Park Transform

Implement abc to dq0 transform

Libraries:
Simscape / Electrical / Control / Mathematical Transforms

Description

The Park Transform block converts the time-domain components of a three-phase system in an abc reference frame to direct, quadrature, and zero components in a rotating reference frame. The block can preserve the active and reactive powers with the powers of the system in the abc reference frame by implementing an invariant version of the Park transform. For a balanced system, the zero component is equal to zero.

You can configure the block to align the a-axis of the three-phase system to either the d- or q-axis of the rotating reference frame at time, t = 0. The figures show the direction of the magnetic axes of the stator windings in an abc reference frame and a rotating dq0 reference frame where:

The a-axis and the q-axis are initially aligned.
The a-axis and the d-axis are initially aligned.

In both cases, the angle θ = ωt, where:

θ is the angle between the a and q axes for the q-axis alignment or the angle between the a and d axes for the d-axis alignment.
ω is the rotational speed of the d-q reference frame.
t is the time, in s, from the initial alignment.

The figures show the time-response of the individual components of equivalent balanced abc and dq0 for an:

Alignment of the a-phase vector to the q-axis
Alignment of the a-phase vector to the d-axis

Equations

The Park Transform block implements the transform for an a-phase to q-axis alignment as

$[\begin{matrix} d \\ q \\ 0 \end{matrix}] = \frac{2}{3} [\begin{matrix} sin (θ) & sin (θ - \frac{2 π}{3}) & sin (θ + \frac{2 π}{3}) \\ cos (θ) & cos (θ - \frac{2 π}{3}) & cos (θ + \frac{2 π}{3}) \\ \frac{1}{2} & \frac{1}{2} & \frac{1}{2} \end{matrix}] [\begin{matrix} a \\ b \\ c \end{matrix}],$

where:

a, b, and c are the components of the three-phase system in the abc reference frame.
d and q are the components of the two-axis system in the rotating reference frame.
0 is the zero component of the two-axis system in the stationary reference frame.

For a power invariant a-phase to q-axis alignment, the block implements the transform using this equation:

$[\begin{matrix} d \\ q \\ 0 \end{matrix}] = \sqrt{\frac{2}{3}} [\begin{matrix} sin (θ) & sin (θ - \frac{2 π}{3}) & sin (θ + \frac{2 π}{3}) \\ cos (θ) & cos (θ - \frac{2 π}{3}) & cos (θ + \frac{2 π}{3}) \\ \sqrt{\frac{1}{2}} & \sqrt{\frac{1}{2}} & \sqrt{\frac{1}{2}} \end{matrix}] [\begin{matrix} a \\ b \\ c \end{matrix}] .$

For an a-phase to d-axis alignment, the block implements the transform using this equation:

$[\begin{matrix} d \\ q \\ 0 \end{matrix}] = \frac{2}{3} [\begin{matrix} cos (θ) & cos (θ - \frac{2 π}{3}) & cos (θ + \frac{2 π}{3}) \\ - sin (θ) & - sin (θ - \frac{2 π}{3}) & - sin (θ + \frac{2 π}{3}) \\ \frac{1}{2} & \frac{1}{2} & \frac{1}{2} \end{matrix}] [\begin{matrix} a \\ b \\ c \end{matrix}] .$

The block implements a power invariant a-phase to d-axis alignment as

$[\begin{matrix} d \\ q \\ 0 \end{matrix}] = \sqrt{\frac{2}{3}} [\begin{matrix} cos (θ) & cos (θ - \frac{2 π}{3}) & cos (θ + \frac{2 π}{3}) \\ - sin (θ) & - sin (θ - \frac{2 π}{3}) & - sin (θ + \frac{2 π}{3}) \\ \sqrt{\frac{1}{2}} & \sqrt{\frac{1}{2}} & \sqrt{\frac{1}{2}} \end{matrix}] [\begin{matrix} a \\ b \\ c \end{matrix}] .$

Examples

Electric Engine Dyno

Model an electric vehicle dynamometer test. The test environment contains an asynchronous machine (ASM) and an interior permanent magnet synchronous machine (IPMSM) connected back-to-back through a mechanical shaft. Both machines are fed by high-voltage batteries through controlled three-phase converters. The 164 kW ASM produces the load torque. The 35 kW IPMSM is the electric machine under test. The Control Machine Under Test (IPMSM) subsystem controls the torque of the IPMSM. The controller includes a multi-rate PI-based control structure. The rate of the open-loop torque control is slower than the rate of the closed-loop current control. The task scheduling for the controller is implemented as a Stateflow® state machine. The Control Load Machine (ASM) subsystem uses a single rate to control the speed of the ASM. The Visualization subsystem contains scopes that allow you to see the simulation results.

