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- Herausgeber: John Wiley & Sons
- Kategorie: Wissenschaft und neue Technologien
- Serie: IEEE Press Series on Power Engineering
- Sprache: Englisch
- Veröffentlichungsjahr: 2022
Introduction to Modern Analysis of Electric Machines and Drives Comprehensive resource introducing magnetic circuits and rotating electric machinery, including models and discussions of control techniques Introduction to Modern Analysis of Electric Machines and Drives is written for the junior or senior student in Electrical Engineering and covers the essential topic of machine analysis for those interested in power systems or drives engineering. The analysis contained in the text is based on Tesla's rotating magnetic field and reference frame theory, which comes from Tesla's work and is presented for the first time in an easy to understand format for the typical student. Since the stators of synchronous and induction machines are the same for analysis purposes, they are analyzed just once. Only the rotors are different and therefore analyzed separately. This approach makes it possible to cover the analysis efficiently and concisely without repeating derivations. In fact, the synchronous generator equations are obtained from the equivalent circuit, which is obtained from work in other chapters without any derivation of equations, which differentiates Introduction to Modern Analysis of Electric Machines and Drives from all other textbooks in this area. Topics explored by the two highly qualified authors in Introduction to Modern Analysis of Electric Machines and Drives include: * Common analysis tools, covering steady-state phasor calculations, stationary magnetically linear systems, winding configurations, and two- and three-phase stators * Analysis of the symmetrical stator, covering the change of variables in two- and three-phase transformations and more * Symmetrical induction machines, covering symmetrical two-pole two-phase rotor windings, electromagnetic force and torque, and p-pole machines * Direct current machines and drives, covering commutation, voltage and torque equations, permanent-magnet DC machines, and DC drives Introduction to Modern Analysis of Electric Machines and Drives is appropriate as either a first or second course in the power and drives area. Once the reader has covered the material in this book, they will have a sufficient background to start advanced study in the power systems or drives areas.
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Table of Contents
Cover
Series Page
Title Page
Copyright Page
Author Biography
Foreword
Preface
1 Common Analysis Tools
1.1 Introduction
1.2 Steady‐State Phasor Calculations
1.3 Stationary Magnetically Linear Systems
1.4 Winding Configurations
1.5 Two‐ and Three‐Phase Stators
1.6 Problems
Reference
2 Analysis of the Symmetrical Stator
2.1 Introduction
2.2 Tesla’s Rotating Magnetic Field
2.3 Reference Frame Theory
2.4 Stator Voltage and Flux Linkage Equations in the Arbitrary Reference Frame and the Instantaneous Phasor
2.5 Problems
References
3 Symmetrical Induction Machine
3.1 Introduction
3.2 Symmetrical Machines
3.3 Symmetrical Two‐Pole Rotor Windings
3.4 Substitute Variables for Symmetrical Rotating Circuits and Equivalent Circuit
3.5 Electromagnetic Force and Torque
3.6 P‐Pole Machines
3.7 Free Acceleration Variables Viewed from Different Reference Frames
3.8 Steady‐State Equivalent Circuit
3.9 Problems
References
4 Synchronous Machines
4.1 Introduction
4.2 Analysis of the Permanent‐Magnet ac Motor
4.3 Windings of the Synchronous Machine
