Full Chapter Control Oriented Modelling of Ac Electric Machines Springerbriefs in Electrical and Computer Engineering Masmoudi PDF
Full Chapter Control Oriented Modelling of Ac Electric Machines Springerbriefs in Electrical and Computer Engineering Masmoudi PDF
Full Chapter Control Oriented Modelling of Ac Electric Machines Springerbriefs in Electrical and Computer Engineering Masmoudi PDF
https://textbookfull.com/product/design-and-electromagnetic-
feature-analysis-of-ac-rotating-machines-ahmed-masmoudi/
https://textbookfull.com/product/ac-motor-control-and-electrical-
vehicle-applications-first-edition-nam/
https://textbookfull.com/product/ac-motor-control-and-electrical-
vehicle-applications-second-edition-edition-nam/
https://textbookfull.com/product/fuzzy-logic-for-image-
processing-a-gentle-introduction-using-java-springerbriefs-in-
electrical-and-computer-engineering-caponetti-laura-castellano-
Advanced Control Engineering Methods in Electrical
Engineering Systems Mohammed Chadli
https://textbookfull.com/product/advanced-control-engineering-
methods-in-electrical-engineering-systems-mohammed-chadli/
https://textbookfull.com/product/metaheuristics-and-optimization-
in-computer-and-electrical-engineering-navid-razmjooy/
https://textbookfull.com/product/advances-in-electric-and-
electronics-lecture-notes-in-electrical-engineering-155-2012th-
edition-hu-wensong-editor/
https://textbookfull.com/product/2nd-international-congress-of-
electrical-and-computer-engineering-1st-edition-muhammet-nuri-
seyman/
https://textbookfull.com/product/electrical-machines-1st-edition-
s-k-sahdev/
SPRINGER BRIEFS IN
ELEC TRIC AL AND COMPUTER ENGINEERING
Ahmed Masmoudi
Control Oriented
Modelling of AC
Electric Machines
SpringerBriefs in Electrical and Computer
Engineering
Series editors
Woon-Seng Gan, School of Electrical and Electronic Engineering, Nanyang
Technological University, Singapore, Singapore
C.-C. Jay Kuo, University of Southern California, Los Angeles, CA, USA
Thomas Fang Zheng, Research Institute of Information Technology, Tsinghua
University, Beijing, China
Mauro Barni, Department of Information Engineering and Mathematics, University
of Siena, Siena, Italy
SpringerBriefs present concise summaries of cutting-edge research and practical
applications across a wide spectrum of fields. Featuring compact volumes of 50 to
125 pages, the series covers a range of content from professional to academic.
Typical topics might include: timely report of state-of-the art analytical techniques,
a bridge between new research results, as published in journal articles, and a
contextual literature review, a snapshot of a hot or emerging topic, an in-depth case
study or clinical example and a presentation of core concepts that students must
understand in order to make independent contributions.
123
Ahmed Masmoudi
Sfax Engineering National School
University of Sfax
Sfax
Tunisia
This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd.
part of Springer Nature
The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721,
Singapore
Preface
Following the 70th oil crisis, the world realized for the first time what it would be
like if fuels would no longer be cheap or unavailable. In order to damp the fallouts
of such a situation, renewable energies have been the subject of an intensive regain
of interest. So many R&D programmes were launched so far, with emphasis on the
investigation of the power potential of conventional (wind, solar and biomass) and
emergent (marine, geothermal) earth’s natural energy reserves.
Moreover, until the 1960s, automotive manufacturers did not worry about the
cost of fuel. They had never heard of air pollution, and they never thought about life
cycle. Ease of operation with reduced maintenance costs meant everything back
then. In recent years, clean air policies are driving the market to embrace new
propulsion systems in an attempt to substitute or to assist efficiently the internal
combustion engine (ICE) by an electric drive unit, yielding respectively the
so-called electric and hybrid propulsion systems.
