSq 7
7
u =6
4u 5
R
uRq
LR
R
M
S
32
iSd
76 i 7
7 6 Sq 7
54i 5
LR
R
Rd
iRq
(4.29)
82
39
i
>
>
>
<6 Sd 7>
=
7
M 7 d 6 iSq 7
5 dt >4 i 5>
>
: Rd >
;
3
LR
iRq
Voltage equations (4.29) are the most general for all two-phase models. If we want
to write the model in a different reference frame we need to insert the right angles in
equations (4.29).
When, for instance, S = t, where is the angular frequency of the supply voltage,
we obtain the model in the common synchronously rotating reference frame.
When, for instance, S = 0, then, according to equation (4.25) = R , and the
model in the common fixed stator reference frame - is obtained (as in the chapter
before).
The model in the common rotor reference frame - is obtained with the next choice
of transformation angles: R = 0 and S = .
According to equation (4.28) the corresponding torque is
te =
1 0 T dL 0
Pi
Pi
2
d
54
Taking into account (AB)T
= BT AT ,
we obtain
1 0 T T dL 0
Pi
i P
2
d
te =
Then we have to multiply the matrices step by step as follows:

2
6
L=6
4
M cos
M sin
LS
M sin
M cos
M sin
M cos
2
dL
d
6
4
= M6
M cos
M sin
sin
cos
PT
dL
d
cos S
6 sin
S
6
= M4
sin S
cos S
2
6
6
4
sin
cos
cos
sin
PT
dL
d
M6
4
sin(R + )
cos(R + )
cos(R + )
sin(R + )
M cos
M sin 7
7
5
sin
cos
cos
sin
M sin
M cos
=6
4
M sin
M cos 7
7
LR
dL
d
M cos
M sin
LR
LS
cos
sin 7
7
5
3
cos R
sin R
sin
cos
7
7
sin R 5
cos R
3
cos
sin 7
7
5
sin(S
cos(S
)
)
cos(S )
sin(S ) 7
7
5
55
PT
dL
d
= M6
4
sin(S )
cos(S )
sin(R )
cos(R )
cos(S )
sin(S )
cos(R )
sin(R ) 7
7
5
S = R +
2
PT
6
dL
P = M6
4
d
2
sin(S )
cos(S )
cos S
6 sin
S
6
cos(S )
sin(S )
sin S
cos S
7
7
sin R 5
cos R
sin R
cos R
1
6
dL
P = M6
4
d
cos(R)
sin(R) 7
7
3
PT
sin(R)
cos(R)
1
1
3
7
7
5
1
t=
1 0 T T dL 0
Pi
i P
2
d
2
1
te = M [ iSd
2
iSq
iRq ] 6
4
iRd
1
1
1
M [ iSd
2
iSq
iRd
iRq
32
iSd
76 i 7
7 6 Sq 7 =
54i 5
Rd
iRq
6 i
7
Rd 7
i 5
iRq ] 6
4
Sq
iSd
Finally, the electromagnetic torque is
56
te
1
iSd iRq + iSqiRd + iSqiRd
M
2

iSd iRq
(4.30)
M iSq iRd
iSd iRq
Equation (4.30) represents the electromagnetic torque of the two-phase induction

machine model in the common dqreference frame.
4.3 Stationary model of the induction machine in the form of the equivalent
circuit
The two-phase induction machine dynamic model in the - reference frame can
be used to determine the stationary model of the induction machine, well known as
the equivalent circuit. The equivalent circuit of the induction machine is shown in
Fig.4.4.
Remark: the machine is supplied with harmonic symmetric voltages, consequently,
the complex algebra can be applyed in the further analysis of the machine.
In this case the operator p is replaced by the complex number j as follows
Lp(I sin t ) = LI cos t = j LI sin t
j (LR
RS
US
M)
IS
j (LR
j M
d
t
dt
RR
s
M)
IR
UR
s
Figure 4.4: Equivalent circuit of the induction machine
The phasor diagram of the induction machine is shown in Fig.4.5.

The electromagnetic torque is
Te = K mIR sin
(4.31)
57
4.3 Stationary model of the induction machine in the form of the equivalent circuit
IS S L S
US
IS RS
E
IS
IR
Im
IR
R
IR
RR
s
E
IR S L R
Figure 4.5: Phasor diagram of the induction machine
where m and IR are the RMS values of the flux linkage in the air gap and the rotor
current (see phasor diagram in Fig.4.5).
It is possible to rewrite the torque equation in the following form
Te = K mIR sin
= K Im IR sin = K Im IS sin = K Im Ia
(4.32)
The torque equation (4.31) is very similar to the torque equation of the DC machine.
Note that both currents in equation (4.31) are independent and perpendicular.
The following power and torque values can be calculated with the help of the equivalent circuit shown in Fig.4.4
Input power Pinp = 3US IS cos
(4.33)
2
= 3IS RS
(4.34)
Stator copper loss Pcus
IR 2
Power across air gap P = 3RR
s
Rotor copper loss PCu = 3IR2 RR
(4.35)
(4.36)
Output power Pm = P
RR IR2
PCu = 3
2
s
RRIR2 = 3 RR IR2
|
{z s }
(4.37)
58
The torque can be expressed as

Te =
Pm
= s (1
s)
Te =
3
1 s
RR IR 2
s (1 s)
s
s=
s
s

=
3 RR IR 2
s
s
(4.38)
4.3.1 Approximate equivalent circuit
The equivalent circuit in Fig.4.4 can be simplified like the one shown in Fig.4.6 by
moving the magnetizing inductance M to the input. The exact transformation can be
done using the so-called Thevenines transformation.
j (LR
RS
US
j (LR
M)
M)
RR
s
UR
s
IR
j M
Figure 4.6: Approximate equivalent circuit of the induction machine
The approximate equivalent circuit is now very useful for calculating the rotor current.
US
IR = q
(4.39)
R 2
2
(RS + sR ) + (X S + X R)
By inserting equation (4.39) into equation (4.38) we get:

