Reference Frame Theory

Development and Applications

Paul C. Krause

• Publisher: Wiley-IEEE Press
• Year: 2020
• Print ISBN: 9781119721635
• eBook ISBN: 9781119721659
• Edition: 1
• Topic: Physical Sciences
• Subtopic: Energy

Discover the history, underpinnings, and applications of one of the most important theories in electrical engineering

In Reference Frame Theory, author Paul Krause delivers a comprehensive and thorough examination of his sixty years of work in reference frame theory. From the arbitrary reference frame, to the coining of the title "reference frame theory, " to the recent establishment of the basis of the theory, the author leaves no stone unturned in his examination of the foundations and niceties of this area.

The book begins with an integration of Tesla's rotating magnetic field with reference frame theory before moving on to describe the link between reference frame theory and symmetrical induction machines and synchronous machines. Additional chapters explore the field orientation of brushless DC drives and induction machine drives. The author concludes with a description of many of the applications that make use of reference frame theory.

The comprehensive and authoritative Reference Frame Theory also covers topics like:

• A brief introduction to the history of reference frame theory
• Discussions of Tesla's rotating magnetic field and its basis of reference frame theory
• Examinations of symmetrical induction and synchronous machines, including flux-linkage equations and equivalent circuits
• Applications of reference frame theory to neglecting stator transients, multiple reference frames, and symmetrical components

Perfect for power engineers, professors, and graduate students in the area of electrical engineering, Reference Frame Theory also belongs on the bookshelves of automotive engineers and manufacturing engineers who frequently work with electric drives and power systems. This book serves as a powerful reference for anyone seeking assistance with the fundamentals or intricacies of reference frame theory.

1
A Brief History of Reference Frame Theory

In the late 1920s, R. H. Park, a young MIT graduate working for GE, wrote a paper on a new method of analyzing a synchronous machine [1]. He formulated a change of variables that, in effect, replaced the variables (voltages, currents, and flux linkages) associated with the stator windings of a synchronous machine with variables associated with fictitious, sinusoidally distributed windings rotating at the electrical angular velocity of the rotor. This change of variables, which eliminated the position‐varying inductances from the voltage equations, is often described as transforming or referring the stator variables to the rotor reference frame. Although he did not refer to this as “reference frame theory,” it was its beginning.

This new approach to machine analysis found limited use until the advent of the computer. Perhaps a discussion written by C. H. Thomas in the late 1950s was the first to set forth a method of using Parks equations to establish a stable computer simulation of a synchronous machine which is still being used today [2]. This opened the door to the use of a change of variables to analyze problems involving electric machines since this same method of simulation is used today for the simulation of all synchronous and induction‐type machines.

There have been numerous changes of variables that have been set forth after Park's work. In the late 1930s, C. H. Stanley [3] employed a change of variables in the analysis of induction machines. He showed that the rotor‐position‐dependent inductances in the voltage equations of an induction machine, which are due to electric circuits in relative motion, could be eliminated by replacing the rotor variables with substitute variables associated with sinusoidally distributed stationary windings. This is often described as transforming or referring the rotor variables to a frame of reference fixed in the stator or the stationary reference frame. About the same time, E. Clarke [4] set forth an algebraic transformation for three‐phase stationary circuits to facilitate their steady‐state and transient analyses of three‐phase ac power systems. She referred to these substitute variables as alpha, beta, and zero components.

In [5], G. Kron introduced a change of variables that eliminated the rotor‐position‐dependent inductances of a symmetrical induction machine by transforming both the stator and the rotor variables to a reference frame rotating in synchronism with the fundamental electrical angular velocity of the stator variables. This reference frame is commonly referred to as the synchronously rotating reference frame.

D. S. Brereton et al. [6] employed a change of variables that also eliminated the rotor‐position‐varying inductances of a symmetrical induction machine. This was accomplished by transforming the stator variables to a reference frame rotating at the electrical angular velocity of the rotor.

Park, Stanley, Kron, and Brereton et al. developed changes of variables each of which appeared to be unique. Consequently, each transformation was derived and treated separately in the literature until it was noted in 1965 [7] that all known real transformations used in machine analysis were contained in one transformation. The Arbitrary Reference Frame was introduced in [7] as a general reference frame that contained all known transformations simply by assigning the speed of the reference frame. For example, when ω, the speed of the q and d axes, is set equal to zero, we have Stanley's and Clarke's transformations; with ω = ω_r, we have Park's and Brereton's transformations; and when

, we have Kron's. Although this was an interesting observation, the connection to Tesla's rotating magnetic field was not made. Although it should have been, since moving from one reference frame to another changes only the frequency that we observe Tesla's rotating magnetic field.

In a recent paper [8], the connection between Tesla's rotating magnetic field and the arbitrary reference frame was set forth. It was shown that the transformation to the arbitrary reference frame was contained in Tesla's expression for the rotating magnetic field. Moreover, once the symmetrical stator and rotor are transformed to the arbitrary reference frame, we have the q and d voltage equations for all machines. The only thing that must be transformed are the flux‐linkage equations for the machine being considered [9].

Up until the writing of [10], the transformations were given without any explanation as to the basis of the transformation. It was accepted without question. Although it was possible to obtain the transformation by referring the abc axes to a qd‐axis, there was not an analytical basis for the transformation. This plagued machine analysts for nearly a hundred years.

During the writing of [10] it was found that the equation for Tesla's rotating magnetic field contained the basis we had all been trying to find since Park's work. This forms the machine analysis in [10] and was explained in [9]. This approach to machine analysis is the subject of the next two chapters. In Chapter 2, we refer Tesla's rotating magnetic field to a rotating axis. In Chapter 3, we establish the connection between Tesla's rotating magnetic field and reference frame theory.

References

1. 1 Park, R.H. (1929). Two‐reaction theory of synchronous machines – generalized method of analysis – part I. AIEE Trans. 48: 716–727.
2. 2 Riaz, M. (1956). Analogue computer representations of synchronous generators in voltage‐regulation studies. Trans. AIEE Power App. Syst. 75: 1178–1184. See discussion by C. H. Thomas.
3. 3 Stanley, C.H. (1938). An analysis of the induction motor. AIEE Trans. 57 (Supplement): 751–755.
4. 4 Clarke, E. (1943). Circuit Analysis of A‐C Power Systems, Vol. 1 – Symmetrical and Related Components. New York: Wiley.
5. 5 Kron, G. (1951). Equivalent Circuits of Electric Machinery. New York: Wiley.
6. 6 Brereton, D.S., Lewis, D.G., and Young, C.G. (1957). Representation of induction motor loads during power system stability studies. AIEE Trans. 76: 451–461.
7. 7 Krause, P.C. and Thomas, C.H. (1965). Simulation of symmetrical induction machinery. IEEE Trans. Power App. Syst. 84: 1038–1053.
8. 8 Krause, P.C., Wasynczuk, O., O'Connell, T.C., and Hasan, M. (2018). Tesla's contribution to electric machine analysis. Presented at the 2018 Sum...

Table of contents

• Cover
• Table of Contents
• IEE Press Series on Power Engineering
• Reference Frame Theory
• Copyright
• About the Author
• Preface
• 1 A Brief History of Reference Frame Theory
• 2 Tesla's Rotating Magnetic Field
• 3 Tesla's Rotating Magnetic Field and Reference Frame Theory
• 4 Equivalent Circuits for the Symmetrical Machine
• 5 Synchronous Machines
• 6 Brushless dc Drive with Field Orientation
• 7 Field Orientation of Induction Machine Drives
• 8 Additional Applications of Reference Frame Theory
• Index
• End User License Agreement