Reference Frame Theory

&
Three‐phase Cylindrical Induction Machine
Direct Vector Control Concepts
• The voltage and torque equations of three phase machines in
phase variables, specially that of salient pole machines, are so
complex models and the resulting machine control are nonlinear
and difficult.
• In reference frame theory, the phase variables are converted to
equivalent variables in a given reference frame.
• Simple and linear voltage and torque equations like that of DC
machines can be obtained from reference frame theory.
In addition to the basic phase variables, in the reference frame
theory, the motor parameters, derivate variables like power and
torque are expressed in to be handled better and easier.

Variables Derivated variables Parameters

• Voltage • Torque • Inductance
• Current • Power • resistance
• Flux linkage
The reference frames to which the phase variables are to be resolved can
be rotating at an arbitrary speed (arbitrary reference frame), at
synchronous speed (synchronous reference frame) or with the rotor speed
(rotor reference frame) and zero speed (stationary reference frame).
Accordingly, we can have four reference frames.
• Arbitrary reference frame, where the speed of the reference frame is arbitrary, 
rad/sec
• Stationary reference frame, where the speed of the reference frame is zero, s=0.
• Synchronous reference frame, where the speed of the reference frame is
synchronous speed, e.
• Rotor reference frame, where the reference frame is rotating at the rotor speed,
 r.

The arbitrary reference frame:

• d-q axes rotating at rotational speed of 
q‐axis • The angle between the q-axis of the rotating
 d‐axis reference frame and the stator phase-a axis is
. Hence, d/dt=.
• As a convention, q-axis is always ahead of d-
 Phase‐a‐axis axis by 90 degrees.
 Reference frame Description Variables Transformation
Speed Notation Notation
ω Stator variables referred to arbitrary ݂௤ௗ଴௦ ‫ܭ‬௦
(unspecified) reference frame ݂௤௦ , ݂ௗ௦ , ݂଴௦
௦
0 Stator variables referred to the ‫ݍ‬௤ௗ଴௦ ‫ܭ‬௦௦
௦ ௦ ௦
stationary reference frame ݂௤௦ , ݂ௗ௦ , ݂଴௦
௥
߱௥ Stator variables referred to a ‫ݍ‬௤ௗ଴௦ ‫ܭ‬௦௥
௥ ௥ ௥
reference frame fixed on the rotor ݂௤௦ , ݂ௗ௦ , ݂଴௦
௘
߱௘ Stator variables referred to ‫ݍ‬௤ௗ଴௦ ‫ܭ‬௦௘
௘ ௘ ௘
synchronously rotating reference ݂௤௦ , ݂ௗ௦ , ݂଴௦
frame