2
Te =
3 4
s (R
US2
RR 2
2
+
S
s ) + (X S + X R )
R
5 R
s
(4.40)
59
4.3.2 Torque-speed curve
If the supply voltage and the frequency are constant, the torque Te can be calculated
as a function of slip s from equation (4.40). The function is shown in Fig.4.7.
S
Motor
Generator
Brake
1:0
Tem
Te
Tem ( pu)
Synchronous speed
Starting torque
1
Slip s
-1
0:0
S ( pu)
-1
Figure 4.7: Torque-speed curve at constant voltage and frequency
The torque curve is calculated in the region from s = 2 to s = 1. s represents the

value and the direction of the stator voltage angular speed and is the value and the
direction of the rotor angular speed.
The machine start torque (s = 1) is Tes . It is calculated from equation (4.40), inserting
s = 1.
"
Tes =
3
s
US2
2
+ (X S + X R )
2
(RS + RR )
RR
(4.41)
If equation (4.40) is derivated with respect to the slip and equated to zero, we get
Te =
dT
ds
K
u
= Ku
d
Te = 0
ds
dT
ds
s m+
Ku
2 du
ds
in sm
(4.42)
60
RR
s m+ = q
RR
X S + X R
R2S + (X S + X R)2
sm
sm+; RS = 0
(4.43)
where sm+ and sm are the slip values corresponding to the breakdown torque Tem .
They are substituted in equation (4.40) so we get
:
Tem+ =
Tem
3US2
1
s 2(X S + X R)
3US2
1
s 2(X S + X R)
(4.44)
(4.45)
A further simplification of the equivalent circuit in Fig. 4.6 can be done by neglecting
the stator parameters RS and L S . This assumption is reasonable if the speed is
typically above 0.1 of the rated speed.
The torque equation (4.40) can be simplified as
R
US2
Te = 3 2 2 sl 2R 2
s RR + sl L R
(4.46)
sUS
IR = q
2
RR 2 + sl2 L R
(4.47)
The rotor current is
The air gap flux m is given by equation (4.48) (in our case, where N=1 the flux is
equal to the flux linkage m in the air gap)
m =
US
s
s MIm
s
= N m
(4.48)
In the low-slip region, where RR 2 >> sl2 L2 R , equation (4.46) can be approximated
as
61
Te = 3
1 2

RR m sl
(4.49)
The equation (4.49) shows that:
Te is proportional to m2 if sl is constant
Te is proportional to sl if m is constant
4.3.3 Variable voltage operation
A simple and economical method for the open loop speed control of a cage-type
induction motor is to vary the stator voltage at constant frequency.
Figure 4.8 shows the torque-speed curves with variable stator voltage, which have
been plotted from equation (4.40).
Speed control range
1:0
1:0US
Load torque
Te
Tem ( pu)
0:7US
0:5
0:5US
0:25US
0:0
0:2
0:4
0:6
0:8
1:0
S ( pu)
Figure 4.8: Torque-speed curves with variable stator voltage
4.3.4 Variable frequency operation
If the stator frequency s is increased beyond the rated value b , the torque-speed
curves, derived from equation (4.40) can be plotted as shown in Fig.4.9.
62
Rated torque curve

1:0
Tem S2 =constant
Te
Tem ( pu)
0:5
0:0
1:0
2:0
3:0
S
b ( pu)
Figure 4.9: Torque-speed curves at variable frequency
According to equation (4.49) the air gap flux and the stator current decrease as the
frequency increases, and correspondingly the maximum developed torque also decreases.
The maximum torque as a function of the slip can be obtained from equation (4.46)
R
US2
Tem = 3 2 2 slm 2 R 2
s RR + slmL R
(4.50)
where slm = RR =L2 R is the slip frequency at maximum torque. The equation (4.50)
shows that the product Tem S2 is constant.
If an attempt is made to decrease the supply frequency below the rated voltage, the
air gap flux will saturate, causing excessive stator current.
Therefore, the region below the base frequency s = b should be accompanied by
the corresponding reduction of the stator voltage so as to maintain a constant air gap
flux.
Figure 4.10 shows the plot of torque-speed curves where the US =s ratio is maintained constant.
The maximum torque Tem , given by equation (4.50), remains approximately the
same, except in the low-frequency region, where the air gap flux is reduced by the
63
4.4 Scalar control methods
Maximum torque
Rated torque curve
1:0
Te
Tem ( pu)
0:5
0:0
0:5
1:0
S
b ( pu)
Figure 4.10: Torque-speed curves at constant US =s ratio
stator impedance drop.

Therefore, in this region the stator drop has to be compensated by an additional
voltage boost, so as to produce the maximum torque.
The different regions of torque-speed curves of a practical drive system with a variablevoltage, and a variable-frequency supply are shown in Fig.4.11.
Fig.4.12 shows the torque, the stator current and the slip as a function of frequency.
In the constant-torque region the maximum available torque is shown somewhat
lower than the break-down torque, due to the limited inverter current capability.
4.3.5 Variable-stator current
Instead of controlling the stator voltage, the stator current can be controlled directly
to control the developed torque.

In this section the scalar control techniques of an induction motor using voltage-fed
inverters are described.
Scalar control relates to the magnitude control of variables only, while the command
64
Te
Tem =constant
=constant
Tem S2
=constant
1:0
Te
Tem ( pu)
0:0
2:0
1:0
S
b ( pu)
Figure 4.11: Regions of torque-speed curves with variable-voltage and variable-frequency power supply
Stator voltage US
Torque Te
1:0
Stator current IS
US
USm ( pu)
Slip s
0:0
1:0
2 :0
Stator voltage drop compensation
S
b ( pu)
Figure 4.12: Voltage-frequency relation of induction motor
65
and feedback signals are DC quantities which are proportional to the respective variables.
This is in contrast to the vector control, where both the magnitude and the phase of
a vector variable are controlled. This will be described in the next section.
4.4.1 Open-loop US =s speed control
An example of a simple open-loop US =s speed control method for an induction

motor is shown in Fig.4.13.
Voltage drop compenzation
US
K
PWM
Figure 4.13: Open-loop US =s speed control
The frequency S is the command variable. It is close to the motor speed when the
small slip frequency is neglected.
The scheme is defined as US =s control because the voltage command US is generated directly from the frequency signal through a US =s gain constant K.
In the steady-state operation the machine air gap flux m is approximately related to
the ratio US =s .
As the frequency approaches zero near the zero speed the voltage drop at the neglected stator resistance will be relatively higher and higher. An auxiliary compensation signal is added to compensate the mentioned voltage drop.
Closed-loop US =s speed control scheme is shown in Fig.4.14.
66
Voltage drop compenzation

