ANALYSIS OF ELECTRIC

MACHINERY
AND DRIVE SYSTEMS
Secorrd Edition

PAUL C. KRAUSE
OLEG WASiYNCZUK
SCOTT D. SUDHOFF
Purdue University
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IEEE Power Engineering Society, Sponspr

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IEEE Press 130wer Engineering Series

Mohamed E. El-Hawary, Series Editor

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Chapter 3

REFERENCE-FRAME THEORY

The voltage ecpations that describe the performance of induction and synchronous
machines were: established in Chapter 1. We found that some of the machine inductances are functions of the rotor speed, whereupon the coefficients of the differential
equations (voltage, equations) that describe the behavior of these machines are timevarying except when the rotor is stalled. A change of variables is often used to reduce
the complexity of these differential equations. There are several changes of variables
that are used, and it was originally thought that each change of variables was different
and therefore they were treated separately [I-41. It was later learned that all changes
of variables used to transform real variables are contained in one [5,6]. This general
transformation refers machine variables to a frame of reference that rotates at an
arbitrary angular velocity. ,All known real transformations are obtained from this
transformation by simply aslsigningthe speed of the rotation of the reference frame.
In this chapter this transformation is set forth and, because many of its properties
can be studied without the complexities of the machine equations, it is applied to the
equations that describe resistive, inductive, and capacitive circuit elements. By this
approach, many olf the basic concepts and interpretations of this general transformation are readi1:y and concisely established. Extending the material presented in this
chapter to the analysis of ac machines is straightforward involving a minimum of
trigonometric manipulations.

3.2 BACKGROUND
In the late 192Os, R. H. Park [I] introduced a new approach to electric machine analysis. He formulated a charrge of variables which, in effect, replaced the variables

Chapter 4

SYMMEiTRlCAL INDUCTION MACHINES

The induction machine is used in a wide variety of applications as a means of converting electric power to mechanical work. It is without doubt the workhorse of the
electric power industry. Pump, steel mill, and hoist drives are but a few applications
of large multiplhase inductioln motors. On a smaller scale, the 2-phase servomotor is
used in position-follow-up control systems, and single-phase induction motors are
widely used in household appliances as well as in hand and bench tools.
In the beginning of this chapter, classical techniques are used to establish the voltage and torque equations for a symmetrical induction machine expressed in terms of
machine varialbles. Next, the transformation to the arbitrary reference frame presented in Chapter 3 is modified to accommodate rotating circuits. Once this groundwork has bee11 laid, the machine voltage equations are .written in the arbitrary
reference frame, directly without a laborious exercise in trigonometry with which
one is faced when starting from the substitution of the equations of transformations
into the voltage equations expressed in machine variables. The equations may then
be expressed in any reference frame by appropriate assig~imentof the referenceframe speed in the arbitrary reference-frame voltage equations rather than performing each transformation individually as in the past. Although the stationary reference
frame, the refe:rence frame fixed in the rotor, and the synchronollsly rotating referenlce frame are most frequently used, the arbitrary reference frame offers a direct
means of obtaiining the voltage equations in these and all other reference frames.
The steady-state voltage equations for an induction machine are obtained from
the voltage equations in the arbitrary reference frame by direct application of the
material presented in Chapter 3. Computer solutions are used to illustrate the