Analysis of Electric Machinery and Drive Systems (3^rd Ed.)
IEEE Press Series on Power and Energy Systems Series

Now in a fully revised and expanded edition, this widely used reference on machine analysis boasts many changes designed to address the varied needs of engineers in the electric machinery, electric drives, and electric power industries. The authors draw on their own extensive research efforts, bringing all topics up to date and outlining a variety of new approaches they have developed over the past decade.

Focusing on reference frame theory that has been at the core of this work since the first edition, this volume goes a step further, introducing new material relevant to machine design along with numerous techniques for making the derivation of equations more direct and easy to use.

Coverage includes:

• Completely new chapters on winding functions and machine design that add a significant dimension not found in any other text
• A new formulation of machine equations for improving analysis and modeling of machines coupled to power electronic circuits
• Simplified techniques throughout, from the derivation of torque equations and synchronous machine analysis to the analysis of unbalanced operation
• A unique generalized approach to machine parameters identification

A first-rate resource for engineers wishing to master cutting-edge techniques for machine analysis, Analysis of Electric Machinery and Drive Systems is also a highly useful guide for students in the field.

1 THEORY OF ELECTROMECHANICAL ENERGY CONVERSION 1

1.1. Introduction 1

1.2. Magnetically Coupled Circuits 1

1.3. Electromechanical Energy Conversion 12

1.4. Elementary ac Machines 35

2 DISTRIBUTED WINDINGS IN AC MACHINERY 53

2.1. Introduction 53

2.2. Describing Distributed Windings 54

2.3. Winding Functions 64

2.4. Air-Gap Magnetomotive Force 67

2.5. Rotating MMF 71

2.6. Flux Linkage and Inductance 73

2.7. Resistance 76

2.8. Voltage and Flux Linkage Equations for Distributed Winding Machines 77

3 REFERENCE-FRAME THEORY 86

3.1. Introduction 86

3.2. Background 87

3.3. Equations of Transformation: Change of Variables 88

3.4. Stationary Circuit Variables Transformed to the Arbitrary Reference Frame 90

3.5. Commonly Used Reference Frames 97

3.6. Transformation of a Balanced Set 98

3.7. Balanced Steady-State Phasor Relationships 99

3.8. Balanced Steady-State Voltage Equations 102

3.9. Variables Observed from Several Frames of Reference 105

3.10. Transformation Between Reference Frames 110

3.11. Specialty Transformations 111

3.12. Space-Phasor Notation 113

4 PERMANENT-MAGNET AC MACHINES 121

4.1. Introduction 121

4.2. Voltage and Torque Equations in Machine Variables 122

4.3. Voltage and Torque Equations in Rotor Reference-Frame Variables 125

4.4. Analysis of Steady-State Operation 127

4.5. Brushless dc Motor 129

4.6. Phase Shifting of Applied Voltages of a Permanent-Magnet ac Machine 134

4.7. Control of Stator Currents 138

5 SYNCHRONOUS MACHINES 142

5.1. Introduction 142

5.2. Voltage Equations in Machine Variables 143

5.3. Torque Equation in Machine Variables 149

5.4. Stator Voltage Equations in Arbitrary Reference-Frame Variables 149

5.5. Voltage Equations in Rotor Reference-Frame Variables 151

5.6. Torque Equations in Substitute Variables 157

5.7. Rotor Angle and Angle Between Rotors 158

5.8. Per Unit System 159

5.9. Analysis of Steady-State Operation 160

5.10. Stator Currents Positive Out of Machine: Synchronous Generator Operation 171

5.11. Computer Simulation 201

6 SYMMETRICAL INDUCTION MACHINES 215

6.1. Introduction 215

6.2. Voltage Equations in Machine Variables 216

6.3. Torque Equation in Machine Variables 220

6.4. Equations of Transformation for Rotor Circuits 222

6.5. Voltage Equations in Arbitrary Reference-Frame Variables 224

6.6. Torque Equation in Arbitrary Reference-Frame Variables 229

6.7. Commonly Used Reference Frames 232

6.8. Per Unit System 233

6.9. Analysis of Steady-State Operation 235

6.10. Free Acceleration Characteristics 244

6.11. Free Acceleration Characteristics Viewed from Various Reference Frames 251

6.12. Dynamic Performance During Sudden Changes in Load Torque 257

6.13. Dynamic Performance During a Three-Phase Fault at the Machine Terminals 260

6.14. Computer Simulation in the Arbitrary Reference Frame 261

7 MACHINE EQUATIONS IN OPERATIONAL IMPEDANCES AND TIME CONSTANTS 271

7.1. Introduction 271

7.2. Park’s Equations in Operational Form 272

7.3. Operational Impedances and G( p) for a Synchronous Machine with Four Rotor Windings 273

7.4. Standard Synchronous Machine Reactances 276

7.5. Standard Synchronous Machine Time Constants 278

7.6. Derived Synchronous Machine Time Constants 278

7.7. Parameters from Short-Circuit Characteristics 283

7.8. Parameters from Frequency-Response Characteristics 290

8 ALTERNATIVE FORMS OF MACHINE EQUATIONS 299

8.1. Introduction 299

8.2. Machine Equations to Be Linearized 300

8.3. Linearization of Machine Equations 302

8.4. Small-Displacement Stability: Eigenvalues 308

8.5. Eigenvalues of Typical Induction Machines 309

8.6. Eigenvalues of Typical Synchronous Machines 312