The above sustainable energy and mobility applications consider in most if not
all cases a key component that achieves the electro-mechanical conversion of
energy: the electric machine. It operates as a generator which converts directly
converts the wind and wave energies, and through a turbine the solar, biomass and
geothermal ones, into electricity. It operates as a propeller fed by a battery or a fuel
cell pack embedded on board of electric and hybrid vehicles.
This said, it should be underlined that the machine integration in the above-cited
and the overwhelming majority of current applications represents a symbiosis of
several engineering fields with a dominance of the electrical one. Of particular
interest are machine control strategies thanks to which variable speed drives and
generators are continuously reaching higher and higher degrees of performance.
This has been systematically initiated by the selection of appropriate and accurate
models of the machines to be controlled.
Within this trendy topic, the manuscript deals with the modelling of AC
machines, in so far as they are currently equipping the major part of the variable
speed drives and generator; the dc machines are doomed to disappear in a near
future. The manuscript is structured in two chapters:
v
vi Preface
• The first one is aimed at modelling of the induction machine considering its
a-b-c and Park models. An analysis of the machine steady-state operation is then
carried out using its Park model. A case study dealing with the doubly fed
induction machine, a viable candidate for wind power generating systems, is
treated with emphasis on a typical topology in which the brush-ring system is
discarded, yielding the so-called brushless cascaded doubly fed machines.
• The second chapter is devoted to the modelling of the synchronous machines,
with emphasis on its a-b-c and Park models. A special attention is paid to the
formulation and analysis of the electromagnetic torque with an investigation
of the variations of its synchronizing and reluctant components in terms of the
torque angle. The chapter is achieved by a case study dealing with an investi-
gation of the main features of the electric drive unit of a hybrid propulsion
system and the possibility of extending the flux weakening range of the pro-
peller which is made up of the PM synchronous motor.
vii
viii Contents
Ahmed Masmoudi received his B.S. degree from Sfax Engineering National
School (SENS), University of Sfax, Sfax, Tunisia, in 1984; Ph.D. degree from Pierre
and Marie Curie University, Paris, France, in 1994; and the Research Management
Ability degree from SENS, in 2001, all in electrical engineering. In August 1984, he
joined Schlumberger as a field engineer. After this industrial experience, he joined
the Tunisian University where he held different positions involved in both education
and research activities. He is currently a Professor of electric power engineering at
SENS, the Head of the Research Laboratory on Renewable Energies and Electric
Vehicles (RELEV) and the Coordinator of the master on Sustainable Mobility
Actuators: Research and Technology. He published up to 85 journal papers, 19
among which in IEEE transactions. He presented up 367 papers at international
conferences, 9 among which in plenary sessions and 3 have been rewarded by the
best presented paper prize. He is the co-inventor of a USA patent. He is the Chairman
of the Programme and Publication Committees of the International Conference on
Ecological Vehicles and Renewable Energies (EVER), organized every year in
Monte Carlo, Monaco, since 2006. He was also the Chairman of the Technical
Programme and Publication Committees of the First International Conference on
Sustainable Mobility Applications, Renewables, and Technology (SMART) which
has been held in Kuwait in November 2015. Its involvement in the above confer-
ences has been marked by an intensive guest-editorship activity with the publication
of many special issues of several journals including the IEEE Transactions on
Magnetics, COMPEL, ELECTROMOTION and ETEP. He is a senior member of
IEEE. His main interests include the design of new topologies of AC machines allied
to the implementation of advanced and efficient control strategies in drives and
generators, applied to renewable energy as well as to electrical automotive systems.
ix
List of Figures
xi
xii List of Figures
Abstract The chapter deals with the modelling of the induction machine (IM).
Following the analysis of the principle of operation which is based on the induction
phenomenon, the a-b-c model is established assuming a sinusoidal spatial repartition
of the air gap flux density, a linear magnetic circuit, and constant phase resistors. The
a-b-c model makes possible the establishment of a state representation of the IM.
