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IEEE Transactions on Energy Conversion, Vol. 8, No. 1, March 1993 A STEP TOWARDS IMPROVEMENTS IN THE CHARACTERISTICS OF SELF EXCITED INDJC?IOF! GENERATOR L. Shridhar, Bhim Singh Department of Electrical Engineering Indian Institute of Technology - Delhi New Delhi-110 016, INDIA
C . S . Jha Vice Chancellor Benaras Hindu University Varanasi-221 005, INDIA

Abstract - Given due considerabion to the increasing use of Self Excited Induction Generators (SEIGs) in isolated power plants, an s made to effect suitable design attempt i modifications in standard induction motor to improve i t s performance as SEIG. This paper explores the theory behind such improvements and sets the concept of voltage regulation in SEIG. Typical results of the sensitivity studies performed are presented and inferences are drawn to suggest guidelines for real design problem of such generators. INTRODUCTION With the growing demand of isolated power units, Self Excited Induction Generator (SEIG) i s rapidly establishing itself in portable gensets and non-conventional energy plants due to its lower cost and overall maintenance and operational simplicity. Absence of dc source, inherent overload protection and improved performance due to low transient impedance are advantages over some of its operational conventional generators. Further in SEIG, cage type machine offers simple and rugged brushless rotor construction with less maintenance requirements. By now the theory and operating principle of SEIG i well established in the literatcre s of electrical engineering [ I - 6 1 . Induction machine basically being singly excited, requires reactive power for i t s operation. If connected to grid it draws necessary VAR from the lines. But in case of its operation as SEIG, a VAR generating unit should be connected across its terminals, which i s generally realised in the form of capacitor banks. With suitable capacitors connected across its terminals and with rotor driven in :?it.i?er direction by a prime mover, voltage builds up across the terminals of the machine due to self excitation phenomenon leaving the machine operating under magnetic saturation at some stable point. When the load connected s varied the across the machine terminals i terminal voltage reduces considerably with the load, implying its inherent voltage regulation problem, which i more severe than that s of alternator and dc generator. Therefore, use of a suitable regulator scheme becomes desirable for exp1oitin.e the potentials of SEIG for power generation. Although the principle of self excitation of induction machine has been known since the 92 WM 020-8 EC A paper recommended and approved by the IEEE Energy Development and Power Generation Committee of the IEEE Power Engineering Society for presentation at the IEEE/PES 1992 Winter Meeting, New York, New York, January 26 - 30, 1992. Manuscript submitted August 23, 1991; made available for printing December 16, 1991.

thirties C 1 3 , it was not evident t i l l recently as to how the load, excitation capacitance, speed and various machine parameters interact. of machine behaviour i s The analysis complicated owing to the magnet io saturation in the machine and the need to choose suitable parameters for the given level Of saturation. Murthy etal 1 7 1 gave an analytica! to technique using Newton- Raphson method identify the saturated rnagnet ic reactance and generated frequency of a self excited induction generator for a given capacitance, speed and load. The technique is very effective in the analysis of such systems and has been widely in use since then f o r stadying performance of SEIG under different operating conditions C7121. Though core loss in the machine i s neglected i t can be accounted for by suit.able extension nf the analysis Cl31. In the same paper effectof various system parameters ware t o suggest guidelines for system studied design. In a subsequent paper [SI, the VAR requirement of SEIG was estimated to obtain desired voltage regulation. Elder etal C 9 1 used the same analyt ical technique to evaluate the static VAR source available to control the machine excitation for a variety Of operating schemes.. It can further be seen that since the early days studies on SEIG are centered around the choice of proper regulating schemes and their designs C13-203. There are mainly three popular voltage regu 1 at i ng schemes for SE IG which use sw i t ched capacitor, variable inductor and saturable core reactor, respect ively C 9 , ? 4 1 . The first one i a simple and cheap scheme, where additional s capacitors are switched-on as the load i ncreases . Vari ab1 e inductor or saturiiL1 e c o r e reactor i s used w i t h single valued c-lpacitor bank SEI(;. Switrhing of capacitors or variation in inductor or reactor vali?e can be obtainod by manual operation or by closed loop schemes using relay/contactor or semiconductor switches C 181 . Conro 1 1 ed rect i f i er i nvert er schemes have a 1 so bren proposed for asynchrcirrous t i e with grid and f o r constant terminal vnltage and I: : 5 , 18-2c)l. frequency supply in isolation Rating, duty and complexity of these regUlatr5 depend on no load and full load VAR requirements of the generator. A special feature of SEIG i s that a standard induction motor gives a corresponding level of performance in generating mode also. But, for quite sometimes, due to growing cost and coiiiplexity of regulating schemes, the need has been felt to attempt at design modifications in induction machine to improve its generating characteristics. The sensitivity studies performed in ref. C71 and the studies carried out on suitability of using normal induction motor as SEIG CY3 were the attempts in t h i s direction. In a later paper [ I l l , design specifications/details o f the machine were uti 1 ised to predict its performance as SEIG. In the above papers design modifications were suggested to reduce VAR requirements of the generator resulting in reduced Capacitance and lower cost. The