US
K
PWM
=
S
S
GR (s)
Limiter
Rotor speed
Figure 4.14: Closed-loop US =s speed control
4.4.2 Vector control of speed
The main drawback of the scalar speed control is that it is based on the stationary
model of the induction machine. Scalar speed control approaches are suitable for
less demanding drives.
Vector control is used for high performance induction motor drives.
The block diagram of the direct field oriented control of the induction machine is
shown in Fig.4.15.
Mr
Rd
LR TR
ir
uar
u r
ur
ua
N
Sd
GRi (s)
Sd
V
dq
E
ubr
ub
L
ir
ur
G (s)
R
GRi (s)
iSd
iSq
Sq
Sq
u r
ucr
uc
r
M L Rd
R
Figure 4.15: Direct field oriented vector control of speed of induction machine
The block diagram of the indirect field-oriented control of the induction machine is
67
shown in Fig.4.16.
Mr
Rd
LR TR
ir Sd
I
u r
uar
ur Sd
GRi (s)
ua
V
dq
2
ubr
L
s
ub
G (s )
R
ur Sq
GRi (s)
iSd
iSq
ir Sq
ucr
u r
uc
M L Rd
R
R
S
1
s
Figure 4.16: Indirect field oriented vector control of speed of induction machine
68
C HAPTER
Control of Induction Motor Drives

Two-phase induction machine model in the original reference frame is shown in
Fig.5.1
-axis
-axis
q -axis
d -axis
i
u
-axis
i
i
u
i
u
-axis
ROTOR
STATOR
Figure 5.1: Two-phase induction machine model in the original reference frame
Two-phase induction machine model in dqreference frame is shown in Fig.5.2
70
CONTROL OF INDUCTION MOTOR DRIVES
q -axis
Sq
Rq
iSq
uSq
iRq
uRq
Rd
Sd
iSd
iRd
uRd
ROTOR
d -axis
uSd
STATOR
Figure 5.2: Two-phase induction machine model in dqreference frame
Let us write now the induction machine model in dqreference frame in a slightly
different form as we did before (equations (4.29) and (4.30)):
uSd
iSd RS + dtd Sd
uSq

iSq RS + dtd Sq +
S Sd
iRd RR + dtd Rd

iRq RR + dtd Rq +
R Rd
te
M (iSq iRd
J ddt
te
S Sq

R Rq
iSd iRq ) =
tL
Flux linkages are defined by:
M
LR (iSq Rd
(5.1)
iSd Rq )
71
Sd
LS iSd + MiRd
Sq
LS iSq + MiRq
Rd
LR iRd + MiSd
Rq
LR iRq + MiSq
(5.2)
Rotor currents are determined from the last two equations of 5.2:
iRd
iRq
Rd iSd M
LR
Rq iSq M
LR
(5.3)
Equations (5.3) are inserted into first two equations of system (5.2):
Sd
Sq
M
LR (Rd
iSd M ) + LS iSd = Rd LM
+ iSd (LS
M2
LR )
M
LR (Rq
iSq M ) + LS iSq = Rq LM + iSq(LS

R
M2
LR )
(5.4)
New parameter L is introduced in the following form:

L
Note, that L
M2
LR
= LS
6= L S and L 6= L R, but:
L
= LS
M2
LR
= L S + M
M2
L R + M
(5.5)
= L S +
L R M
L R + M
(5.6)
Inserting equations (5.5) in (5.4) we get:
Sd
Rd LM
+ iSd L
Sq
Rq LM
+ iSq L
(5.7)
Equations (5.7) define both stator flux linkages. They are inserted in the first two
voltage equations of the system (5.1).
72
uSd
iSd RS + dtd (Rd LM
+ iSd L )
uSq
iSq RS + dtd (Rq LM
( M + i L )
+ iSq L ) +
S Rd LR
Sd
( M
S Rq L
+ iSq L )
(5.8)
Equations (5.3) are inserted in the third and the fourth equation of (5.1). Taking into
L
account TR = RR we get:
R
d
dt Rd TR + Rd
d
dt Rq TR + Rq =
T
iSd M +
R R Rq
(5.9)
R R Rd
iSq M
Time derivative of both flux linkages are calculated from equations (5.9).
d
dt Rd
iSd M T1

+
R Rq
Rd T1
d
dt Rq =
iSq M T1
R Rd
Rq T1
Equations (5.10) are multiplied by
(5.10)
M
LR .
M 2 RR
M
+
R Rq LR
R LR
M d
LR ( dt Rd ) =
iSd L
M d
LR ( dt Rq ) =
M2R
iSq L L R
R R
R Rd L
MRR
R LR
Rd L
(5.11)
MR
Rq L LR
R R
Equations (5.11) are inserted in stator voltage equations (5.8) and the new parameter
R is introduced:
R
= RS +
M2
R
L2R R
(5.12)
uSd
iSd R + L dtd iSd
Rd TML
M
+
R Rq L
uSq
iSq R + L dtd iSq
Rq TML
R Rd L
R R
R R
( M
S Rq L
+ iSq L )
( M + i L )
+
S Rd LR
Sd
(5.13)
Let us assume in equation (5.13) the following relation between the rotation speeds:
73
5.1 Field oriented control of induction machine
=
+
R
S
(5.14)
and we get:
uSd
iSd R + L dtd iSd
Rd TM LR
Rq L
i L
S Sq
uSq
iSq R + L dtd iSq
M
Rq TM LR +
Rd L
i L
+
S Sd
(5.15)
Stator voltage equations (5.15), written in the different form are:

R (iSd + T dtd iSd )
uSd + Rd TML
R (iSq + T dtd iSq )
uSq + Rq TML
R R
M +
i L
+
Rq L
S Sq
R
Rd L
R R
i L
S Sd
(5.16)
Using the Laplace transformation, voltage equations (5.16) are transformed in the
Laplace domain. Zero initial conditions are taken into account.
=
USd (s) + Rd (s) T ML
ISq (s)(1 + sT )R
USq (s) + Rq (s) T ML

R R
Rd (s)(1 + sTR )
(s)T (s)
ISd (s)M +
R
R Rq
Rq (s)(1 + sTR )
ISq (s)M
ISd (s)(1 + sT )R
R R
(s) (s) M +
(s)i (s)L
+
Rq
S
Sq
L
R
(s) (s) M
Rd
L
(s)i (s)L
S
Sd
(5.17)
(s )T (s )
R
R Rd
Fig. 5.3 represents model of IM in form of equations (5.17).