Then, the Park transform is introduced and applied to the IM a-b-c model, leading
to its Park one. An analysis of the IM steady-state operation is then carried out using
its Park model. The chapter is achieved by a case study dealing with the doubly fed
induction machine which is widely integrated in wind power generating systems.
1.1 Introduction
the most popular analytical modelling approach, that is the magnetic equivalent
circuit (MEC), also called lumped circuit. The MEC modelling is a powerful tool
for the machine preliminary design and sizing. It is rapid and leads to acceptable
accuracy,
• Combined analytical–numerical approaches In order to improve the accuracy of
the MEC models, some features whose analytical prediction is critical are offline
computed by FEA and are provided to the MEC-solver. These approaches represent
the best compromise rapidity/accuracy.
Regarding the machine control topic, the modelling is mostly done analytically.
However and accounting for the high nonlinearities involved in the machine mod-
els, their resolution is achieved numerically considering different algorithms, such
as the Runge-Kutta one. Most if not all machine models include (i) an electrical
equation, (ii) a magnetic equation, and (iii) a mechanical equation. These involve
the machine phase variables, leading to the so-called a-b-c models. In order to sim-
plify the synthesis of the control laws, mathematical transformations are commonly
applied. These enable to substitution of the a-b-c models by two-phase ones. The
most popular transformation is the one introduced by Park.
The chapter deals with the modelling of the induction machine (IM) considering
its a-b-c and Park models.
Let us consider the case of a wound rotor three-phase induction machine, with:
• its stator circuits fed by three-phase balanced currents with an angular frequency
ωs ,
• its rotor circuits are kept open.
Doing so, a rotating field takes place in the air gap that has the speeds:
• s with respect to the stator, with s = ωps where p is the IM pole pairs,
• s/r with respect to the rotor.
Giving the fact that the rotor circuits are open, the torque production condition is not
fulfilled and the shaft remains stationary, leading to:
ωs
s/r = s = (1.1)
p
The rotating field induces three back-EMFs in the rotor circuits that have an
angular frequency ωr , with:
ωr = Ps/r = ωs (1.2)
The similarity of the angular frequencies of both stator and rotor circuits yields the
so-called transformer operation of the IM. The motor operation is accessed when the
1.2 Principle of Operation: Induction Phenomenon 3
torque production condition is met. For that, the rotor circuits have to be closed/short-
circuited, resulting in three-phase balanced currents with an angular frequency ωr .
Hence, a second rotating field takes place in the air gap that has the speeds:
• r/s with respect to the stator,
• r with respect to the rotor, with r = ωpr = ωps
As a summary, the air gap is traversed by two fields rotating synchronously at
the speed ωps with respect to the rotor. Consequently, an electromagnetic torque is
produced and the shaft starts rotating in the direction of the rotating field resulting
from the interference between the rotor and stator rotating fields. Following the
start-up, a steady state is reached, characterized by a rotor speed m . Thus, the stator
rotating field speed s/r turns to be:
s/r = s − m (1.3)
The angular frequency of the back-EMFs induced in the rotor circuits is then:
The speed of the rotating field created by the rotor, with respect to the rotor, becomes:
ωr
r = = s − m (1.5)
p
Thus, the synchronism between the two rotating fields is kept and the torque produc-
tion condition is met for all rotor speeds, except for m = s for which the induction
phenomenon disappears. Indeed, there are no back-EMFs induced in the rotor cir-
cuits, then no rotor currents and no rotating field created by the rotor circuits, and
consequently the torque production condition is no longer fulfilled.
In order to characterize the steady-state shift between the speed of the resultant
rotating field with respect to the stator s and the rotor one m , a slip s is commonly
considered, such that:
s − m ωr
s = = (1.6)
s ωs
The a-b-c model considers the electrical variables applied to and measured in the IM
circuits. These variables are depicted in Fig. 1.1 which gives a schematic represen-
tation of a three-phase IM.