4.4 Equivalent Circuit – Voltage and Torque Equations
4.5 Dynamic and Steady‐State Performances
4.6 Analysis of Steady‐State Operation
4.7 Transient Stability
4.8 Problems
Reference
5 Direct Current Machine and Drive
5.1 Introduction
5.2 Commutation
5.3 Voltage and Torque Equations
5.4 Permanent‐Magnet dc Machine
5.5 DC Drive
5.6 Problems
Reference
6 Brushless dc and Field‐Oriented Drives
6.1 Introduction
6.2 The Brushless dc Drive Configuration
6.3 Normal Mode of Brushless dc Drive Operation
6.4 Other Modes of Brushless dc Drive Operation
6.5 Field‐Oriented Induction Motor Drive
6.6 Problems
References
7 Single‐Phase Induction Motors
7.1 Introduction
7.2 Symmetrical Components
7.3 Analysis of Unbalanced Modes of Operation
7.4 Single‐Phase and Capacitor‐Start Induction Motors
7.5 Dynamic and Steady‐State Performance of a Capacitor‐Start Single‐Phase Induction Motor
7.6 Split‐Phase Induction Motor
7.7 Problems
References
8 Stepper Motors
8.1 Introduction
8.2 Basic Configurations of Multistack Variable‐Reluctance Stepper Motors
8.3 Equations for Multistack Variable‐Reluctance Stepper Motors
8.4 Operating Characteristics of Multistack Variable·Reluctance Stepper Motors
8.5 Single‐Stack Variable‐Reluctance Stepper Motors
8.6 Basic Configuration of Permanent‐Magnet Stepper Motors
8.7 Equations for Permanent‐Magnet Stepper Motors
8.8 Problems
References
Appendix A: Appendix AAbbreviations, Constants, Conversions, and Identities
Epilogue
Index
IEEE Press Series on Power and Energy Systems
End User License Agreement
List of Tables
Chapter 3
Table 3.E-1 Test data to determine machine parameters.
List of Illustrations
Chapter 1
Figure 1.2-1 Waveforms of steady‐state variables in resistive (R), inductive...
Figure 1.2-2 Phasor equivalent circuit for a series
RLC
circuit.
Figure 1.A-1 Phasor diagram.
Figure 1.3-1 Single winding electromagnetic system.
Figure 1.3-2 Magnetic equivalent circuit for the system shown in Fig. 1.3-1....
Figure 1.3-3
characteristic of a magnetically linear system.
Figure 1.3-4 Repeat of Fig. 1.3-1 indicating north and south poles.
Figure 1.3-5 Two‐winding transformer.
Figure 1.3-6 Transformer equivalent
T
circuit with winding 1 selected as ref...
Figure 1.4-1 Stator windings of a multiphase machine.
Figure 1.4-2 Elementary sinusoidally distributed windings. (a) Winding conne...
Figure 1.C-1 Elementary two‐pole single‐phase stator winding uniformly distr...
Figure 1.5-1 Elementary two‐pole two‐phase sinusoidally distributed stator w...
Figure 1.5-2 Elementary two‐pole three‐phase sinusoidally distributed stator...
Figure 1.D-1 Three‐phase source connected to symmetrical stator windings.
Figure 1.6-1 Uniform winding distribution.
Figure 1.6-2 Waveforms of the source voltages of Fig. 1.D-1.
Chapter 2
Figure 2.2-1 Elementary two‐pole two‐phase sinusoidally distributed stator w...
Figure 2.2-2 Elementary two‐pole two‐phase sinusoidally distributed stator w...
Figure 2.2-3 Tesla’s rotating magnetic field
viewed from −
π
to
π
Figure 2.2-4 Elementary two‐pole three‐phase sinusoidally distributed stator...
Figure 2.3-1 Elementary two‐pole two‐phase stator with a two‐phase
q
and
d
a...
Figure 2.4-1 The
q
and
d
complex plane.
Chapter 3
Figure 3.2-1 Four‐pole two‐phase 1/10‐Hp 115‐V induction motor with reductio...
Figure 3.2-2 Four‐pole three‐phase 6.5‐Hp 460‐V severe‐duty, squirrel‐cage i...
Figure 3.2-3 A two‐pole two‐phase, symmetrical machine. Note:
.
Figure 3.3-1 Two‐phase rotating, identical, sinusoidally distributed winding...
Figure 3.3-2 Plot of developed or unrolled view of
(3.3-10) and
(3.3-11)...
Figure 3.4-1 The fictitious two‐phase
qr
and
dr
windings.
