Chair of High-Power Converter Systems
Technical University of Munich Prof. Marcelo Lobo Heldwein
Arcisstr. 21 E-Mail:
[email protected] Tel.: +49 (0)89 289 28358
D-80333 Munich http: www.epe.ed.tum.de/hlu Fax: +49 (0)89 289 28336
Power Electronics and Drives for
Electric Vehicles
Exercise 6: Park Transformation and
Synchronous Machine
I Park Transformation
Figure 1: Rotation of a space vector
isα = |iss | · cos (ϕ) i′sα = |is′ s
s | · cos (ϕ + γ) = |is | · cos (ϕ + γ)
isβ = |iss | · sin (ϕ) i′sβ = |is′ s
s | · sin (ϕ + γ) = |is | · sin (ϕ + γ)
The components isα and isβ of the current space vector iss can be defined using the cosine and
sine of the angle ϕ. The same concept works for the components of the rotated space vector
iss ′ . However, the angle to the α-axis (ϕ + γ) is different. Since iss ′ is just a rotated version of
iss , the magnitude of the space vectors are equal (|iss | = |iss′ |).
1. Using relations (1.1) and (1.2), find a calculation rule iss ′ = T (γ) · iss .
What kind of matrix is T (γ)? e
e
cos (x + y) = cos (x) · cos (y) − sin (x) · sin (y) (1.1)
sin (x + y) = sin (x) · cos (y) + cos (x) · sin (y) (1.2)
2. Use the previous results to define a transformation and inverse transformation matrix
between the stator fixed reference system (α/β) and the rotor reference frame (d/q)
depicted in figure 2.
Figure 2: Rotating coordinate system
3. Find the derivative of the inverse transformation matrix T (θ).
e
II Synchronous Machine
d s
uss = Rs iss + ψ (2.1)
dt s
s s s s cos(θ)
ψ s = Ls is + ψ r = Ls is + ψpm (2.2)
sin(θ)
3 s⊤ s 3 s ⊤ − sin(θ)
MM = pis J ψ r = pψpm is (2.3)
2 e 2 cos(θ)
The model equations of an isotropic permanent magnet synchronous machine in the stator
reference frame are given in eq. (2.1)-(2.3). For control purposes the Park transformation
T (−θ) is used to transform the model equations to a rotor flux oriented coordinate system.
e case of a synchronous machine this coordinate system is equivalent to the rotor reference
In
frame (see figure 3). The mechanical rotor angle θr and the mechanical rotor angular velocity
ωr depend on the pole pair number of the machine: θ = p · θr and ω = p · ωr .
Figure 3: Definition of the rotor fixed coordinate system
1. Use the stator voltage equation (2.1) to establish the stator current differential equation
( dtd iss = . . . ).
2. Transform the stator flux linkage (2.2) to the (d/q) reference frame.
3. Transform the stator voltage equation (2.1) to the (d/q) coordinate system and find the
stator current differential equation in rotor fixed reference frame ( dtd irs = . . . ).
4. Now use the result of question 1 and directly transform the stator current differential
equation from the (α/β) to (d/q) reference frame.
5. Transform the electromagnetic torque equation (2.3) and use the components of the space
vectors to determine the state space model equations of the isotropic synchronous machine
in (d/q) coordinates.
6. Draw the block diagram of the isotropic synchronous machine (componentwise) using the
state space model equations.