Referring to Fig. 1.1, the application of the Ohm law gives the following equation:
d
V = RI + (1.7)
dt
where V , I , et are the voltage, current, and flux vectors, respectively. These could
be expressed as follows:
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
Vs Is s
V = ⎣ ⎦ I = ⎣ ⎦ = ⎣ ⎦ (1.8)
Vr Ir r
1.4 IM A-B-C Model 5
i bs
Vbs rotor a-phase
θ
i br i ar
stator a-phase
i as
v as
vv
i cr
Vcs
i cs
with:
⎧ ⎡ ⎤ ⎡ ⎤ ⎡ ⎤
⎪
⎪ vas i as φas
⎪
⎪ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎪
⎪ Vs = ⎢ vbs ⎥ Is = ⎢ ⎥ s = ⎢ ⎥
⎪
⎪
⎪ ⎣ ⎦ ⎣ i bs ⎦ ⎣ φbs ⎦
⎪
⎪
⎨ vcs i cs φcs
⎪ ⎡ ⎤ ⎡ ⎤ ⎡ ⎤ (1.9)
⎪
⎪ 0 i ar φar
⎪
⎪ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎪
⎪
⎪
⎪
⎢
⎪ Vr = ⎣ 0 ⎥
⎦ Ir = ⎣ i br ⎥
⎢
⎦ r = ⎢ ⎥
⎣ φbr ⎦
⎪
⎩
0 i cr φcr
rs I3 O3
R= (1.10)
O3 rr I3
where:
• rs et rr are the stator and rotor phase resistances, respectively,
• I3 and O3 are the identity and the null matrices of rank 3, respectively.
6 1 Induction Machine Modelling
In Eq. (1.7), the flux and current vectors are linked by the following expression:
= LI (1.11)
L ss L sr
L = (1.12)
L r s L rr
with:
⎡ ⎤ ⎡ ⎤
L s Ms Ms L r Mr Mr
⎢ ⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥
L ss = ⎢ Ms L s Ms ⎥ L rr = ⎢ Mr L r Mr ⎥ (1.13)
⎣ ⎦ ⎣ ⎦
Ms Ms L s Mr Mr L r
and:
⎡ ⎤
cos θ cos θ + 2π cos θ − 2π
⎢ 3 3 ⎥
⎢ ⎥
⎢ ⎥
L sr = L rt s = Mr s ⎢ cos θ 2π
− 3 cos θ cos θ + 3 ⎥2π
⎢ ⎥ (1.14)
⎢ ⎥
⎣ ⎦
cos θ + 2π
3 cos θ − 2π
3 cos θ
⎧
⎪ θ : the electrical angular displacement of the rotor with respect to the stator,
⎪
⎪
⎪
⎪ L s : the stator phase self-inductance,
⎪
⎪
⎪
⎪
⎪
⎪ L r : the rotor phase self-inductance,
⎪
⎨
where: Ms : the mutual inductance between two stator phases,
⎪
⎪
⎪
⎪
⎪
⎪ Mr : the mutual inductance between two rotor phases,
⎪
⎪
⎪
⎪
⎪
⎪
⎩ Mr s : the maximum value of the mutual inductance between a stator phase and
a rotor one which is reached when their magnetic axis are aligned.
Accounting for relation (1.11), the electrical Eq. (1.7) could be rewritten as fol-
lows:
⎡ ⎤
Vs rs I3 O3 Is d L ss L sr Is
⎣ ⎦= + (1.15)
V O3 rr I3 Ir dt L r s L rr Ir
r
1.4 IM A-B-C Model 7
The mechanical equation is derived from the dynamic fundamental principle, as:
dm
Tem − Tl = J (1.16)
dt
⎧
⎪ m : the rotor mechanical speed,
⎪
⎪
⎪
⎪
⎪
⎨ Tem : the electromagnetic torque,
where:
⎪
⎪ : the load torque,
⎪
⎪
Tl
⎪
⎪
⎩
J : the moment of inertia.