8.7. Neglecting Electric Transients of Stator Voltage Equations 313

8.8. Induction Machine Performance Predicted with Stator Electric Transients Neglected 318

8.9. Synchronous Machine Performance Predicted with Stator Electric Transients Neglected 322

8.10. Detailed Voltage Behind Reactance Model 325

8.11. Reduced Order Voltage Behind Reactance Model 332

9 UNBALANCED OPERATION AND SINGLE-PHASE INDUCTION MACHINES 336

9.1. Introduction 336

9.2. Symmetrical Component Theory 337

9.3. Symmetrical Component Analysis of Induction Machines 338

9.4. Unbalanced Stator Conditions of Induction Machines: Reference-Frame Analysis 339

9.5. Typical Unbalanced Stator Conditions of Induction Machines 346

9.6. Unbalanced Rotor Conditions of Induction Machines 351

9.7. Unbalanced Rotor Resistors 354

9.8. Single-Phase Induction Machines 358

9.9. Asynchronous and Unbalanced Operation of Synchronous Machines 368

10 DC MACHINES AND DRIVES 377

10.1. Introduction 377

10.2. Elementary dc Machine 377

10.3. Voltage and Torque Equations 384

10.4. Basic Types of dc Machines 386

10.5. Time-Domain Block Diagrams and State Equations 394

10.6. Solid-State Converters for dc Drive Systems 398

10.7. One-Quadrant dc/dc Converter Drive 400

10.8. Two-Quadrant dc/dc Converter Drive 418

10.9. Four-Quadrant dc/dc Converter Drive 421

10.10. Machine Control with Voltage-Controlled dc/dc Converter 423

10.11. Machine Control with Current-Controlled dc/dc Converter 426

11 SEMI-CONTROLLED BRIDGE CONVERTERS 434

11.1. Introduction 434

11.2. Single-Phase Load Commutated Converter 434

11.3. Three-Phase Load Commutated Converter 445

11.4. Conclusions and Extensions 456

12 FULLY CONTROLLED THREE-PHASE BRIDGE CONVERTERS 460

12.1. Introduction 460

12.2. The Three-Phase Bridge Converter 460

12.3. Six-Step Operation 466

12.4. Six-Step Modulation 474

12.5. Sine-Triangle Modulation 477

12.6. Extended Sine-Triangle Modulation 483

12.7. Space-Vector Modulation 485

12.8. Hysteresis Modulation 489

12.9. Delta Modulation 492

12.10. Open-Loop Voltage and Current Regulation 493

12.11. Closed-Loop Voltage and Current Regulation 495

13 INDUCTION MOTOR DRIVES 503

13.1. Introduction 503

13.2. Volts-per-Hertz Control 504

13.3. Constant Slip Current Control 510

13.4. Field-Oriented Control 517

13.5. Direct Field-Oriented Control 521

13.6. Robust Direct Field-Oriented Control 523

13.7. Indirect Rotor Field-Oriented Control 528

13.8. Direct Torque Control 532

13.9. Slip Energy Recovery Drives 535

13.10. Conclusions 538

14 PERMANENT-MAGNET AC MOTOR DRIVES 541

14.1. Introduction 541

14.2. Voltage-Source Inverter Drives 542

14.3. Equivalence of Voltage-Source Inverters to an Idealized Source 543

14.4. Average-Value Analysis of Voltage-Source Inverter Drives 552

14.5. Steady-State Performance of Voltage-Source Inverter Drives 555

14.6. Transient and Dynamic Performance of Voltage-Source Inverter Drives 557

14.7. Case Study: Voltage-Source Inverter-Based Speed Control 562

14.8. Current-Regulated Inverter Drives 567

14.9. Voltage Limitations of Current-Regulated Inverter Drives 571

14.10. Current Command Synthesis 572

14.11. Average-Value Modeling of Current-Regulated Inverter Drives 576

14.12. Case Study: Current-Regulated Inverter-Based Speed Controller 578

15 INTRODUCTION TO THE DESIGN OF ELECTRIC MACHINERY 583

15.1. Introduction 583

15.2. Machine Geometry 585

15.3. Stator Windings 590

15.4. Material Parameters 593

15.5. Stator Currents and Control Philosophy 596

15.6. Radial Field Analysis 597

15.7. Lumped Parameters 602

15.8. Ferromagnetic Field Analysis 603

15.9. Formulation of Design Problem 609

15.10. Case Study 614

15.11. Extensions 618

Acknowledgments 619

References 620

Problems 621

Appendix A Trigonometric Relations, Constants and Conversion Factors, and Abbreviations 623

A.1. Basic Trigonometric Relations 623

A.2. Three-Phase Trigonometric Relations 624

A.3. Constants and Conversion Factors 624

A.4. Abbreviations 625

Appendix B Carter’s Coeffi cient 626

Appendix C Leakage Inductance 629

References 635

Index 636

PAUL KRAUSE, PhD, is founder of P.C. Krause and Associates. He is the sole author of the first edition of this book, an IEEE Fellow, and a winner of the prestigious Tesla Award. He is also the coauthor of Electromechanical Motion Devices, Second Edition, from Wiley-IEEE Press.

OLEG WASYNCZUK, PhD, is a Professor of Electrical and Computer Engineering at Purdue University. He is a Fellow of IEEE, an award-winning author of numerous papers, and is co-author of Electromechanical Motion Devices, Second Edition, from Wiley-IEEE Press.

SCOTT SUDHOFF, PhD, is Editor-in-Chief of IEEE Transactions on Energy Conversion and a Fellow of IEEE. He is also a Professor at Purdue University. He has produced extensive writings in the areas of electric machinery and power electronic converter analysis, simulation, and design.

STEVEN PEKAREK, PhD, is a Fellow of the IEEE and has served on the organizing committee of several conferences focusing on electric machinery and power electronics. He and his students have published many papers in these areas. He presently serves as a faculty member in ECE at Purdue University.