Equations (5.17) are written in general synchronous rotated dqreference frame. Let
us fix the d- axis of the general reference frame with the rotor flux linkage Rd . With
the corresponding control of the induction machine we have to assure the following:
Rq
d
dt Rq =
(5.18)
74
M
LR
Rd
iSd
USd
M
1+TR s
R (1+T s)
TR
M
S
TR
M
USq
1
TR
1
TR
M
1+TR s
1
R (1+T s)
Rq
iSq
M
LR
Rq
Rd
tL
iSd
te
1
Js+ f
M
LR
iSq
Figure 5.3: Block scheme of induction machine
Machine model in the case of field oriented control is:

ISd (s)(1 + sT )R
(s)I (s)L + (s) M

USd (s) +
S
Sq
Rd
T L
ISq (s)(1 + sT )R
USq (s)
Rd (s)(1 + sTR)
ISd (s)M
(s)
ISq M
TR Rd (s)
R R
(s )I (s )L
S
Sd
(s) M
Rd
L
The fild oriented induction machine model is shown in Fig. 5.4.
(5.19)
75
M
LR
Rd
iSd
1
R (1+sT )
USd
M
1+sTR
TR
M
TR
M
1
TR
M
1+sTR
1
R (1+sT )
USq
1
TR
Rq
iSq
M
LR
is
Figure 5.4: Electrical part of field oriented induction machine model; Note, that in the field orientation
R
computed by the fourth equation of (5.19) and S by equation (5.14)
With the modification of the block diagram in Fig.5.4 and taking into account the
mechanical part of the model we get:
M
LR TR
tL
1
R (1+sT
USd
Rd
iSd
M
(1+sTR )
te
M
LR
1
Js f
USq
1
R (1+sT
iSq
M
LR
Figure 5.5: Complete model of field oriented induction machine
76
Conclusion: the d- and the q- part of the IM model in Fig.5.5 are coupled.
5.2 Decoupling of the field oriented IM model

Decoupling of the field oriented induction machine model is possible with introduction of the voltage feed-forwards:
uSd
uSq
M
Rd
T L
i L
S Sq
R R
M
Rd L
i L
S Sd
(5.20)
The voltage feed-forward signals are added to both outputs from the current controller. The reference values of voltages in the d- and the q- direction are
urSd
urSq
uSd + udr
uSq + uqr
(5.21)
The decoupled IM model in Fig. 5.6 is obtained with the corresponding voltage
feed-forwards (5.21).
77
5.2 Decoupling of the field oriented IM model
Mr Rd
LR TR
M
LR TR
ur Sd
ir Sd
PI
Rd
uSd
1
R (1+sT )
con:
I
N
ir Sq
PI
ur Sq
T
E
con:
iSd
V
E
1
(1+sT )
uSd
iSq
1
R (1+sT )
r
Rd
LR
M
LR
Regulator
Motor
Figure 5.6: Electrical part of the decoupled field oriented IM with PI current controllers
Mr
Rd
LR TR
ur
ir
PI
Sd
s
L
ir Sq
PI
con:
PI
Sd
Sd
con:
con:
ur Sq
r
M L Rd
R
tL
M
LR TR
I
N
V
E
R
T
E
R
1
R (1+sT )
Rd
(1+sT )
M
LR
te
1
f +Js
Sd
Sd
1
R (1+sT )
iSq
M
LR
Figure 5.7: Field oriented speed control of IM
78
Mr
Rd
LR TR
ur
ir
PI
Sd
u r
uar
ua
ubr
ub
Sd
con:
dq
L
IM
L
ir
PI
con:
Sq
ur Sq
PI
u r
con:
TG
3
uc
ucr
r
M L Rd
R
iSd
ia
3
ib
iSq
dq
ic
R
1
s
is computed by the fourth equation of (5.19)

Figure 5.8: Field oriented speed control of IM; Note, that
R
5.3 Speed control of the field oriented induction machine

The field oriented induction machine model shown in Fig.5.7 will be used for the
design of PI- controllers.
The feed-forward inputs in Fig.5.7 assure that the d- and the q- part of the block
diagram are decoupled. Both parts of the block diagram are drawn separately in
Fig.5.9.
79
Ge (s)
irsd
Gci (s)
urSd
uSd
iSd
1
LS s+RS
KT
Gc (s)
ter
1
KT
irSq
Gci (s)
Gm (s)
TI (s)
= LM
urSq uSq
iSq
1
LS s+RS
1
Js+ f
KT
tL
Figure 5.9: The d- axis and the q- axis block diagram of speed control of the field oriented induction machine
Current controllers in the d- and the q- axis are the same and has to be determined
first. According to Fig.5.9 the open current loop transfer function is
GI (s) = Ki
1 + Ti s
1
Ti s R (1 + T s)
(5.22)
Taking into account Ti = T the open-loop transfer function is

1
1 + T s R
GI (s) = Ki
T s 1 + T s
(5.23)
Note, that the pole of the open current loop transfer function in equation (5.23) can
be compensated by the controller zero. The result after cancellation is
GI (s) = Ki
1 1
T s R
(5.24)
The current closed-loop transfer function is
TI (s) =
GI (s)
1 + GI (s)
Ki
R T s
=
=
K
1 + T sRi
Ki
T sR + Ki
1
1 + TK Rs
(5.25)
It is obvious, that we can speed up the behaviour of the current loop by the selection
80
of the higher gain Ki . To high value of the gain can cause nonsuitable behaviour of
the system. When Ki = R is selected, we get
TI (s) =
1
T s + 1
(5.26)
and the inner loop behaves suitable as an first order system.