1 dθ
m = (1.17)
p dt
Knowing that:
d d
Ist [L sr ] Ir = Ir
t
[L r s ] Is (1.20)
dθ dθ
Assuming that the stator and rotor currents are balanced, the following relations
could be expressed:
8 1 Induction Machine Modelling
⎧
⎨ i as + i bs + i cs = 0
(1.22)
⎩
i ar + i br + i cr = 0
The development of Eq. (1.21), taking into account the relations given in (1.22),
leads to the following expression [2]:
2π 2π
Tem = 3 P Mr s i as i br sin(θ − ) + i bs i ar sin(θ + ) − (i as i ar + i bs i br ) sin θ
3 3
(1.23)
The electrical Eq. (1.7) is rewritten taking into account the current-flux relation, as:
d
V = R L −1 + (1.24)
dt
Hence, the association of Eqs. (1.24) and (1.16) leads to a state representation where
the flux, the electrical position, and its derivative with respect to time are the state
variables. The development of Eq. (1.24) requires the determination of the inverse of
the inductance matrix which will be carried out in what follows.
Assuming balanced fluxes in both stator and rotor phases, one can establish the
following:
φas + φbs + φcs = 0
(1.25)
φar + φbr + φcr = 0
Accounting for relations (1.22) et (1.25), the current-flux one (1.11) is reduced
to:
1 = L 1 I 1 (1.26)
where:
1s I1s
1 = I1 = (1.27)
1r I1r
with:
φas i as φar i ar
1s = I1s = 1r = I1r = (1.28)
φbs i bs φbr i br
1.4 IM A-B-C Model 9
and where:
L ss1 L sr 1
L1 = (1.29)
L r s1 L rr 1
with:
⎧ ⎡ ⎤
⎪
⎪ L s − Ms 0
⎪
⎪ ⎣ ⎦
⎪
⎪ L ss1 =
⎪
⎪ −
⎪
⎪ 0 L s M s
⎪
⎪
⎪
⎪
⎪
⎪ ⎡ ⎤
⎪
⎪
⎪
⎪ L r − Mr 0
⎪
⎪ L rr 1 = ⎣ ⎦
⎪
⎪
⎪
⎪ −
⎪
⎪ 0 L r M r
⎪
⎪
⎪
⎨
⎡ ⎤
cos θ − cos(θ − 2π cos(θ + 2π 2π (1.30)
⎪
⎪
⎪ ⎢ 3 ) 3 ) − cos(θ − 3 ) ⎥
⎪
⎪ ⎢ ⎥
⎪ sr 1
⎪ L = M rs ⎣ ⎦
⎪
⎪
⎪
⎪ cos(θ − 2π 2π 2π
⎪
⎪
⎪ 3 ) − cos(θ + 3 ) cos θ − cos(θ + 3 )
⎪
⎪
⎪
⎪
⎪
⎪ ⎡ ⎤
⎪
⎪ cos θ − cos(θ + 2π cos(θ − 2π 2π
⎪
⎪
⎪ ⎢ 3 ) 3 ) − cos(θ + 3 ) ⎥
⎪
⎪ ⎢ ⎥
⎪
⎪ L r s1 = Mr s ⎣ ⎦
⎪
⎪
⎩ cos(θ + 2π 2π 2π
3 ) − cos(θ − 3 ) cos θ − cos(θ − 3 )
where I2 is the identity matrix of rank 2 and where matrixes A and B are defined as
follows:
⎧ ⎡ ⎤
⎪
⎪ sin(θ + 2π ) − sin θ
⎪
⎪ ⎢ 3 ⎥
⎪
⎪
⎪
⎪ A = ⎢ ⎣
⎥
⎦
⎪
⎪
⎪
⎪ 2π
⎪
⎪ sin θ − sin(θ − 3 )
