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It has been shown that the speed of rotation of the d.q axes can be arbitrary although there are three preferred speeds or reference frames as follows:

(a) the stationary reference frame when the d,q axes do not rotate;

(b) the synchronously rotating reference frame when the d,q axes rotate at synchronous speed;

(c) the rotor reference frame when the d,q axes rotate at rotor speed.

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Q: What is synchronous reference frame?
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