In the next step it is necessary to chose the speed controller, shown in Fig.5.9 The
parameters K and T my be chosen by different methods. In servo applications the
use of so-called method optimal output response can be appropriate choice.
If we take into account that the current closed-loop transfer function is TI (s), than
we can redraw the block diagram for the q- axis from the Fig.5.9. Figure 5.10 shows
the block diagram of the q- axis.
Gm (s)
r
Gc (s)
ter
te
1
Js+ f
TI (s)
Figure 5.10: The q- axis block diagram of speed control of the field oriented induction machine
The speed open loop transfer function G (s) is according to Fig.5.10

G (s) = K
1 + T s
T s
TI (s)
1
Js + f
where Tm = Jf . It is supposed that Tm

T = Tm . Equation (5.27) is
G (s) = K
= K
>
1 + T s
T s
TI (s)
1 1
Tm s + 1 f
(5.27)
T , therefore, the appropriate choice is
1 + Tms
1 1
TI (s)
Tm s
1 + Tm s f
(5.28)
It is obvious that the pole of the open loop transfer function (5.28) can be canceled
by the controller zero. After cancellation we obtain
81
G (s) = K
1
1 1
Tm s 1 + T s f
(5.29)
We have to select the speed controller gain. The possible choice is K =

chosen value of the gain is inserted into equation (5.29)
G (s) =
Tm f 1
1 1
2T Tm s 1 + T s f
Tm f
2T .
The
(5.30)

G (s) =
1 1 1
2T s 1 + T s
1
2T s(1 + T s)
1
2T2s2 + 2T s
(5.31)
Finally, the closed-loop transfer function of the speed control T (s) is calculated
1
2T2 s2 +2T s
=
=
T (s) =
1 + G (s) 1 + 2 21
2T s +2T s
G (s)
1
2T2 s2 + 2T s + 1
(5.32)
Note, that the speed controlled close loop system behaves as the second order system
with relatively short time delay, what we have expected at the beginning.
5.3.1 Analysis of the induction machine speed control using Matlab and Simulink
82
C HAPTER
Synchronous Machine with Permanent

Magnet Excitation
In the normal construction, a three-phase synchronous machine has a symmetrical
three-phase winding on its stator and it is similar to the stator of a three-phase induction machine. The excitation on the rotor is realized with permanent magnets, which
can be surface-mounted magnets or interior magnets.
6.1 The modelling procedure

The three-phase to two-phase transformation is first done on the stator. The result of
the transformation is the two-phase model of the synchronous machine. The stator
windings are presented in the - reference frame and the rotor in its natural dqreference frame. The transformation of the stator to the rotor dqreference frame is
the next step in the modelling procedure.
The result of that transformation is the circuit model of the synchronous machine
shown in Fig. 6.1.
The three-phase to two-phase transformation for the currents is
84
SYNCHRONOUS MACHINE WITH PERMANENT MAGNET EXCITATION
q -axis
iSq
Sq
uSq
Sd
iSd
d -axis
uSd
ROTOR
STATOR
Figure 6.1: Circuit model of the synchronous machine with permanent magnet excitation
r
1
i
2
4i 5 =
4 0
3 p1
i0
1
p2
3
2
p1
2
1 32 3
ia
p2
3 54i 5
b
2
p1
ic
2
(6.1)
1
p2
3
2
p1
2
1 32 3
ua
p2
3 54u 5
b
2
p1
uc
2
(6.2)
and for the voltages

2
r
1
u
2
4u 5 =
4 0
3 p1
u0
where is the rotor angle and is measurable. The transformation for currents from
the - reference frame to the dqreference frame is

id
iq

=
cos sin
sin cos

i
i
(6.3)
85
ud
uq

=
cos sin
sin cos

u
u
(6.4)
The transformation of currents from the dqreference frame to the - reference
frame is

i
i

=
cos
sin
sin
cos
cos
sin
sin
cos

id
iq
(6.5)

u
u

=

ud
uq
(6.6)
The transformation of currents from the - reference frame back to the three-phase
quantities is
2 3
r
ia
26
6
4i 5 =
b
34
ic
1
1
2
1
2
p
3
2
p
3
2
p1 2 3
2
7 i
1
p 7 4 i 5
25
i0
1
p
(6.7)

2
r
ua
26
6
4u 5 =
b
34
uc
1
1
2
1
2
p
3
2
p
3
2
p1 2 3
2
7 u
1
p 7 4 u 5
25
u0
1
p
(6.8)
Note that the current i0 = 0 and the voltage u0 = 0, because the stator windings are
star-connected.
Flux linkages d and q are
d
q
=
=
id LS + m
iq LS
(6.9)
86
Voltage equations and the equation of motion are

uSd
RS iSd + LS
diSd
dt
uSq
RS iSq + LS
diSq
dt + Sd
J ddt
te
te
miSq
Sq
(6.10)
tL
The time derivatives are expressed from equations (6.10)

diSd
dt
1
LS [uSd
i ]
RS iSd + L
S Sq
diSq
dt
1
LS [uSq
RS iSq
d
dt
1
Js+ f [m iSq
(L i + m )]
S Sd
(6.11)
tL]
The block diagram of the synchronous machine in Fig. 6.2 can be drawn on the base
of equations (6.11).
RS
uSd
iSd
1
LS s
LS
LS
m
uSd
1
LS s
iSq
RS
te
1
Js+ f
1
s
tL
Figure 6.2: Block diagram of the synchronous machine with permanent magnet excitation
87
6.2 Decoupling of the synchronous machine model

The d- and the q- axes of the synchronous machine model in Fig. 6.2 are coupled.
With the introduction of the voltage feed-forward signals
ud
uq
LS iSq
=
=
LS iSd
(6.12)
the decoupling of the block diagram in Fig. 6.2 is possible. The voltage feed-forward
signals are added to both outputs from the current controllers. The reference values
of voltages in the d- and the q- direction are
udr
uqr
=
=
ucd + ud
ucq + uq
(6.13)
KT
udr
idr
u r
uar
ua
ubr
ub
= m
Gci (s)
dq
LS
SM
LS
m
r
G (s)
c
1
KT
uc
ucr
u r
Gci (s)
TG
uqr
id
ia
3
ib
iq
dq
ic
1
s
Figure 6.3: Field oriented speed control of the synchronous machine including the feed-forward signals for
decoupling of the model
The decoupling of the synchronous machine model in Fig. 6.3 is obtained with the
corresponding voltage feed-forward signals (6.13).
88
6.3 Speed control of the synchronous machine

