DQ Reference Frame in VSC Station: Fig. 1(b)

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Each VSC station has the same configuration, and its vectorbased equivalent circuit in the synchronous dq reference frame is shown in Fig. 1(b).

Could someone please explain me what doe "dq reference frame" mean?
 
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  • Two-panel figure: (a) single-line schematic of VSC-HVDC linking Grid1 and Grid2 through two VSC converters with a DC link; (b) complex vector equivalent circuit of one VSC station with source voltage Vs, filter Cf, converter voltage Vc, inductance Lc, and DC side capacitor Cdc.
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Is it not just talking in terms of phasors? When you use phasors for AC descriptions, you choose to 'freeze' the axis, synchronous with the supply frequency. This VSC system involves two different frequencies (?) so one side's phasors will rotate slowly around the reference axes of the other side, if they are not synchronised.