0885-8969/93$03.000 1992 IEEE

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emphasis was laid on system studies, design of regulator and the manner in which the VAR generating unit should be controlled to match the requirements of the reactive power of the SEIG with the load. However, no attempts seem to have been made to improve the regulation of the generator alone and to effect performance improvements with reduced role of regulator in the system. For example, taking the case of a switched capacitor scheme, guidelines have been suggested to reduce the value of capacitance connected across the generator but not much has been said about reducing the number of switchings required to provide VAR compensation from no load to full load. Moreover, the criterion adopted and the guidelines suggested need some modifications. It may also be noted that the design modifications required for reduced VAR requirement and that for improved regulation of the generator alone are not identical Therefore, this paper i s aimed at investigating improvement possibilities in the regulating characteristics of SEIG through i s suitable design modifications. Theory presented to lay the foundation and to explain the philosophy of improvements in the characteristics. Well known Newton Raphson method has been used for the analysis of SEIG. With suitable modifications in the analytical process, various programs were developed to study different aspects of SEIG. A s a first step towards design modifications, sensitivity analysis of the machine in terms of its equivalent circuit parameters has been carried out and inferences are drawn, which can be further translated into design process. Proper concept of voltage regulation in SEIG has been typical developed after investigating its characteristics. For economical, reliable and robust power system, it i s desired that consumers maintain a power factor around unity. The power companies therefore, recommend installation of various power factor improvement devices to meet this necessity and impose heavy penalty for violating the power factor norms. Hence, in the present paper, using a generalised analysis technique, results are presented for resistive loads. The results presented in graphical and tabular forms are discussed suggesting useful guidelines for the designer. The discussion highligts the performance of the SEIG alone and also as a system using switched capacitor scheme.

41 effect i s meant to flatten the overall magnetisation characteristics of the system. For a designer aiming to improve the regulation of SEIG this could be an important clue. Design modifications should be carried out in such a way that this magnetisation characteristics of the combination of SEIG and saturable core reactor i simulated as closely s as possible by the newly designed machine s alone. That i to say, the effect of saturable core reactor should be incorporated inside the machine. This may influence other performance indices of the generator and therefore, the design may be a little constrained. ANALYSIS The present study uses the standard steady state equivalent circuit of the SEIG with the considering the usual assumptions C 7 - 1 2 1 , variation of magnetising reactance with saturation as the basis for calculation. The s equivalent circuit i normalised to the base frequency by dividing all the parameters by the p.u. self-excited frequency as shown in Fig. 1 .

Fig. 1 Equlvabnt drcuit of Induction generator with load

where phase stator and rotor resistance referred to stator Xs,Xr = per phase stator and rotor leakage reactance referred to stator = magnetising reactance m ' = per phase capacitive reactance XC of the terminal capacitor C = per phase load resistance RL P,v = p. U. frequency and speed Is,Ir,IL= per phase stator, rotor and load current, respectively Vt,V = terminal and airgap voltage (all reagtances referred above relate to the base frequency f) As already mentioned the magnetising characteristics of the machine i s of prime importance in the analysis. Fig. 2 shows such a characteristic of the machine considered, relating the airgap voltage and frequency ratio (V /F) to the magnetising reactance. The g Rs,Rr
= per