The drive should, of course, be operated in such a way as to make best use of the
motor and inverter. The appropriate control mode may be deduced from a phasor
diagram, describing the voltage equations (6.11) in the steady-state.
In Fig.6.4 the phasor diagram is drawn for = 2 , which is the optimal mode of
operation, where the motor produces maximum torque for a given stator current.
Clearly, = 2 , ISd = 0 is the best choice as long as the inverter can supply the
neccesary voltage, i.e. below the base speed.
I
L
S Sq
I
L
S Sd
RS ISd
RS ISq
I
L
S Sq
m
E =
RS ISq
US
US
m
E =
IS
ISq = IS
ISd = 0
ISq
= 2
ISd
Figure 6.4: Phasor diagrams of the synchronous machine; a) Id
> 2
=0
and b) Id
6= 0
Direct field weakening is not feasible with a permanently excited machine but a
similar effect can be achieved by advancing the current vector beyond = 2 , i.e., by
introducing a current component in the negative d- axis. This is indicated in Fig.6.4
in dotted lines. As a consequence, ISq my have to be reduced in order not to exceed
the limit for the total current
q
IS =
2 + I2 < I
ISd
Smax
Sq
(6.14)
This leads to a corresponding reduction of torque, which is a characteristic for operDrago Dolinar: Electrical Machines Modelling and Control
89
ation at a reduced field.

The optimal control procedure is thus as follows: Operation with ISd = 0, ISq < ISqmax
up to the voltage limit, which is reached at the base speed; a further increase in speed
can then be obtained by shifting the current into the unstable region, > 2 , while
maintaining constant voltage.
The block diagram of the speed control of the synchronous machine shown in Fig.6.3
will be used for the design of PI- controllers.
Fig.6.5.
Ge (s)
isdr
Gci (s)
uSdr uSd
1
LS s+RS
iSd
KT
TI (s)
Gc (s)
ter
1
KT
iSqr
Gci (s)
= m
Gm (s)
uSqr uSq
1
LS s+RS
iSq
1
Js+ f
KT
tL
Figure 6.5: The d- axis and the q- axis block diagram of the synchronous machine
Current controllers in the d- and the q- axis are the same and have to be determined
first. According to Fig.6.5 the open current loop transfer function is
GI (s) = Ki
where TS =
1 + Ti s
1
Ti s RS (1 + TS s)
(6.15)
LS
RS .
There are several methods to chose the parameters Ki and Ti . Let us apply the so
called compensation methods.
Taking into account Ti = TS the open-loop transfer function is
90
1 + TSs RS
GI (s) = Ki
TS s 1 + TSs
(6.16)
Note that the pole of the current open-loop transfer function in equation (6.16) can
be compensated by the controller zero. The result after cancellation is
GI (s) = Ki
1 1
TS s RS
(6.17)
The closed-loop transfer function of the current controller is
TI (s) =
GI (s)
1 + GI (s)
Ki
RS TS s
=
=
K
1 + T Ri s
S S
Ki
TS RS s + Ki
1
1+
TS RS
Ki s
(6.18)
of a higher gain Ki . A too high value of the gain can cause an unsuitable behaviour
of the system. When Ki = RS is selected, we get
TI (s) =
1
1 + TS s
(6.19)
and the inner loop behaves suitably as a first order system.

In the next step it is necessary to chose the speed controller shown in Fig.6.5 The parameters K and T my be chosen by several different methods. In servo applications
the use of the so-called method of optimal output response can be the appropriate
choice.
If we take into account the current closed-loop transfer function GI (s), then we can
redraw the block diagram for the q- axis from Fig.6.5. Figure 6.6 shows the block
diagram of the q- axis.
According to Fig.6.6 the open-loop speed transfer function G (s) is
G (s) = K
1 + T s
T s
TI (s)
1
Js + f
= K
1 + T s
T s
T1 (s)
1 1
Tm s + 1 f
(6.20)
91
Gm (s)
r
Gc
ter
TI (s)
te
1
Js+ f
Figure 6.6: The q- axis block diagram of the synchronous machine
where Tm = Jf . It is supposed that Tm > TS , therefore, the appropriate choice for the
controller time constant is T = Tm then equation (6.20) is
G (s) = K
1 + Tms
1 1
TI (s)
Tm s
1 + Tm s f
(6.21)
It is obvious that the pole of the open-loop transfer function (6.21) can be canceled
G (s) = K
1 1
1
Tm s 1 + TS s f
(6.22)
Now we have to select the speed controller gain. The possible choice is K =
The chosen value of the gain is inserted into equation (6.22) and we get
G (s) =
Tm f 1
1 1
2TS Tm s 1 + TS s f
Tm f
2TS .
(6.23)

G (s) =
1 1 1
2TS s 1 + TS s
1
2TS s(1 + TS s)
1
2TS2s2 + 2TS s
(6.24)
1
2TS2 s2 +2TS s
=
=
T (s) =
1 + G (s) 1 + 2 21
2TS s +2TS s
G (s)
1
2TS2 s2 + 2TS s + 1
(6.25)
92
Remark: the speed control loop behaves as a second order system with a relatively
short time delay, which has been expected from the beginning.
6.3.1 Analysis of the synchronous machine speed control using Matlab and Simulink
C HAPTER
Synchronous Reluctance Machine

The stator construction of the three-phase synchronous reluctance machine is the
same as that of the synchronous machine with permanent magnet excitation or the
three-phase induction machine. The windings on the stator are symmetrical threephase, star-connected. The salient rotor is without excitation.