Figure 3.4-2 Arbitrary reference frame equivalent circuits for a two‐phase, ...
Figure 3.4-3 Zero‐variables equivalent circuits to be added to Fig. 3.4-2 fo...
Figure 3.5-1 Block diagram of possible energy interchange in an elementary e...
Figure 3.5-2 Energy balance.
Figure 3.6-1 Stator winding arrangement of a four‐pole, two‐phase symmetrica...
Figure 3.6-2 Mutual coupling between four‐pole stator,
as
, and rotor,
ar
, wi...
Figure 3.7-1 Free‐acceleration characteristics of a two‐pole two‐phase 5‐hp ...
Figure 3.7-2 Torque versus speed during free‐acceleration shown in Fig. 3.7-...
Figure 3.7-3 Free acceleration as viewed from the stationary reference frame...
Figure 3.7-4 Free acceleration viewed from the synchronously rotating refere...
Figure 3.7-5 Free acceleration as viewed from rotor reference frame.
Figure 3.8-1 Equivalent single‐phase circuit for a two‐phase symmetrical ind...
Figure 3.8-2 Steady‐state torque‐speed characteristics of a symmetrical indu...
Figure 3.D-1 Equivalent circuit for steady‐state operation of a single‐fed i...
Figure 3.D-2 Phasor diagram, motor action.
Figure 3.D-3 Phasor diagram, generator action.
Figure 3.8-3 Steady‐state torque‐speed characteristics of a symmetrical indu...
Figure 3.8-4 Steady‐state torque‐speed characteristics of a symmetrical indu...
Figure 3.9-1 Coupled windings.
Chapter 4
Figure 4.1-1 Two‐pole three‐phase 28‐V 0.63‐hp 4500‐r/min permanent‐magnet a...
Figure 4.1-2 Four‐pole three‐phase salient‐pole synchronous machine.
Figure 4.2-1 Two‐pole three‐phase permanent‐magnet ac machine.
Figure 4.2-2 Equivalent circuit in rotor reference frame.
,
.
Figure 4.2-3 Two‐phase permanent‐magnet ac machine with unequal
q
‐ and
d
‐axi...
Figure 4.2-4 Flux path of
as
winding illustrating the mutual coupling betwee...
Figure 4.3-1 Salient‐rotor two‐pole three‐phase salient‐pole synchronous mac...
Figure 4.4-1 Equivalent circuit for three‐phase synchronous machine in the r...
Figure 4.5-1 Dynamic performance of a two‐phase synchronous generator during...
Figure 4.5-2 Dynamic torque versus rotor‐angle characteristic for Fig. 4.5-1...
Figure 4.5-3 Same as Fig. 4.5-1 with rotor reference frame variables plotted...
Figure 4.6-1 Phasor diagram for generator operation.
Figure 4.7-1 One‐line diagram of system configuration for three‐phase fault....
Figure 4.7-2 Dynamic performance of the steam turbine generator during a thr...
Figure 4.7-3 Torque versus angle characteristics for the study shown in Fig....
Chapter 5
Figure 5.1-1 Two‐pole 0.1‐hp 6‐V 12,000‐r/min permanent‐magnet dc motor.
Figure 5.2-1 A dc machine with parallel armature windings.
Figure 5.2-2 Same as Fig. 5.2-1 with rotor advanced approximately 22.5° coun...
Figure 5.3-1 Equivalent circuit of dc machine.
Figure 5.4-1 Steady‐state torque‐speed characteristic of a permanent‐magnet ...
Figure 5.5-1 Two‐quadrant chopper drive.
Figure 5.5-2 Steady‐state operation of a two‐quadrant dc converter drive.
Figure 5.5-3 Average‐value model of two‐quadrant dc converter drive.
Figure 5.5-4 Starting characteristics of a permanent‐magnet dc machine with ...
Figure 5.5-5 Torque control.
Figure 5.5-6 Drive operation during
switching.