BASIC THEORY The pr i mary e 1 ements that i nf 1 uence regulation of the SEIG are its resistances and leakage reactances. Therefore, these parameters automatically become choice for sensitivity study for design modifications. A s the load increases, the drop of voltage across these elements become prominent and the already weakened excitation provided by fixed valued capacitor bank, along with other supplementary processes futher reduce the terminal voltage drastically to result in poor regulation. To maintain the terminal voltage to a desired level additional capacitance i s required to compensate the increased VAR requirement at higher loads. The use of a soft core saturable reactor connected in parallel with the capacitor has been suggested for improved regulation of SEIG C41. This i s altogether a different way of tackling the problem, which in

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Xm (P.u.) Fig. 2 Varlatlon of VO/F with X,

42 saturation portion of this characteristic can be linearised and expressed mathematically in the form C71 :

V /F = K1- K2Xm (1) g Where K 1 and Kp depend upon design and material of the machine. For the purpose of obtaining required lagging reactive power to maintain desired terminal voltage, Xc and F are the only unknown parameters for a given speed and load. To evaluate these parameters the loop equation for the current (1,) can be written as :

scheme. A highly interactive package using all these programs have been developed offering wide flexibilty to the choice and range of parameters for sensitivity studies and to predict various performances of the machine. CONCEPT OF VOLTAGE REGULATION IN SEIG