The transformation from stator phase variables to the reference

frame and vice versa takes place using the following equations.
݂௤ௗ଴௦ = ‫ܭ‬௦ ݂௔௕௖௦ ݂௔௕௖௦ =‫ܭ‬௦ିଵ ݂௤ௗ଴௦
௦
‫ݍ‬௤ௗ଴௦ =‫ܭ‬௦௦ ݂௔௕௖௦ ௦
݂௔௕௖௦ =ሺ‫ܭ‬௦௦ ሻିଵ ‫ݍ‬௤ௗ଴௦
௥
‫ݍ‬௤ௗ଴௦ =‫ܭ‬௦௥ ݂௔௕௖௦ ௥
݂௔௕௖௦ =ሺ‫ܭ‬௦௥ ሻିଵ ‫ݍ‬௤ௗ଴௦
௘
‫ݍ‬௤ௗ଴௦ =‫ܭ‬௦௘ ݂௔௕௖௦ ௘
݂௔௕௖௦ =ሺ‫ܭ‬௦௘ ሻିଵ ‫ݍ‬௤ௗ଴௦
The transformation from rotor phase variables to the reference frames and vice
versa can also take place using the following formulae and equations for rotor
speed ࣓࢘ . It is to be noted that rotor variables may not be three variables in all
AC machines. Induction machines have three variables while synchronous
machine have only one (field) and damping winding variables.
Reference Description Variables Transformation
frame Speed Notation Notation
ω Rotor variables referred to arbitrary ݂௤ௗ଴௥ ‫ܭ‬௥
(unspecified) reference frame ݂௤௥ , ݂ௗ௥ , ݂଴௥
௦
0 Rotor variables referred to the ‫ݍ‬௤ௗ଴௥ ‫ܭ‬௥௦
௦ ௦ ௦
stationary reference frame ݂௤௥ , ݂ௗ௥ , ݂଴௥
௥
߱௥ Stator variables referred to a reference ‫ݍ‬௤ௗ଴௥ ‫ܭ‬௥௥
௥ ௥ ௥
frame fixed on the rotor ݂௤௥ , ݂ௗ௥ , ݂଴௥
௘
߱௘ Stator variables referred to ‫ݍ‬௤ௗ଴௥ ‫ܭ‬௥௘
௘ ௘ ௘
synchronously rotating reference frame ݂௤௥ , ݂ௗ௥ , ݂଴௥
݂௤ௗ଴௥ = ‫ܭ‬௥ ݂௔௕௖௥ ݂௔௕௖௥ =‫ܭ‬௥ିଵ ݂௤ௗ଴௥
௦ ௦
‫ݍ‬௤ௗ଴௥ =‫ܭ‬௥௦ ݂௔௕௖௥ ݂௔௕௖௥ =ሺ‫ܭ‬௦௦ ሻିଵ ‫ݍ‬௤ௗ଴௥
௥ ௥
‫ݍ‬௤ௗ଴௥ =‫ܭ‬௥௥ ݂௔௕௖௥ ݂௔௕௖௥ =ሺ‫ܭ‬௥௥ ሻିଵ ‫ݍ‬௤ௗ଴௥
௘ ௘
‫ݍ‬௤ௗ௥௦ =‫ܭ‬௥௘ ݂௔௕௖௥ ݂௔௕௖௥ =ሺ‫ܭ‬௥௘ ሻିଵ ‫ݍ‬௤ௗ଴௥
Reference Frame Theory: An Arbitrary Reference frame
Stator Variables:
Let the three phase stator variables be represented by fabcs. If the
variable is voltage then f is replaced by V, when the variable is
current then f is represented by i and when the variable is flux
linkage then f is replaced by .
 f as 
 
f abcs   f bs 
 f cs 
Similarly, let the transformed variables be represented by f. Now, the linear transformation of
three variables should result three variables. Two of the three transformed variables are the
q-axis and d-axis components of the phase variables while the third is the zero component. If
the three phase variables are balanced system, then the zero component value is zero.
 f qs 
 
f qd 0 s   f ds 
 f 0 s 
The transformation takes place using the transformation matrix Ks.
f qd 0 s  Ks f abcs f abcs  K‐1
s f qd 0 s
The transformation matrix Ks. The inverse transformation matrix Ks.
  2   2   
 cos  cos   cos    
  3   3   cos  sin   1
2  2  
2 
K s  sin   sin  

 sin    K s 1  cos  2
 


sin  
2 


1
3  3   3    3   3  
 1 1 1    2   2  
 2 2 2  cos  3  sin  
3
 1
       
Reference Frame Theory: An Arbitrary Reference frame
Rotor variables to the reference frame
The rotor terminal variables placed at 2/3 like that of stator, which are rotating
with the rotor have the following transformation matrix. The angle between rotor
phase-a axis and the rotating reference frame is β=θെࣂ࢘ .
f qd 0 r  K r f abcr f abcr  K r1 f qd 0 r
 
  2   2   
cos  cos    cos     cos  sin  1
  3   3 
2  2   2   K r   cos   2
1 2   
 sin   
2 


1
K r   sin  sin    sin     3  3   3  
3  3   3    2   2  
 1 1 1  cos   3  sin   
3
 1
 2       
 2 2 

    r     r

In the transformation matrix, the 2/3 came from the equality of instantaneous
power from the three‐phase variables and the transformed variables.