Chapter 6
Figure 6.2-1 Inverter‐machine drive. (a) Inverter configuration, (b) transis...
Figure 6.2-2 Two‐pole three‐phase permanent‐magnet ac machine with sensors....
Figure 6.2-3 Plots of
and
and the components of
.
Figure 6.3-1 Free‐acceleration characteristics of a three‐phase brushless dc...
Figure 6.3-2 Torque‐speed characteristics for free acceleration shown in Fig...
Figure 6.3-3 Free‐acceleration characteristics of a brushless dc drive with ...
Figure 6.3-4 Torque‐speed characteristics for the free acceleration shown in...
Figure 6.3-5 Dynamic performance of a brushless dc drive during step changes...
Figure 6.A-1 Phasor diagram for operation at
rad/s with
.
Figure 6.4-1 Free‐acceleration characteristics of a brushless dc drive with
Figure 6.4-2 Torque‐speed characteristics for free acceleration shown in Fig...
Figure 6.B-1 Phasor diagram for brushless dc drive operation at
with
.
Figure 6.4-3 Free‐acceleration characteristics of a brushless dc drive with
Figure 6.4-4 Torque‐speed characteristics for free‐acceleration shown in Fig...
Figure 6.C-1 Phasor diagram for brushless dc drive operation at
with
.
Figure 6.4-5 Torque‐speed characteristics for
for different rms values of ...
Figure 6.D-1 Controlling
Figure 6.5-1 Block diagram depicting field‐oriented control principles. Note...
Figure 6.E-1 Operation of induction motor drive with field orientation for s...
Figure 6.E-2 Phasor diagram for Operating Point 1.
Chapter 7
Figure 7.2-1 A two‐pole, two‐phase symmetrical induction machine.
Figure 7.3-1 Equivalent‐sequence circuits for unbalanced source voltages app...
Figure 7.4-1 Steady‐state torque‐versus‐speed characteristics for a single‐p...
Figure 7.4-2 Steady‐state torque‐versus‐speed characteristics with a capacit...
Figure 7.4-3 Average steady‐state torque‐versus‐speed characteristics of a c...
Figure 7.5-1 Free‐acceleration characteristics of capacitor‐start, single‐ph...
Figure 7.5-2 Expanded plot of Fig. 7.5-1 illustrating the disconnection of t...
Figure 7.5-3 Torque‐versus‐speed characteristics for Fig. 7.5-1.
Figure 7.5-4 Step changes in load torque of single‐phase induction motor.
Figure 7.7-1 Equivalent circuit for single‐phase stator winding.
Chapter 8
Figure 8.2-1 Rotor of an elementary two‐pole, three‐stack, variable‐reluctan...
Figure 8.2-2 Stator configuration for an elementary two‐pole, three‐stator v...
Figure 8.2-3 Four‐pole, three‐stack, variable‐reluctance stepper motor with ...
Figure 8.2-4 Four‐pole, three‐stack, variable‐reluctance stepper motor with ...
Figure 8.2-5 Cutaway view of four‐point, three‐stack, variable‐reluctance st...
Figure 8.4-1 Stepping operation of a three‐stack, variable‐reluctance steppe...
Figure 8.4-2 Half‐step operation of a three‐stack, variable‐reluctance stepp...
Figure 8.4-3 Stepping operation of a three‐stack, variable‐reluctance steppe...
Figure 8.4-4 Stepping operation depicting
θ
rm
versus time – no load tor...
Figure 8.5-1 Two‐pole, three‐phase, single‐stack, variable‐reluctance steppe...
Figure 8.5-2 Two‐pole, three‐phase, single‐stack, variable‐reluctance steppe...
Figure 8.5-3 Four‐pole, three‐phase, single‐stack, variable‐reluctance stepp...
Figure 8.5-4 Two‐pole, three‐phase, single‐stack, variable‐reluctance steppe...