The transformation to the common reference frame is the same as in the case of
the synchronous machine, therefore, we will not repeat the whole procedure. The
three-phase to two-phase transformation is done first on the stator. The result of the
transformation is the two-phase model of the synchronous reluctance machine. The
stator windings are presented in the - reference frame and the rotor in its natural
dqreference frame. The transformation of the stator to the rotor dqreference frame
is the next step in the modelling procedure.
The result of that transformation is the circuit model of the synchronous reluctance
machine shown in Fig. 7.1.
The transformation angle is the position of the rotor with respect to the d- axis.
The angle is measurable.
94
SYNCHRONOUS RELUCTANCE MACHINE
q -axis
iSq
uSq
d
iSd
d -axis
uSd
ROTOR
STATOR
Figure 7.1: Circuit model of the synchronous reluctance machine
ud
Rid +
d d
dt
uq
Riq +
d q
dt + d
(7.1)
where flux linkages d and q are
d
q
=
=
id Ld
iq Lq
(7.2)
The voltage equations in a different form are

did
dt
q iq
L
ud
Rid + Ld
uq
di
i
Riq + Lq dtq + L
d d
The time derivatives are expressed from equations (7.3)
(7.3)
95
did
dt
1
L d [u d
q iq ]
Rid + L
diq
dt
1
Lq [uq
Riq
(7.4)
i ]
L
d d
The voltage equations in the matrix form are

ud
uq

=
q
L
R + Ld p
L
R + Lq p
d

id
iq
(7.5)
The instantaneous power of the reluctance machine is
i u = id iq
Ri2d + id Ld pid
q iq
Rid + Ld pid L
=
i Riq + Lq piq
L
d d
q iq + iqL
i + Ri2q + iqLq piq
i L
d
d d
(7.6)
The electromagnetic torque is
te =
i
iq L
d d
q iq
id L
= id iq (Ld
Lq)
(7.7)
The equation of motion is
d
dt
= te
tL
(7.8)
The block diagram of the reluctance synchronous machine in Fig. 7.2 can be drawn
on the base of equations (7.4) and (7.8)

The model of the reluctance machine in form of the block diagram is very similar to
the model of the synchronous machine. The d- and the q- axes of the synchronous
machine model in Fig. 7.2 are coupled. With the introduction of the voltage feedforward signals
96
R
ud
+
1
Ld s
id
Lq
Ld
Ld
uq
1
Lq s
Lq
iq
1
Js+ f
1
s
tL
Figure 7.2: Block diagram of the reluctance synchronous machine
ud
uq
Lq iq
Ld id
=
=
(7.9)
the d- and the q- part of the block diagram are decoupled.

The voltage feed-forward signals are added to both outputs from the current controllers. The reference values of voltages in the d- and the q- direction are
udr
uqr
=
=
ucd + ud
ucq + uq
(7.10)
97
7.3 Speed control of the reluctance synchronous machine
idr
udr
Gcid (s)
u r
ucd
N
dq
Lq
ua
uar
V
ubr
ub
RM
R
Ld
r
ucq
G (s)
c
Gciq (s)
ucr
u r
TG
uc
udr
ia
iSd
ib
i
iSq
dq
ic
2
1
s
Figure 7.3: Speed control of the reluctance synchronous machine including the feed-forward signals for decoupling of the model
The decoupling of the synchronous machine model in Fig. 7.3 is obtained with the
corresponding voltage feed-forward signals (7.10).

The control procedure for the synchronous reluctance machine is not so obvious as it
was for the synchronous machine. The reluctance machine should operate in such a
way to produce the maximum torque for a given stator current. The required increase
of torque can be achived either by increasing the current Id or Iq. Since the air gap
in the d- axis is smaller than in the q- axis, the machine will be saturated in the daxis much faster than in the q- axis. Therefore, the reference value for the current Id
has to be selected as high as possible to keep the machine non-saturated while the
acceleration is controlled by the current Iq.
The block diagram of the speed control of the reluctance synchronous machine
shown in Fig.7.3 will be used for the design of PI- controllers.
98
Fig.7.4.
TId (s)
Ge (s)
idr
Gcid (s)
udr ud
KT
id
1
Ld s+R
Gc (s)
ter
1
KT
iqr
Gciq (s)
Lq )id
Gm (s)
TIq (s)
= (Ld
uqr uq
1
Lq s+R
iq
1
Js+ f
KT
tL
Figure 7.4: d- axis and q- axis block diagram of the reluctance synchronous machine
Current controllers in the d- and the q- axis are not the same when Ld and Lq are
different. Therefore, both controllers will be calculated separately.
According to Fig.7.4 the open current loop transfer function in the d- direction is
GId (s) = Kid
where Td
1 + Tid s
1
Tid s R(1 + Td s)
(7.11)
L
= Rd .
Taking into account Tid
= Td
the current open-loop transfer function is
1 + Td s R1
GId (s) = Kid
Td s 1 + Td s
(7.12)
Note that the pole of the open-loop transfer function in equation (7.12) can be compensated by the controller zero. The result after cancellation is
GId (s) = Kid
1 1
Td s R
The closed-loop transfer function of the current controller in the d- axis is
(7.13)
99
TId (s) =
GId (s)
1 + GId (s)
Kid
RTd s
=
=
Kid
1 + T sR
d
Kid
Td sR + Kid
1
1+
Td R
Kid s
(7.14)
of a higher gain Kid . A too high value of the gain can cause an unsuitable behaviour
of the system. When Kid = R is selected, we get
TId (s) =
1
1 + Td s
(7.15)
and the inner current loop in the d- axis behaves as an first order system.
In the continuation the current controller in the q- axis will be calculated in a similar
way as that one in the d- axis.
According to Fig.7.4 the open current loop transfer function in the q- direction is
GIq (s) = KIq

where Tq =
1 + TIqs
TIq s R(1 + Tqs)
(7.16)
Lq
R.
Taking into account TIq = Tq the current open-loop transfer function in the q- axis is
1 + Tqs R1
GIq (s) = KIq
Tq s 1 + Tqs
(7.17)
Note that the pole of the open-loop transfer function in equation (7.17) can be compensated by the controller zero. The result after cancellation is
GIq (s) = KIq
1 1
Tq s R
(7.18)
The closed-loop transfer function of the current controller in the q- axis is
100
KIq
RTq s
TIq (s) =
=
=
1 + GIq(s) 1 + KIq
Tq sR
GIq(s)
KIq
Tq sR + KIq
1
TR
1 + Kq s
(7.19)
Iq
When KIq = R is selected, we get