Instantaneous power in phase variables Instantaneous power in transformed

Pabcs  vas ias  vbs ibs  vcs ics variables 2

Pqd 0 s  vqs iqs  vds ids  2v0 s i0 s
3

(1) Flux linkage into the arbitrary rotating reference frame
 abcs   Ls Lsr  iabcs 
    1  
 abcr   Lsr Lr  iabcr 
Multiplying the phase flux linkage by the transformation matrix:

 K s abcs   K s Ls K s Lsr  iabcs 

  1  
K 
 r abcr   r sr
K L K r Lr  iabcr 
The phase currents can then be converted to the reference frame:
 K s abcs   i abcs 
    K s Ls K s Lsr   K s1iqs 0 s 
 qd 0 s   
 1  i 
K
   r sr
 rabcr K L K r Lr    abcr 
 qd 0 r   Kr1iqr 0 s 
 
 qd 0 s   K s Ls K s1 K s Lsr K r1  iqd 0 s 
   
 1
 qd 0 r   K r Lsr K s
T
K r Lr K r1  iqd 0 r 
  1 1  3 
 Lms  Lls  Lm  Lm   2 Lms  Lls 0 0
 1 2 2   
1 3
L s    Lm Lms  Lls  Lm  K s Ls K s1  0 Lms  Lls 0
 2 2   2 
 1 1   0 0 Lls 
  2 Lm 
2
Lm Lms  Lls  



 
 1 1  3 
 Llr  Lmr  Lmr  Lmr   2 Lms  Lls 0 0
 1 2 2   
1 3
Lr    Lmr Lls  Lmr  Lmr  K s Ls K s1  0 Lms  Lls 0
 2 2   2 
 1 1   0 0 Lls 
  2 Lmr 
2
Lmr Llr  Lmr  



 

 cos  r

cos r 
2  
 cos r 
2 
 1 0 0
  3   3  3  
 
Lsr  Lsr cos r 
2 
 cos  r

cos r 
2 

K s Lsr K r1  Lsr 0 1 0
  3   3  2
cos  2   2  
0 0 0
  r  cos r   cos  r 
 3   3  

  2   2 
cos  r cos r   cos r  

  3   3  1 0 0
3  
K r Lsr  K s1
  2   2 
Lsr T  Lsr cos r   cos  r cos r   T
 Lsr 0 1 0
  3   3 
cos  2 2  2
  r 3



cos r  
3 
cos  r 
 0 0 0
   
 3 3 
 Lms  Lls 0 0 Lsr 0 0
qs   2 2  iqs 
   3 3
ds   0 Lms  Lls 0 0 Lsr 0  ids 
2 2 
0 s   0 0 Lls 0 0 0  i0 s 
   i 
qr   3 L 0 0
3
Lmr  Llr 0 0   qr 
   2 sr 2  idr 
 dr   3 3  
0 s   0 Lsr 0 0 Lmr  Llr 0  i0 r 
2 2
 0 0 0 0 0 Llr 


Stator with referred parameters and variables to stator

3  3 3  3
qs   Lms  Lls iqs  Lms i 'qr  Lls iqs  LMs (iqs  i 'qr )  'qr   Lms  L'lr i 'qr  Lms iqs  L'lr i 'qr  LMs (iqs  i 'qr )
2  2 2  2
3  3 3  3
ds   Lms  Lls ids  Lms i 'dr  Lls ids  LMs (ids  i 'dr )  'dr   Lms  L'lr i 'dr  Lms ids  L'lr i 'dr  LMs (ids  i 'dr )
2  2 2  2
0 s  Lls i0 s  '0 r  L'lr i '0 r

In a similar manner the voltage drop across winding resistance is

Vabcs  Rs iabcs Vqd 0 s  K s RK s1 iqd 0 s R( qd 0 s )  K s R( abcs ) K s1
 
R'
 K sVabcs  Vqd 0 s  K s RK s1 I qd 0 s
(2) Voltage Equation
Vabcs  Rs iabcs  p abcs
Multiplying by transformation matrix
K V  K s Rs iabcs  K s pabcs
sabcs