Open Model

Energy Balance in a 48V Starter Generator

An interior permanent magnet synchronous machine (IPMSM) used as a starter/generator in a simplified 48V automotive system. The system contains a 48V electric network and a 12V electric network. The internal combustion engine (ICE) is represented by basic mechanical blocks. The IPMSM operates as a motor until the ICE reaches the idle speed and then it operates as a generator. The IPMSM supplies power to the 48V network, which contains the R3 power consumer. The 48V network supplies power to the 12V network which has two consumers: R1 and R2. The total simulation time (t) is 0.5 seconds. At t = 0.05 seconds, the ICE turns on. At t = 0.1 seconds, R3 switches on. At t = 0.3 seconds, R2 switches on and increases the load on the 12V electric network. The EM Controller subsystem includes a multi-rate PI-based cascade control structure which has an outer voltage-control loop and two inner current-control loops. The task scheduling in the Control subsystem is implemented as a Stateflow® state machine. The DCDC Controller subsystem implements a simple PI controller for the DC-DC Buck converter, which feeds the 12V network. The Scopes subsystem contains scopes that allow you to see the simulation results.

Open Model

HESM Torque Control

Control the torque in a hybrid excitation synchronous machine (HESM) based electrical-traction drive. Permanent magnets and an excitation winding excite the HESM. A high-voltage battery feeds the SM through a controlled three-phase converter for the stator windings and through a controlled four quadrant chopper for the rotor winding. An ideal angular velocity source provides the load. The Control subsystem uses an open-loop approach to control the torque and a closed-loop approach to control the current. At each sample instant, the torque request is converted to relevant current references. The current control is PI-based. The simulation uses several torque steps in both the motor and generator modes. The Visualization subsystem contains scopes that allow you to see the simulation results.

Open Model

HESM Velocity Control

Control the rotor angular velocity in a hybrid excitation synchronous machine (HESM) based electrical-traction drive. Permanent magnets and an excitation winding excite the HESM. A high-voltage battery feeds the HESM through a controlled three-phase converter for the stator windings and through a controlled four quadrant chopper for the rotor winding. An ideal torque source provides the load. The Control subsystem includes a multi-rate PI-based cascade control structure. The control structure has an outer angular-velocity-control loop and three inner current-control loops. The Visualization subsystem contains scopes that allow you to see the simulation results.

Open Model

IPMSG Voltage Stabilization

Control an Interior Permanent Magnet Synchronous Generator (IPMSG) based low voltage generator system for a hybrid electric vehicle (HEV). The Control subsystem includes a multi-rate PI-based cascade control structure which has an outer voltage-control loop and two inner current-control loops. The task scheduling in the Control subsystem is implemented as a Stateflow® state machine. The Scopes subsystem contains scopes that allow you to see the simulation results. An ideal angular velocity source, which represents a combustion engine, drives the IPMSG. The IPMSG supplies low-voltage power to loads R1 and R2. At t = 0.4 seconds, the switch closes, increasing the load.

Open Model

IPMSM Torque Control in a Parallel HEV

A simplified parallel hybrid electric vehicle (HEV). An interior permanent magnet synchronous machine (IPMSM) and an internal combustion engine (ICE) provide the vehicle propulsion. The IPMSM operates in both motoring and generating modes. The vehicle transmission and differential are implemented using a fixed-ratio gear-reduction model. The Vehicle Controller subsystem converts the driver inputs into torque commands. The vehicle control strategy is implemented as a Stateflow® state machine. The ICE Controller subsystem controls the torque of the combustion engine. The Drive Controller subsystem controls the torque of the IPMSM. The Scopes subsystem contains scopes that allow you to see the simulation results.