Figure 8.5-5 Single‐stack, 15° step, variable‐reluctance stepper motor.
Figure 8.6-1 Two‐pole, two‐phase, permanent‐magnet stepper motor, (a) axial ...
Figure 8.6-2 Cutaway view of a permanent‐magnet stepper motor.
Figure 8.7-1 Plot of
T
e
versus
θ
rm
for a permanent‐magnet stepper motor...
Guide
Cover Page
Series Page
Title Page
Copyright Page
Author Biography
Foreword
Preface
Table of Contents
Begin Reading
Appendix A Abbreviations, Constants, Conversions, and Identities
Epilogue
Index
IEEE Press Series on Power and Energy Systems
WILEY END USER LICENSE AGREEMENT
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IEEE Press445 Hoes LanePiscataway, NJ 08854
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Ahmet Murat Tekalp
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Peter (Yong) Lian
Thomas Robertazzi
Introduction to Modern Analysis of Electric Machines and Drives
Paul C. Krause
Thomas C. Krause
Copyright © 2023 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved.
Published by John Wiley & Sons, Inc., Hoboken, New Jersey.Published simultaneously in Canada.
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Library of Congress Cataloging‐in‐Publication Data
Names: Krause, Paul C., author. | Krause, Thomas C., author.Title: Introduction to modern analysis of electric machines and drives / Paul C. Krause, Thomas C. Krause.Description: Hoboken : Wiley, [2023] | Series: IEEE Press series on power and energy systems | Includes bibliographical references and index.Identifiers: LCCN 2022032455 (print) | LCCN 2022032456 (ebook) | ISBN 9781119908159 (hardback) | ISBN 9781119908166 (adobe pdf) | ISBN 9781119908173 (epub)Subjects: LCSH: Electric machinery. | Electric driving.Classification: LCC TK2000 .K68 2023 (print) | LCC TK2000 (ebook) | DDC 621.31/042--dc23/eng/20220824LC record available at https://lccn.loc.gov/2022032455LC ebook record available at https://lccn.loc.gov/2022032456
Author Biography
Paul C. Krause retired from Purdue University, West Lafayette, IN, USA, in 2009 after 39 years as professor of Electrical and Computer Engineering where he won every major teaching award. He also taught at the University of Wisconsin, Madison, WI, USA, and the University of Kansas, Lawrence, KS, USA. He formed PC Krause and Associates (PCKA) in 1983 and now serves as a member of the Board of Directors. He is a Fellow of IEEE and received the 2010 Nikola Tesla Award. He has written over 100 transaction papers and five books on machines and drives.
Thomas C. Krause received the BS degree in electrical engineering from Purdue University, West Lafayette, IN, USA, in 2019, and the MS degree in electrical engineering and computer science from the Massachusetts Institute of Technology, Cambridge, MA, USA, in 2021. He is currently pursuing the PhD degree with the Massachusetts Institute of Technology.
Foreword
In their preface, the authors connect the arbitrary reference frame analysis of ac machines to Tesla's rotating field. This transformation of Tesla's rotating magnetic field to any reference frame lends itself to selecting a frame that aids analysis and provides insight for advanced control algorithm development. This flexibility is most beneficial with the rise of adjustable speed ac drives. This development has changed the relative importance of reference frame theory (RFT), and the authors make a sound case for introducing RFT early in a student's undergraduate program. The authors state and I concur from experience that the arbitrary reference frame can be applied to synchronous machines of all types and induction machines.
One of the earliest uses I made of proper reference frame selection in the analysis of ac machines occurred in the late 1970s during the energy crisis. It is then an emphasis was placed on machine energy efficiency. One approach proposed was the development of permanent magnet single‐phase motors with the intent to replace single‐phase induction motors. The presence of an unsymmetrical rotor dictated a rotor reference frame. By applying harmonic balance to the resulting model provided an analysis strategy resulting in accurate predictions of the total torque on the machine with its inductive accelerating component and its braking permanent magnet component.