⎨
(1.33)
⎪
⎪ ⎡ ⎤
⎪
⎪
⎪
⎪ − sin(θ − 2π3 ) sin θ
⎪
⎪ ⎢ ⎥
⎪
⎪ B = ⎣ ⎢ ⎥
⎪
⎪ ⎦
⎪
⎪
⎩ 2π
− sin θ sin(θ + 3 )
3
AB = I2 (1.34)
4
which leads to:
⎧
⎨ A−1 = 43 B
(1.35)
⎩ −1
B = 43 A
which gives:
⎧
⎪ √1 −1 √ ls −1
⎨ 3Mr s A 1s = 3Mr s A I1s + I1r
⎪
√ (1.37)
⎪
⎪
⎩ 1 1r = 3M rs B I
1s + I1r
l r l r
By eliminating I1r and taking into account expressions (1.35), the stator current
vector I1s can expressed as:
1 2 M
I1s = 1s − √ A 1r (1.38)
σ ls 3 σ l s lr
1.4 IM A-B-C Model 11
where:
⎧
⎪ 3
⎨ M = 2 Mr s
(1.39)
⎪
⎩ σ = 1 − M2
l s lr
2 M 1
I1r = − √ B 1s + 1r (1.40)
3 σ l s lr σ lr
Accounting for Eqs. (1.38) and (1.40), one can establish the following:
⎡ ⎡ 1 ⎤ ⎤
I1s σ l I2 − √2 σMl l A ⎡ 1s ⎤
⎢ ⎥ ⎢ s 3 sr ⎥
⎢ ⎥ = ⎢ ⎥ ⎢ ⎥
⎣ ⎦ ⎢ ⎥ ⎢
⎣
⎥
⎦ (1.41)
⎣ ⎦
− √ 2 M 1 I2
I1r B 1r
3 σ l s lr σ lr
⎡√ ⎤
3 lr − sin(θ + 2π
⎢ 2 M
0 3 ) sin θ ⎥
⎢ ⎥
⎢ √ ⎥
⎢ ⎥
⎢0 3 lr − sin θ sin(θ − 2π ) ⎥
⎢ 3 ⎥
2 M ⎢ ⎢
2 M ⎥
⎥ (1.42)
L −1 = √
3 σ l s lr ⎢ √ ⎥
1
⎢ ⎥
⎢ sin(θ − 2π ) − sin θ 3 ls ⎥
⎢ 3 2 M 0 ⎥
⎢ ⎥
⎢ ⎥
⎣ √ ⎦
sin θ − sin(θ + 2π 3 ls
3 ) 0 2 M
It consists in substituting the three stator phases and the three rotor ones by two
pairs of equivalent orthogonal circuits. These fictive circuits have therefore orthogo-
nal magnetic axis: the so-called: direct (noted “d”) and quadrature (noted “q”) axis.
Moreover, in order to account for possible unbalanced operation, a third axis orthog-
onal to the (d, q)-plane noted “o” could be included. The relative positions of the
magnetic axis of the stator and rotor phases with respect to those of the dqo-frame
are illustrated in Fig. 1.2.
12 1 Induction Machine Modelling
θr
θs
θ rotor a-phase
stator a-phase
The Park transform enables the expression of the a-b-c components of a vec-
tor X in terms of its equivalent components expressed in the dqo-frame, such that
[1, 3, 4]:
where:
⎡ ⎤
cos β √1
− sin β
⎢
2⎥
⎢ ⎥
2⎢
⎢ 2π ) − sin(β − 2π ) √1 ⎥⎥
P(β) = cos(β − (1.44)
3⎢
⎢
3 3 2⎥⎥
⎣ ⎦
2π 2π
cos(β + 3 ) − sin(β + 3 ) √ 1
2
with:
• β = θs in the case of a vector of stator variables,
• β = θr in the case of a vector of rotor variables.