Vqd 0 s
Then, phase fluxes transformed to the reference frame
Vqd 0 s  K s Rs K s1iqd 0 s  K s p ( K s1qd 0 s )

   
iabcs abcs

 pqs  ds  Vqs  rs iqs  pqs  ds

  
Vqd 0 s  Rs iqd 0 s   pds  qs   Vds  rs ids  pds  qs
 p0 s   V  r i  p
 0s s 0s 0s

 p 'qr   r  'dr  V 'qr  r 'r i 'qr  p 'qr   r  'dr

  
V 'qd 0 r  R'r i 'qd 0 r   p 'dr (  r ) 'qr   V 'dr  r 'r i 'dr  p 'dr   r  'qr
 p0 s   V '0 r  r 'r i 'dr  p '0 r
 3
Lms  LMs
2
(2) Voltage …
Substituting for flux linkage in terms of currents; Nr
iqr  i ' qr
3  3 3  3 Ns
Vqs  rs iqs   Lms  Lls  piqs  Lms pi 'qr   Lms  Lls ids  Lms i 'dr
2  2 2  2
3  3 3  3 Nr
Vds  rs ids   Lms  Lls  pids  Lms pi 'dr   Lms  Lls iqs  Lms i 'qr iqs  i 'qs
2  2 2  2 Ns
 
Vqs  rs iqs  LMs piqs  pi 'qr  Lls iqs  LMs ids  i 'dr   Lls ids

Vds  rs ids  LMs  pids  pi 'dr   Lls pids  LMs iqs  i 'qr  Lls iqs 
In a similar manner, the rotor circuit voltage can be expressed as;
3  3 3 
V 'qr  r 'r i 'qr  Lms  L'lr  pi 'qr  Lms piqs    r  Lms  L'ls i 'dr   r Lms ids
2  2 2 
3  3 3 
V 'dr  r 'r i 'dr  Lms  L'lr  pi 'dr  Lms pids    r  Lms  L'lr i 'qr   r Lms iqs
2  2 2 
The inherent rotor terminal short circuit can be used to equate the rotor terminal
voltage equal to equations.
3  3 3 
r 'r i 'qr  Lms  L'lr  pi 'qr  Lms piqs    r  Lms  L'lr i 'dr    r Lms ids  0
2  2 2 
3  3 3 
rr i 'dr  Lms  L'lr  pi 'dr  Lms pids    r  Lms  L'lr i 'qr   r Lms iqs  0
2  2 2 
(3) Torque Equation 
T

 P  1  
P
Te   iabcs 
T 
Lsr iabcr Te    K s iqd 0 s 
   r
Lsr K r1iqd 0 r 
 r  2  
 
 
2  abcs 
i iabcr

P9 N

Te    Lms r idr iqs  ids iqr 
24 Ns
Nr Nr 3
idr  i ' dr iqr  i ' qr Lms  LMs
Ns Ns 2

Te 
3P

  LMs i 'dr iqs  ids i 'qr
2 2

Exercise: Using the above equations; show that the expression for
the torque in terms of mixed flux linkage and current can be
given as the following.
Te 
3 P
2 2

 ds iqs  qs ids  In terms of the stator variables

Te 
3 P
2 2

 ' qr i ' dr  ' dr i ' qr  In terms of the rotor variables
Cylindrical Induction Machine
The derivation of the voltage equation, the torque equations and parameters can
be done in the same procedure above.
  2   2   
cos  e cos e   cos e  
 
