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Dq0Transform
FromOpenElectrical
Thedq0transform(oftencalledtheParktransform)isaspacevectortransformationofthreephasetimedomainsignalsfromastationaryphasecoordinatesystem
(ABC)toarotatingcoordinatesystem(dq0).
Thetransformappliedtotimedomainvoltagesinthenaturalframe(i.e.ua,ubanduc)isasfollows:

Where

istheanglebetweentherotatingandfixedcoordinatesystemateachtimetand

isaninitialphaseshiftofthevoltage.

Theinversetransformationfromthedq0frametothenaturalabcframe:

AsintheClarkeTransform,itisinterestingtonotethatthe0componentaboveisthesameasthezerosequencecomponentinthesymmetricalcomponents
transform.Forexample,forvoltagesUa,UbandUc,thezerosequencecomponentforboththedq0andsymmetricalcomponentstransformsis
.
Theremainderofthisarticleprovidessomeoftheintuitionbehindwhythedq0transformissousefulinelectricalengineering.

Contents
1Background
2Classicaldq0TransforminBalancedSystems
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2.1dq0TransformofBalancedThreePhaseVoltages
2.2dq0TransformofBalancedThreePhaseCurrents
2.3InstantaneousPowerindq0Frame
2.4Summaryofdq0TransforminBalancedSystems
3PowerInvariantFormulation
4References
5RelatedTopics

Background
Thedq0transformisessentiallyanextensionoftheClaketransform,applyinganangletransformationtoconvertfromastationaryreferenceframetoa
synchronouslyrotatingframe.Thesynchronousreferenceframecanbealignedtorotatewiththevoltage(e.g.usedinvoltagesourceconverters)orwiththe
current(e.g.usedincurrentsourceconverters).

Historicallyhowever,thedq0transformwasintroducedearlierthantheClarketransformbyR.H.Park(http://en.wikipedia.org/wiki/Robert_H._Park)inhis
seminal1929paperonsynchronousmachinemodelling[1].

Classicaldq0TransforminBalancedSystems
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dq0TransformofBalancedThreePhaseVoltages
Thefollowingequationstakeatwophasequadraturevoltagealongthestationaryframeandtransformsitintoatwophasesynchronousframe(withareference
framealignedtothevoltage):

Notethatinthedq0frame,the0componentisthesameasthatinthe
frame.Moreover,aswesawintheClarketransform,the0componentiszerofor
balancedthreephasesystems.Thereforeinthefollowingdiscussiononbalancedsystems,the0componentwillbeomitted.
Considerabalancedthreephasevoltagewith

componentsasfollows:

Thedq0transformofthisvoltageis:

Supposethatweareusingavoltagereferenceframeandwillalignthesynchronousframewiththevoltage.Therefore

and:

Itcanbeobservedthatsincethesynchronousframeisalignedtorotatewiththevoltage,thedcomponentcorrespondstothemagnitudeofthevoltageandtheq
componentiszero.Aplotofthetransformationofavoltagefromastationaryframeintorotatingdqframeisshowninthefigurebelow.
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Theinversetransformisasfollows:

dq0TransformofBalancedThreePhaseCurrents
Thedq0transformationcanbesimilarlyappliedtothecurrent.Fromatwophasequadraturestationary(0)currentoftheform(whereistheangleatwhichthe
currentlagsthevoltage):

Wetransformitintoatwophasesynchronous(dq0)frame:

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InstantaneousPowerindq0Frame
Theinstantaneousactiveandreactivepowerfromasetoftwophase(dq)voltagesandcurrentsare:

Whenthesynchronousframeisalignedtovoltage,wesawearlierthatthequadraturecomponent:

.Therefore,thepowerequationsreduceto:

Theaboveequationsshowthatindependentcontrolofactiveandreactivepowerispossiblebymeansofcontrollingthedqcurrentcomponents(idandiq).

Summaryofdq0TransforminBalancedSystems
Forthreephasebalancedsystems,thedq0transformhasthefollowingadvantageouscharacteristics:
1)Thedq0transformreducesthreephaseACquantities(e.g.ua,ubanduc)intotwoDCquantities(e.g.ud,uq).Forbalancedsystems,the0componentis
zero.TheDCquantitiesfacilitateeasierfilteringandcontrol.
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2)Activeandreactivepowercanbecontrolledindependentlybycontrollingthedqcomponents.

PowerInvariantFormulation
TheclassicalParktransformisnotpowerinvariant,i.e.theinstantaneouspowerofthevariablescalculatedinthedq0frameisnotthesameasthepower
calculatedinthenaturalcoordinatereferenceframe.Apowerinvariantversionofthedq0transformisasfollows:

Inversetransform:

References
[1]R.H.Park,"TwoReactionTheoryofSynchronousMachines:GeneralizedMethodofAnalysisPartI
(http://ece.uwaterloo.ca/~ccanizar/papers/classical/park.pdf)".TransactionsoftheAIEE48:716730,1929

RelatedTopics
ClarkeTransform
SymmetricalComponents
ReferenceFrames
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