Inversely, one can express the following relation:
where:
⎡ ⎤
cos β cos(β − 2π
3 )cos(β + 2π
3 )
⎢ ⎥
⎢⎢
⎥
⎥
2 ⎢ 2π 2π ⎥
P −1 (β) = ⎢ − sin β − sin(β − 3 ) − sin(β + 3 ) ⎥ (1.46)
3 ⎢ ⎥
⎢ ⎥
⎣ ⎦
√ 1 √1 √1
2 2 2
The choice of the dqo-frame could be arbitrary. However, and for the sake of
simplification of the machine Park model, the following cases are commonly adopted:
• the dqo-frame is linked to the stator,
• the dqo-frame is linked to the rotor,
• the dqo-frame is linked to the rotating field.
θs = ωs t (1.47)
Accounting for the synchronism condition illustrated in Fig. 1.2, one can deter-
mine angle θr required for the Park transform of the rotor variables, as:
θr = θs − θ (1.48)
Knowing:
Furthermore, the dqo-frame linked to the rotating field with the d-axis aligned
with the field one is exclusively used in the Park model of the synchronous machine.
θs = 0
(1.51)
θr = −θ
Thus, the inverse matrix used to transform the a-b-c stator variables turns to be:
⎡ ⎤
1 − 21 − 21
⎢ ⎥
⎢
⎢ √ √ ⎥ ⎥
2⎢ 3 − 3⎥
Ps−1 (β = 0) = ⎢ 0 2 ⎥ (1.52)
3⎢ 2 ⎥
⎢ ⎥
⎣ ⎦
1
√ √ 1 √1
2 2 2
The case of a dqo-frame linked to the stator is commonly used in the synthesis
of the direct torque control (DTC) strategies dedicated to induction machines. In
these strategies, the adopted formulations are generally limited to the stator voltage
equations and the electromagnetic torque.
1.5 Park Transform 15
θs = θ
(1.54)
θr = 0
Thus, the inverse matrix used to transform the a-b-c stator variables turns to be:
⎡ ⎤
cos θ cos(θ − 2π
cos(θ + 2π
3 ) 3 )
⎢ ⎥
⎢ ⎥
⎢
⎢ ⎥
2⎢ ⎥
2π 2π ⎥
−1
Ps (β = θ ) = ⎢ − sin θ − sin(θ − 3 ) − sin(θ + 3 ) ⎥ (1.55)
3⎢ ⎥
⎢ ⎥
⎢ ⎥
⎣ 1 1 1 ⎦
√ √ √
2 2 2
⎡ ⎤
1 − 21 − 21
⎢ ⎥
⎢ ⎥
⎢
⎢ √ √ ⎥ ⎥
2⎢ 3 − 3⎥
Ps−1 (β = 0) = ⎢ 0 2 ⎥ (1.56)
3⎢ 2 ⎥
⎢ ⎥
⎢ ⎥
⎣ ⎦
1
√ √ 1 √1
2 2 2
The application of the Park transform to the IM a-b-c model yields its Park one.
16 1 Induction Machine Modelling
The substitution of the a-b-c variables by their equivalent dqo ones in Eq. (1.11)
gives:
⎡ ⎤ ⎡ ⎤⎡ ⎤
P(θs )φdqos L ss L sr P(θs )Idqos
⎣ ⎦=⎣ ⎦⎣ ⎦ (1.57)
P(θr )φdqor L r s L rr P(θr )Idqor
Omitting the homopolar components and regardless the dqo-frame, the development
of the different matrixes gives:
⎧
⎪
⎪ ls 0
⎪
⎪ P −1 (θs )L ss P(θs ) =
⎪
⎪
⎪
⎪ 0 ls
⎪
⎪
⎪
⎪
⎪
⎪
⎪
⎪ M0
⎪
⎪ P −1 (θs )L sr P(θr ) =
⎪
⎪
⎨ 0 M
(1.60)
⎪
⎪
⎪
⎪
M0
⎪
⎪ P −1 (θr )L r s P(θs ) =
⎪
⎪
⎪
⎪ 0 M
⎪
⎪
⎪
⎪
⎪
⎪ lr 0
⎪
⎪
⎪ −1
⎪ P (θr )L rr P(θr ) =
⎩
0 lr
The development of Eq. (1.59) taking into account system (1.60) yields:
• Stator:
φds = ls i ds + Mi dr
(1.61)
φqs = ls i qs + Mi qr
1.6 IM Park Model 17
• Rotor:
φdr = lr i dr + Mi ds
(1.62)
φqr = lr i qr + Mi qs
Once again, it should be underlined that the above flux expressions are independent
of the dqo-frame.