  3   3  cos  e sin  e 1
2  2   2   
K s   sin  e
3
sin  e 

 sin  e 
3  

3  d
e  e
K s 1  cos e  2 


sin  e 
2 


1
 1 1 1    3   3  
dt 2 2
 2 2 2       
 
 cos  e   sin  e   1
  3   3  
The flux linkage, the voltage and torque equations are the same as that of an
arbitrary reference frame equations.
eqs  Lls iqse  LMs (iqse  i 'eqr )
V e qs  rs i e qs  pe qs   e e ds
eds  Lls idse  LMs (idse  idr'e )
 L i
e e V e
ds  rs i e
ds  p e
ds  e  e
qs
Te 
3 P e e
2 2

ds iqs  eqs idse 
0s ls 0 s
V qr  0  rr i e qr  peqr   e   r edr
 'eqr  L'lr i 'eqr  LMs (iqse  i 'eqr )
Vdr  0  rr i e
qr  p   e   r 
e
dr
e
qr
Te 
3P
2 2 

  LMs i 'edr iqse  idse i 'eqr 
 'edr  L'lr i 'edr  LMs (idse  i 'edr )
 'e0 r  L'lr i 'e0 r
In the synchronous rotating reference frame if the phases are sinusoidal and
balanced, all variables become direct current.
Cylindrical Induction Machine Direct Vector Control Concept
It is to be noted that the q-component variable is the sum of the three phase
variables resolved to q-axis while d-axis component is the sum of the phase
variables resolved to d-axis. There fore, we have flux linkage, current and voltage
“vectors” resolved into two orthogonal components as V = Vd + jVq, = d + jq
and I=Id + jIq.

• Let us consider that we know the rotor flux linkage vector position in the air-
gap and let us align the reference frame direct axis along the maximum flux
linkage radial direction.

 qd 0 r   dr   qr  0 r  0
3
3 
Lms
3  3  3
 'eqr  0   Lms  L'lr i 'e qr  Lms i e qs  i 'e qr   2
qs   Lms  Lls iqs  Lms i 'eqr  2  2  3 
 Lms  L'lr 
i e qs

2  2 2 

3  3
ds   Lms  Lls idse  Lms i 'edr 3 
 'edr   Lms  L'lr i 'edr 
3
Lms idse
2  2 2  2
The zero component voltage, current and flux linkage are all zero for balanced
three-phase system.
Cylindrical Induction Machine Direct Vector Control Concept
Again, let us force the rotor current to have only the q-component with d-axis
component zero. But we don’t have access to the rotor circuit. That means the
whole current vector is in the q-axis direction.
3  3
V 'edr  0  rr i 'edr  p 'edr  rr i 'edr  Lms  L'lr  pi 'edr  Lms pidse
2  2
If the stator d-axis component current is kept to be constant, the following first
order differential equation results. This differential equation is damped to zero
forcing the rotor d-axis current to be zero.
3  e
r i '  Lms  L'lr  pi 'dr  0
e
r dr
2 
The induction motor torque under this condition is given by the following
equation.

P9

Te    Lms i 'edr iqse  idse i 'eqr 
24
Cylindrical Induction Machine Direct Vector Control Concept
3
Lms
P9 2
Te    Lms idse iqse
2 
4 3 / 2 L  L'lr 
ms

Cons tan t

This means, the torque is linearly related to the q-component stator current very
similar to DC current torque, which is linearly related to armature current. Note
that the stator current can be measured and controlled to a desired vector.

INV

e
Stationary Reference Frame (Clark’s Transformation).
In the stationary reference frame the q-axis will be along the stator phase-a axis
while the d-axis is 90 degrees behind q-axis. The corresponding transformation
matrix will be constant, substituting for  = 0. Some times it is also possible to
make the transformation with = /2.
 1 1
 
1   
2 2 cos 0 sin 0 1
  
2 3 3
Ks   0
s
3

2 2 
 
Ks   
s 1
 2
1

2
3
1

1 1 1   
   1 3
1
 2 2 2   2 2 

Assignment:
Study how one reference frame variables and parameters can be converted to
another reference frame.

References
(1) Paul C. Krause and others “Analysis of Electric Machinery and Drive Systems”,
Second Edition, Chapters 2 and 3.
(2) Ned Mohan, “Electric Drives, An Integrative Approach”, ISBN 0-9715292-1-3, 2003
Edition, Chapter 9.