Effects of various parameters were presented in graphical form in ref. C 7 1 and power capability of SEIG was estimated for different sets of parameters using the same value of capacitance. The same curves were used to draw inferences on frequency regulation to suggest design modifications. But in actual ( 2 ) practice the value of capacitance required, IZ ,S = 0 changes over a wide range for different sets of parameters or different designs. Hence where performance comparision for different designs to be made using the corresponding (3) need 2 = z,+ z2+ z3 , capacitor connected across the terminals. Further good commercial practice and requireme(4) 2, = - jXcRL/(RLP2- jXcF) nts of customers demand a gonerator to work (5) within a close voltage tolerance band. Due to Z2 = R / ,F + jX, the use of same capacitance value for different designs there i s considerable variation In most ( 6 ) in the terminal voltage level. of the cases peak of the generator output power lies outside the permitted voltage band. And the maximum power Since under steady state operation of SEIG therefore, in general capability of the generators ( , P ) can not be Is can not be equal to zero, therefore : utilised. The maximum usable power (Pm') of s then the power at which the zs=o (7) generator i terminal voltage falls to the minimum This equation after separation into real permissible level, as shown in Fig. 3 ; where and imaginary parts, can be rearranged into two P ' < P . Since voltage regulation as defined s nonlinear equations which are solved using wTth regpect to alternator or dc generator i s Newton Raphson method to obtain value of Xc and not applicable to SEIG, it i required to set proper criterion for its voltage regulation. P F as detailed in ref. C71. , After obtaining X and F, the following may seem to be a good contender in this respect, but due to the reasons mentioned above re 1 at i onsh ips are use8 to compute generat or and also due to the overlapping curves as shown performance at particular load and speed: in Fig. 3 , it can be noted that the set of , Is = CVg/FI/CZ, +Z21 ( 8 ) parameters which give higher P may not give higher power within a band and hence may result in reduced regulation. Therefore, the criterion (9) that the design giving higher peak power will also have a better regulation does not stand true in all cases. However, with the of a vultage tolerance band, which IL = -jXcIs/CRLF-jXcl ( I O ) definition appears logical in practice, the set Vt = IL(RL/F +jX,) ( 1 1 ) of parameters which gives maximum usable power also gives a better regulation. I t can also be that set of parameters for better (12) seen Input power P i n = -3:Ir2:RrF/CF-Y1 regulation vary as the permissible voltage band s (13) i changed. Since the utility permit a voltage Output power Pout= 3 : IL2 f RL fluctuation of +6%, a voltage band between p.u. and Vmin=0.94 p.u. has been A similar mathematical model C 1 2 1 can be Vmax=1.06 capacitance developed to obtain performance of SEIG for a considered in this paper. The s the given value of capacitance and speed, where X value considered in individual design i , and F will be the unknown parameters. PROGRAM DESCRIPTION Using the generalised analytical method discussed above, various computer programs were developed to calculate performance of SEIG under different operating conditions. Given the equivalent circuit parameters as inputs, X , i s calculated for any load which in turn i s used to obtain the required VAR, value of capacitance and various other details. The Capacitance for the maximum permissible voltage level i s chosen at this stage and i used to evaluate s the load characteristics of SEIG for the sensitivity studies. Another program simulates the performance of SEIG with a switched capacitor
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one required to get V at no load. The regulation is estimated TExterms of the maximum usable power P m ' at Vmj,. RESULTS AND DISCUSSION In this paper the experimentally obtained data of a standard three phase, four pole de 1 t a connected , 3.7KW cage induct ion mot or (as detailed in appendix) is used to study the effect of its parameters on its performance as SEIG. To effect variation in the parameters a factor 'q' has been used. The parameter under study is multiplied by 'q' which is varied to get desired effect. Though the studies were carried out over a wide range of 'q', results are presented only for a small range of variations because of the practical limitations. A s regarding the variation of magnetisation characteristics, instead of varying X m in its entirety; the remodelling of the characteristics has been carried out by varying the parameters K, and K2. Effect of Machine Parameters Along with the studies carried out for design modifications on regulating characteristics of SEIG, effect of machine parameters was also observed on VAR requirement of the generator, since it is an important performance index of SEIG. VAR demanded by the generator has been studied from no load to full load with the terminal voltage maintained at 1.0 p.u. Effect of Resistive Elements Figs. 4(a) and 4(b) show the load characterisics of SEIG for different values of stator resistance. With reduced value of Rs, it i seen that there is a marginal improvement in s voltage regulation and a marginal reduction in VAR requirement of the generator. Rotor resistance also has a similar effect. Effect of Leakage Elements The family of load characteristics for different values of leakage reactance (X =X = X l r ) is shown in Figs. 5(a) and 5(b). Whfleslower X l r improves the regulation, it is seen that effect of leakage reactance on VAR requirement of the generator at lower and higher loads are at reverse, with the crossover taking place around the full load. It has also been observed that for small changes in X l r on the either side of standard value ('q'=I.O), the VAR demand at full load increases except for '4'< 0.5 for which i t starts decreasing with lower values of Xlr.
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Effect of Magnetisation Characteristics For a small change in K1 there is a significant change in generator performance as shown in Figs 6(a) and 6(b). A reduction in K, causes substantial improvement in regulation but increases the VAR demand significantly. Kp seems to be a less sensitive parameter than K,. It causes a marginal change in regulation but reduces VAR requirement significantly for a small reduction in its value as shown i r i Figs. 7(a) and 7(b), respectively. As it is clear from the above trends, the changes required for better regulation and that for lower VAR requirements of the machine are different. A design that gives good voltage regulation not necessarily requires lower V A R also. The same is displayed in Table-I w i t h desirable effects in performance for particular swing in parameters being underlined. is used to impress the Table-I desirability for better regulation and lower VAR requirements of SEIG. For various SQt of parameters, it shows maximum usable power (P") for permitted voltage fluctuation of 26% and

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the no load and full load VAR requirements of SEIG (VAR, and VAR respectively) with 1 . 0 p.u. The table terminal voltage hels'it also gives the initial capacitance(C,), full load capacitance(Cfl), compensating capacitance(AC) and the number of additional steps required for a SEIG system using switched capacitance scheme. The last column of the table shows the generated frequency for the various designs at 1.0 p.u. output power. Table-I1 gives various sets of parameters inferred from Table-I. The second set gives design for better voltage regulation while the

third set gives generator with lower VAR requirements. The fourth row gives set o f parameters f o r improved regulation and lower VAR. The last set of parameters i chosen such that no addits s ional switching i required. A s shown in Pig. &() !a, in contrast to the four step operation of standard induction motor as SEIG using a switched capacitance regulator scheme, just a single valued capacitor bank i s sufficient for the generator with new set of parameters to deliver power upto full load, thus suggesting possibils ity of a self regulating SEIG. And i t i this design to which the modifications should be