TIq (s) =
1
1 + Tqs
(7.20)
and the inner loop in the q- axis behaves as a first order system.
In the next step it is necessary to choose the speed controller shown in Fig.7.4. The
parameters K and T may be chosen by different methods. In servo applications
the use of the so-called method of optimal output response can be the appropriate
choice.
If we take into account that the current closed-loop transfer function in the q- axis is
GIq (s), then we can redraw the block diagram for the q- axis from Fig.7.4. Figure
7.5 shows the block diagram of the q- axis when Id is constant.
Gm (s)
r
Gc (s)
ter
TIq (s)
te
1
Js+ f
Figure 7.5: q- axis block diagram of the reluctance machine
According to Fig.7.5 the open-loop speed transfer function G (s) is

G (s) = K
1 + T s
T s
TIq (s)
1
Js + f
where Tm = Jf . It is supposed that Tm

T = Tm . Equation (7.21) is
G (s) = K
= K
>
1 + T s
T s
TIq (s)
(7.21)
Tq , therefore, the appropriate choice is
1 + Tm s
1 1
TIq (s)
Tm s
1 + Tm s f
1 1
Tm s + 1 f
(7.22)
101
It is obvious that the pole of the open-loop transfer function (7.22) can be canceled
G (s) = K
1
1 1
Tm s 1 + Tqs f
(7.23)
mf
Finally, we have to select the speed controller gain. The possible choice is K = T2T
q
(servo application). The chosen value of the gain is inserted into equation (7.23)
G (s) =
Tm f 1
1 1
2Tq Tm s 1 + Tqs f
(7.24)

G (s) =
1 1 1
2Tq s 1 + Tqs
1
2Tq s(1 + Tqs)
1
2Tq2s2 + 2Tqs
(7.25)
1
2Tq2 s2 +2Tq s
T (s) =
=
=
1 + G (s) 1 + 2 21
2Tq s +2Tq s
G (s)
1
2Tq2 s2 + 2Tq s + 1
(7.26)
Remark: the speed control loop behaves as a second order system with a relatively
short time delay, which has been expected from the beginning.
7.3.1 Analysis of the reluctance synchronous machine speed control using Matlab and Simulink

Electrical Machines Modelling and Control

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Electrical Machines Modelling and Control

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ELECTRICAL MACHINES

MODELLING AND CONTROL

Drago Dolinar: Electrical Machines Modelling and Control

Introduction to the Modelling of Electrical Machines

Voltage and torque equations of the cylindrical electrical machine

Induced voltages - (EMFs - electro motive forces) . . . . . . . . .

General circuit model of the electrical machine . . . . . . . . . .

An example of the machine with two coils . . . . . . . .

Mathematical description of the mechanical system . . . . . . . .

Determination of the instantaneous power in the machine with four coils . . . . . . . . . . . . . . . . . . .

Transfer functions and block diagrams . . . . . . . . . . . . . . .

Separately excited DC machine . . . . . . . . . . . . . . . . . . .

Efficiency of the machine . . . . . . . . . . . . . . . . .

Determination of the block diagram of the separately

Speed and position control of DC machine . . . . . . . . . . . . .

Basic Transformations in the Analysis of Electrical Machines

Three-phase to two-phase transformation . . . . . . . . . . . . . .

Transformation to the new reference frame - rotation . . . . . . .

Transformation to the common reference frame . . . . . . . . . .

Modelling of the Induction Machine

Induction machine model in the fixed stator reference frame . . . .

Induction machine model in the common dq- reference frame . . .

Stationary model of the induction machine in the form of the

Approximate equivalent circuit . . . . . . . . . . . . . .

Variable voltage operation . . . . . . . . . . . . . . . .

Variable frequency operation . . . . . . . . . . . . . . .

Scalar control methods . . . . . . . . . . . . . . . . . . . . . . .

Open-loop US =s speed control . . . . . . . . . . . . .

Vector control of speed . . . . . . . . . . . . . . . . . .

Analysis of the DC machine speed and position control

Control of Induction Motor Drives

Field oriented control of induction machine . . . . . . . . . . . .

Drago Dolinar: Electrical Machines Modelling and Control

Decoupling of the field oriented IM model . . . . . . . . . . . . .

Speed control of the field oriented induction machine . . . . . . .

Synchronous Machine with Permanent Magnet Excitation

The modelling procedure . . . . . . . . . . . . . . . . . . . . . .

Decoupling of the synchronous machine model . . . . . . . . . .

Speed control of the synchronous machine . . . . . . . . . . . . .

Analysis of the induction machine speed control using

Synchronous Reluctance Machine

The modelling procedure . . . . . . . . . . . . . . . . . . . . . .

Decoupling of the synchronous machine model . . . . . . . . . .

Speed control of the reluctance synchronous machine . . . . . . .

Analysis of the reluctance synchronous machine speed

Drago Dolinar: Electrical Machines Modelling and Control

Introduction to the Modelling of Electrical

 Dynamical machine models are used for the analysis of devices.

 the field approach and

INTRODUCTION TO THE MODELLING OF ELECTRICAL MACHINES

Figure 1.2: Electrical machine with two coils

The instantaneous power of the machine is defined by the next equation:

R1 i21 + R2 i22 + L11 i1

Drago Dolinar: Electrical Machines Modelling and Control

INTRODUCTION TO THE MODELLING OF ELECTRICAL MACHINES

R1 i21 + R2 i22 + L11 i1

R1 i21 + R2i22 + L11 i1

so that the original power equation 1.4 my be written

Drago Dolinar: Electrical Machines Modelling and Control

1.2 Induced voltages - (EMFs - electro motive forces)

1.2 Induced voltages - (EMFs - electro motive forces)

e1 and e2 are induced voltages in coil 1 and 2. From (1.9) we get

only by salient machine

Drago Dolinar: Electrical Machines Modelling and Control

Dynamical machine models are used for the analysis of devices.

the field approach and

The model is always a two-pole machine.