In the late 1980s and early 1990s change in the industrial sector was beginning at great speed. With the invention of sizable power transistors and then insulated gate bipolar transistors (IGBT) dc drives, the backbone of industrial power, were challenged by low voltage source inverters. Although still in its infancy, motor control chips were under investigation with the promise of control algorithms only written about in theoretical papers. Early on, high‐performance current regulation was identified as necessary to achieve the performance beyond volts per hertz operation. Initial controllers attempted to achieve high performance necessary for difficult applications included three independent proportional/integral (PI) controllers. These controllers were implemented in the stationary reference frame to negate the transformation to the synchronous frame resulting in burdening the microcontrollers of the day. But there were problems of performance and stability. Our team quickly realized the error when employing three independent PI controllers in a three‐phase motor controller and developed a stationary equivalent to a synchronous reference frame PI controller.
Simultaneous with the development of high‐performance current regulation was the development of field‐oriented control (FOC). FOC provides dynamic control of ac machines beyond volts per hertz and comparable to dc machines. This discovery opened the door for ac drives to attack high‐performance markets like spindle drives and servo drives formerly dominated by dc drives. The theory behind this control is easily described by proper reference frame selection. For induction machines aligning the synchronous frame such that the rotor flux only exists in one of the two d–q axes sets up a system with decoupled rotor dynamics – not unlike the performance of dc machines. Our team further observed selecting the synchronous frame without adjusting the reference frame angle to nullify one rotor axis' flux, but examining the constraint embedded within the rotor equations provides a model that was conducive to online adaption for changes in rotor resistance and magnetic saturation. This led to model reference and observer‐based controllers still in use 30 years later.
Another advance was made possible by applying RFT online parameter identification. In our development of advanced high‐performance FOC controllers heating of the stator and rotor raising their respective resistances leads to performance degradation especially at low speeds. By rotating the synchronous frame by the angle necessary to align this new reference frame with the current vector provides a means for flux control and stator resistance identification.
FOC requires detailed knowledge of the load machine. General purpose drives lack the luxury of controlling a prespecified machine. As a result ac drives incorporate a commissioning procedure to identify critical machine parameters for the controller employed. Deterministic approaches are the most prevalent and are divided into transient and steady state. Through considerable testing we concluded that transient approaches were problematic chiefly because of inverter nonlinearities. Consequently, we developed a commissioning procedure that incorporated the stationary reference frame for induction motors wherein the machine was excited in a single‐phase fashion with a sinewave at a sufficiently high frequency. This approach would yield two critical machine parameters necessary for high‐performance FOC machines. Here again knowledge of RFT provided an avenue for solving a fundamental problem in the evolution of ac drives.
With the heightened concern over harmonic distortion, utilities have demanded from drive manufacturers improvements in drive performance as measured by the harmonic content presented to the distribution network by the drive system. This has resulted in considerable investment into developing reduced harmonic rectifiers by drive manufacturers. Among critical functions for active front ends are grid synchronization and resonance identification and rejection. One approach incorporates nonlinear adaptive tracking filters. By employing RFT it is possible to design a nonlinear bandpass tracking filter that has unique characteristics because of proper implementation of RFT.
Invention using RFT continues in areas of motor control, motor diagnostics, grid interface, drive protection, and in applications unanticipated only a few years ago.
I know of no one better able to bring RFT technology to the undergraduate and graduate students than the authors. The contributions to RFT by the authors have a long history spanning over 50 years, and numerous students have achieved technical prominence with RFT contributing to their success; technical papers in respected journals authored or coauthored by the authors are numerous. This text is in line with the previous texts “Electromechanical Motion Devices,” “Analysis of Electric Machinery and Drive Systems,” “Analysis of Electric Machinery,” and “Electromechanical Motion Devices,” all of which are widely read and distributed.