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In aimed at to improve performance of SEIG true sense, it would be required to vary the parameters in such a way that the increase in the VAR requirements due to improvements in K, i s regulation for reduced values of compensated by the reduced VAR requirements for new values of other parameters. Effect of machine parameters on the generated frequency i not as much as it i s s on terminal voltage or VAR requirements of the SEIG. However, rotor resistance i s the parameter which effects the frequency considerably C61. A reduction in rotor resistance improves the frequency regulation of the generator. This i a good feature since the s above discussion recommends lower value of rotor resistance. Fig. arb) shows the variation of terminal voltage and generated frequency of the SEIG with load, for standard and new set of parameters with the corresponding no load capacitance connected across the terminals. From the foregoing discussion, the magnetic circuit seems to be the most influencial part of the machine for such designs. Therefore, while attempting proper design modifications in standard motor for its improved operation as SEIG, the designer needs to concentrate more on magnetising characteristics of the machine. The effect of resistive and leakage elements individually may s desirable to not be appreciable but it i choose their minimum possible values since s collectively their effect i significant. The higher the swing in parameters available, better will be the design. I t should not be rotor difficult at least in the case of resistance and leakage reactance since for a standard induction motor, their values are usually chosen higher to increase the starting torque and to limit starting current, respectively; which are perhaps not valid recommendations for SEIG. Additionally, the availability of new less lossy C 2 1 7 materials further ease constraints by allowing the machine to be operated in super saturation. CONCLUSIONS Equivalent circuit parameters of a standard induction motor being the basis of anlysis; theory and concept of voltage regulation in SEIG has been developed. Having identified effect of various parameters, it has been observed that the changes required in the design for improved regulation and that f o r reduced VAR requirements of the machine are different. With the conflicting demand for effecting suitable design modifications in SEIG for imDroved regulation in commensuration with

suitable reduction in VAR demand, the stage i s set for the designer to use his skill and experience to redesign a complete new line of machines. A s new theories, better materials and improved manufacturing techniques are being developed, how best the effects discussed above would be translated into the practical design problem will largely depend on the approach and technique adopted, as a result of the requirements and limitations to be met and the availability of the practical reference data and design. At present the authors are engaged in gathering requisite informat ion through close interaction with machine manufacturers s and it i intended to offer for publication in future practical design of three phase SEIG including the cost comparision of specially designed generator and a normal induction motor used as SEIG. REFERENCES
c11

E. D. Bessett and F. M . Potter, Capaciti-ve excitation for induction generator, AIEE Trans-, p p - 540-545, Play 1935C. F. Wagner, Self excitation of inductivol. 5B, on motors, AIEE Trans., pp. 47-51, February 1939.
.J. E. Berkle and R. W . Ferguson, Inducti-on generator theory and application, AIEE Trans., pp- 12-19. February 1954.

c21

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B. C. Doxey, Theory and application of capacitor-excited induction generator, The En~ineer, no. 2 9 , pp. 893-897, November 1963.
D. W. Novotny, D. J. Gritter and G. H. Studsmann, Self excitation in inverter 2 driven induction machine, IEEE Trans- 0 Power Apparatus & S y s t e m s , Vol. PAS-96, no. 4, pp. 1117-1125, July/August 1977

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J. M. Elder, J. T. Boys and J. L. Woodward, The process of self excitation E, in induct ion generators, Proc~01.130, pt. B, pp. 103-107, March 1983.
Tandon Analysis of self-excited induction generators, Proc. IEE, vol.129, pt. C. no. 6, pp. 260-265, 1982. and P. Walsh, Capacitive VAR requirements of self excited induction generators to achieve desirable voltage regulat ion, presented at the IEEE Conference E Industrial and
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CBI

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J. M. Elder, J.T. Boys, J. L. Woodward, "Self excited induction machine as low cost generator", Proc. IEE, vol. 131, pt. C, no. 2, pp. 33-40, March 1984.
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present and future developments", Proc. IEE, VO1.137, pt. A , no. 5, pp. 233-245, September 1990. APPEND I X Base Quantitities Power - 3.7 KW, Voltage/phase - 415 Volt Current/phase- 4.39 Amp, Frequency - 5 0 Hz B s V A R = Bas0 P . a. 0r W Equivalent Circuit Parameters R = 0.053 P.U., Rr = 0.061 p.u. , xs = Xr = 0.087 p. U. K 1 = 1.6275, K2 = 0.3418
Ii_z Shridhar was born in Bhilainagar. f P (India) in 1966 l

C 1 0 3 S.