Open Model

IPMSM Torque Control in a Series HEV

An interior permanent magnet synchronous machine (IPMSM) propelling a simplified series hybrid electric vehicle (HEV). An ideal DCDC converter, connected to a high-voltage battery, feeds the IPMSM through a controlled three-phase converter. A combustion engine driven generator charges the high-voltage battery. The vehicle transmission and differential are implemented using a fixed-ratio gear-reduction model. The Vehicle Controller subsystem converts the driver inputs into relevant commands for the IPMSM and generator. The Drive Controller subsystem controls the torque of the IPMSM. The controller includes a multi-rate PI-based control structure. The rate of the open-loop torque control is slower than the rate of the closed-loop current control. The task scheduling for the controller is implemented as a Stateflow® state machine. The Scopes subsystem contains scopes that allow you to see the simulation results.

Open Model

IPMSM Torque Control in a Series-Parallel HEV

A simplified series-parallel hybrid electric vehicle (HEV). An interior permanent magnet synchronous machine (IPMSM) and an internal combustion engine (ICE) provide the vehicle propulsion. The ICE also uses electric generator to recharge the high-voltage battery during driving. The vehicle transmission and differential are implemented using a fixed-ratio gear-reduction model. The Vehicle Controller subsystem converts the driver inputs into torque commands. The vehicle control strategy is implemented as a Stateflow® state machine. The ICE Controller subsystem controls the torque of the combustion engine. The Generator Controller subsystem controls the torque of the electric generator. The Drive Controller subsystem controls the torque of the IPMSM. The Scopes subsystem contains scopes that allow you to see the simulation results.

Open Model

IPMSM Torque Control in an Axle-Drive HEV

An interior permanent magnet synchronous machine (IPMSM) propelling a simplified axle-drive electric vehicle. A high-voltage battery feeds the IPMSM through a controlled three-phase converter. The IPMSM operates in both motoring and generating modes. The vehicle transmission and differential are implemented using a fixed-ratio gear reduction model. The Vehicle Controller subsystem converts the driver inputs into a relevant torque command. The Drive Controller subsystem controls the torque of the IPMSM. The controller includes a multi-rate PI-based control structure. The rate of the open-loop torque control is slower than the rate of the closed-loop current control. The task scheduling for the controller is implemented as a Stateflow® state machine. The Scopes subsystem contains scopes that allow you to see the simulation results.

Open Model

IPMSM Velocity Control

Control the rotor angular velocity in an interior permanent magnet synchronous machine (IPMSM) based automotive electrical-traction drive. A high-voltage battery feeds the IPMSM through a controlled three-phase converter. The IPMSM operates in both motoring and generating modes according to the load. An ideal torque source provides the load. The Scopes subsystem contains scopes that allow you to see the simulation results. The Control subsystem includes a multi-rate PI-based cascade control structure which has an outer angular-velocity-control loop and two inner current-control loops. The task scheduling in the Control subsystem is implemented as a Stateflow® state machine. During the one-second simulation, the angular velocity demand is 0 rpm, 500 rpm, 2000 rpm, and then 3000 rpm.

Open Model

SM Torque Control

Control the torque in a synchronous machine (SM) based electrical-traction drive. A high-voltage battery feeds the SM through a controlled three-phase converter for the stator windings and a controlled four quadrant chopper for the rotor winding. An ideal angular velocity source provides the load. The Control subsystem uses an open-loop approach to control the torque and a closed-loop approach to control the current. At each sample instant, the torque request is converted to relevant current references. The current control is PI-based. The simulation uses several torque steps in both motor and generator modes. The task scheduling is implemented as a Stateflow® state machine. The Visualization subsystem contains scopes that allow you to see the simulation results.

Open Model

SM Velocity Control

Control the rotor angular velocity in a synchronous machine (SM) based electrical-traction drive. A high-voltage battery feeds the SM through a controlled three-phase converter for the stator windings and a controlled four quadrant chopper for the rotor winding. An ideal torque source provides the load. The Control subsystem includes a multi-rate PI-based cascade control structure which has an outer angular-velocity-control loop and three inner current-control loops. The task scheduling in the Control subsystem is implemented as a Stateflow® state machine. The Visualization subsystem contains scopes that allow you to see the simulation results.