The substitution of the a-b-c variables by their equivalent dqo ones in Eq. (1.15)
yields:
⎡ ⎤ ⎡ ⎤⎡ ⎧⎡ ⎤ ⎤⎡ ⎤⎫
P(θs )Vdqos rs I3 O3 P(θs )Idqos
⎨ L ss L sr P(θs )Idqos ⎬
⎣ ⎦=⎣ ⎦⎣ ⎦+ d ⎣ ⎦⎣ ⎦ (1.63)
dt ⎩ ⎭
P(θr )Vdqor O3 rr I3 P(θr )Idqor L r s L rr P(θr )Idqor
where:
P −1 (θs )rs I3 P(θs ) = rs I3
(1.66)
P −1 (θr )rr I3 P(θr ) = rr I3
Another random document with
no related content on Scribd:
The Project Gutenberg eBook of Häpeä
This ebook is for the use of anyone anywhere in the United States
and most other parts of the world at no cost and with almost no
restrictions whatsoever. You may copy it, give it away or re-use it
under the terms of the Project Gutenberg License included with this
ebook or online at www.gutenberg.org. If you are not located in the
United States, you will have to check the laws of the country where
you are located before using this eBook.
Title: Häpeä
Romaani
Language: Finnish
Romaani
Kirj.
VEIKKO KORHONEN
— Niin.
— Etkö sinä nyt sitä tiedä? Kenenkäs muunkaan minä nyt enää
olisin.
Kuulethan sen kohta kirkossa, jollet muuten usko.
— Anna.
— Mitä?
— Mitä?
— Olisikohan…?
— Isotalon palveluksessa ei kukaan säily koskemattomana. Omin
silmin sen olen tullut näkemään, vahvisti isäntärenki ja lähti
astumaan kirkkoon.
*****
Keväinen lauantai-ilta.
Koivuissa on lehti hiirenkorvalla ja hakametsässä laulaa rastas.
Poika kävelee karjapolkua mietteisiin vaipuneena. Takaapäin kuuluu
askeleita. Mökin Anna on lähtenyt vispilänvarpoja taittamaan. Poika
kääntyy katsomaan ja jää odottamaan. Tytöllä on kimppu
koivunvarpoja kainalossa, joista hän yhtä kuorii huomaamatta
poikaa, joka odottaa hymy suupielissä.
Poika hämmästyy.
— Rakentaisitko?
— Jos mitä?
— Tulisitko…? sinä…
*****
Toinen kuva.
— Kurja nainen!
— Kyllä sinä olet suuttunut minuun, minä näen sen. Mutta enhän
minä voinut olla tanssimatta, kun minua aina vain pyydettiin.
— No mitä nyt…?
— Kun minä sen vain oikein varmasti tietäisin, niin minun onneni
olisi niin suuri ja kokonainen. Mutta sano minulle, onko sinulla
koskaan ennen ollut tällaista? Onko tämä sinulla ensimäistä kertaa?
— Kyllä, mutta…
— Mitä?
*****
— Minä tahdon nyt tanssia vielä tämän kerran etkä sinä saa nyt
minua kiusata. Mene yksin kotiin, jos et jaksa, minua odottaa.
*****
Veri nousi Tuomaan päähän, niin että silmät säkenöivät, kun sitä
ajatteli. Uskaltaisiko se nyt semmoista? Olihan kyllä tapahtunut
ennenkin samanlaista.
— Siin' on!