Russel J. KerkmanDistinguished Engineering Fellow (retired)Rockwell Automation
Russel J. Kerkman received the BSEE, MSEE, and PhD degrees from Purdue University, West Lafayette, IN, USA, all in electrical engineering. From 1976 to 1980, he was an electrical engineer with the Power Electronics Laboratory of Corporate Research and Development, General Electric Company, Schenectady, NY, USA. He is a retired Distinguished Engineering Fellow, Rockwell Automation/Allen Bradley Company, Mequon, WI, USA.
Preface
It has been established that the transformation to the arbitrary reference frame used in the analysis of ac machines is contained in the expression of Tesla’s rotating magnetic field for sinusoidally distributed windings. The voltage and flux linkage equations can be expressed in any frame of reference by simply assigning the speed of the arbitrary reference frame. The transformation is nothing more than a means of expressing the variables that portray Tesla’s rotating magnetic field from a given reference frame. This establishes a meaning to the transformation and makes it much easier to understand. In addition, this allows location of the dynamic and steady‐state poles in the synchronously rotating reference frame which can then be superimposed on the instantaneous and steady‐state phasor diagrams. The poles provide a direct means of visualizing motor and generator action. In previous texts, Reference Frame Theory was an optional analysis technique. In this text, Reference Frame Theory is central to the analysis of ac machines.
The electric drives area has become and will continue to be an important electrical engineering discipline. Reference Frame Theory is necessary to analyze modern electric drives and it should be introduced to the student early in their undergraduate program. We can no longer just teach steady‐state analysis. We must meet the challenges of the drives area and prepare the undergraduate with modern analysis tools. This book is an attempt to accomplish this goal by using Reference Frame Theory throughout. We feel this is the future approach to ac machine analysis for the undergraduate.
The arbitrary reference frame can be used for synchronous and induction machines. The synchronous machine has an unsymmetrical rotor and therefore is generally analyzed in the rotor reference frame. For purposes of analysis, however, the synchronous and induction machines differ only in the rotor configurations, the stators are the same. Therefore, the stator variables are transformed once, rather than for each machine. Once the transformation for the symmetrical stator variables has been established and the arbitrary reference frame variables set forth, only the transformation of the rotor variables of the symmetrical induction machine is needed. This transformation is very much the same as the transformation of the stator variables. This unified and compact approach prevents repeating material and makes machine analysis easier to convey to the student.
This book can be used as either the first or second course in the power and drives area as a two‐ or three‐hour course, depending on the depth of coverage and the area program. In Chapter 1, some of the common concepts used by most authors of machine analysis are set forth. The transformation of the symmetrical two‐ and three‐phase stator variables to the arbitrary reference frame is covered in Chapter 2. The two‐ and three‐phase symmetrical induction machines are analyzed in Chapter 3. The three‐phase permanent‐magnet ac machine and the synchronous generator are treated in Chapter 4. The voltage and torque equations for the synchronous generator are established from the equivalent circuit which is established from the work in previous chapters. This approach significantly reduces the time to obtain the necessary equations.
The dc machine and dc drive are covered briefly in Chapter 5 which provides a comparison with the drives in Chapter 6 where the brushless dc and the field‐oriented induction motor drives are considered. Although the power electronic switching for the ideal drive inverter is set forth in Chapter 6, courses in power electronics and controls are not required. It is assumed that the control is working perfectly, in other words, it is not how the control is designed, it is what a well‐designed control system does. This chapter is followed by Chapters 7 and 8 covering single‐phase induction motors and stepper motors. Symmetrical components, which can be obtained from the arbitrary reference frame transformation, are used to analyze the single‐phase induction machine. Neither the analysis of the stepper motor nor the dc machine requires Reference Frame Theory.
If the interest is in drives the first six chapters, except for the synchronous generator in Chapter 4, would be covered and, if time permits, Chapter 8 on stepper motors. If the interest is in power systems, then Chapters 6 and 8 can be omitted.
Paul C. KrauseThomas C. Krause