Open Model

Switched Reluctance Machine Speed Control

Control the rotor speed in a switched reluctance machine (SRM) based electrical drive. A DC voltage source feeds the SRM through a controlled three-arm bridge. The converter turn-on and turn-off angles are maintained constant.

Open Model

Synchronous Reluctance Machine Velocity Control

Control the rotor angular velocity in a synchronous reluctance machine (SynRM) based electrical drive. A high-voltage battery feeds the SynRM through a controlled three-phase converter. An ideal torque source provides the load. The Control subsystem includes a multi-rate PI-based cascade control structure. The control structure has an outer angular-velocity-control loop and two inner current-control loops. The Visualization subsystem contains scopes that allow you to see the simulation results.

Open Model

Three-Phase Asynchronous Drive with Sensor Control

Control and analyze the operation of an Asynchronous Machine (ASM) using sensored rotor field-oriented control. The model shows the main electrical circuit, with three additional subsystems containing the controls, measurements, and scopes. The Controls subsystem contains two controllers: one for the Grid-Side Converter (AC/DC) and one for the Machine-Side Converter (DC/AC). The Scopes subsystem contains two time scopes: one for the Grid-Side Converter and one for the ASM. When the model is executed, a Spectrum Analyzer opens and displays frequency data for the A-Phase Supply Current.

Open Model

Three-Phase Asynchronous Drive with Sensorless Control

Control and analyze the operation of an Asynchronous Machine (ASM) using sensorless rotor field-oriented control. The model shows the main electrical circuit, with three additional subsystems containing the controls, measurements, and scopes. The Controls subsystem contains two controllers: one for the Grid-Side Converter (AC/DC) and one for the Machine-Side Converter (DC/AC). The Scopes subsystem contains two time scopes: one for the Grid-Side Converter and one for the ASM. When the model is executed, a Spectrum Analyzer opens and displays frequency data for the A-Phase Supply Current.

Open Model

Three-Phase PMSM Drive

A Permanent Magnet Synchronous Machine (PMSM) in wye-wound and delta-wound configuration and an inverter sized for use in a typical hybrid vehicle. The inverter is connected directly to the vehicle battery, but you can also implement a DC-DC converter stage in between. You can use this model to design the PMSM controller, by selecting the architecture and gains to achieve the desired performance. To check the timing of IGBT turn-on and turn-off, you can replace the IGBT devices with the more detailed N-Channel IGBT block. For complete vehicle modeling, you can use the Motor & Drive (System Level) block to abstract the PMSM, inverter, and controller with an energy-based model. The Gmin resistor provides a very small conductance to ground that improves the numerical properties of the model when using a variable-step solver.

Open Model

DC Fast Charger for Electric Vehicle

Models a DC fast charging station connected with the battery pack of an Electric Vehicle (EV).

Open Model

Ports

Input

expand all

abc — a-, b-, and c-phase components
vector

Components of the three-phase system in the abc reference frame.

Data Types: single | double

θ_abc — Rotational angle
scalar | in radians

Angular position of the rotating reference frame. The value of this parameter is equal to the polar distance from the vector of the a-phase in the abc reference frame to the initially aligned axis of the dq0 reference frame.

Data Types: single | double

Output

expand all

dq0 — d-q axis and zero components
vector

Direct-axis and quadrature-axis components and the zero component of the system in the rotating reference frame.

Data Types: single | double

Parameters

expand all

Power Invariant — Power invariant transform
off (default) | on

Option to preserve the active and reactive power of the abc reference frame.

Phase-a axis alignment — dq0 reference frame alignment
`Q-axis` (default) | `D-axis`

Align the a-phase vector of the abc reference frame to the d- or q-axis of the rotating reference frame.

References

[1] Krause, P., O. Wasynczuk, S. D. Sudhoff, and S. Pekarek. Analysis of Electric Machinery and Drive Systems. Piscatawy, NJ: Wiley-IEEE Press, 2013.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2017b

Park Transform