C 1 1 3 S. S. Murthy, B. P. Singh, C. Nagamani and Studies on the K. V. V. Satyanarayana, use of conventional induction motors as self excited induction generators", Trans. on Energy Conversion, vol. 3, n o - 4 , pp. 842-848, December 1988.
'I

IEEE

C121 S. P. Singh, Bhim Singh and M. P. Jain, "Performance characteristics and optimum utilization of a cage machine as capacitor excited induct ion generator", paper no. 90 SM 284-0 EC,presented at the IEEE/PES 1990 Summer Meeting, Minnesota,l990.

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t 1 3 3 N. H. Malik and S. E. Haque, "Steady state

analysis and performance of an isolated se 1 f exc i t ed induct i on generat or", IEEE Trans. 0 Enerey Conversion, vol. EC-1, 2 no.3, pp.133-139, September 1986.
C 141 M. B. Brennen and

He received h i s B.E. degree from Maulana Azad College of Technology, Bhopal, and the fl.Tech degree from Institute of Technology- Banaras Hindu University, Varanasi. He is with the department of electrical eng neering, Indian Institute of Technology - De hi since July 1990 and i s presently, a fu 1 time research scholar working towards his Ph D. degree. His areas of interest are electrica machines and their efficient energy convers on. Dr. Fhim Singh was born at Rahamapur, UP in 1956. He received h i s B. Tech. degree from University of Roorkee, and fl.Tech and Ph.D. degrees from Indian Institute of Technology, Delhi in 1977, 1979 and 1983, respectively. Prom 1983 to 1990 he was w i t h the department of electrical engineering, University of Roorkee. At present he is Assistant Professor at Indian Institute of Technology, Delhi. He has over 60 papers to h i s credits in the field of CAD, Power Electronics and Analysis and Control of Electrical Machines.

A. Abbondat i , "Stat ic exciter for induct ion generators", lEEE Trans. on Industry Am~lications, vol. IA13, no.5, pp. 422-428, 1977.

C153 J. Arrillaga and D. B. Watson, "Static power conversion from self excited vol. induction generators", Proc. 125, no. 8 , pp. 743- 746, August, 1978.

m,

C 1 6 1 D. B. Watson, and R. M. Watson, "Microprocessor control of a self excited induction generator, Int. J. f o Elect. Enge. Ed., vol 220, pp. 69-82, 1985.

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Prof. C. S Jha, was born at Vijainagar in Bihar (India) F. Bim, J. Sjazner and Y. Burian, "Voltage in 1934 and educated at compensation of an induction generator Patna University, Indian with long-shunt connectons", IEEE Trans. Institute of Sciences, on Energy Conversion, vol. 4, n o - 3 , pp. Bangalore, Heriot Watt 526-530, 1989. College, Edinberg (U.K. ) , and Bristol University S. S. Murthy, "Experience with the (U.K.). Has been a Professor analysis, design and control of induction of Electrical Engineering at Indian Institute generators operating in' autonomous or grid of Technology- Delhi since 1964. He has made singnificant contribution in connected mode", in the Proceed in= 9f the electrical machine theory and applications and Internet ional Conference on &volution Hachine, published a large number of papers. Has been Modern AsDects of Induct ion involved in planning and administration of Torino (Italy), July 8-11, 1886. technical education in India since early 19708. D. B. Watson, J. Arrillaga and T. Densem, He was Director of the prestigious IIT at "Controllable d.c. power supply from wind Kharagpur (1974-78), was Educational Advisor to driven self excited induction machines", the Government of India on technical education Proc. U , vol. 126, no.12, pp 1245-1248, planning and has been active in curriculum planning and development of engineering December, 1979. education in India. Has been visiting professor G. Raine and 0. P. Malik, "Wind energy in many universities in the West, a member of conversion using a self excited induction the board of Trustees of Asia Institute of generator", Trans. pn Power A q 3 r a t u s Technology, Bangkok (1974-86) and is a member UNESCO international meeting group on Svstems, vol. PAS-102, no.12, pp. of continuing education of engineers since 1975. 3933-3936, December 1983. At present, he is the Vice Chancellor of the Benaras Hindu University at Varanasi. 3A . J. Moses, "Electrical steels: past