ABB Switzerland AG Learning Center Power Electronics Turgi, Switzerland

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 1 -

Fundamentals of Excitation Systems Chapter 1

1. Fundamentals of Excitation Systems

Excitation Basics
What is an Excitation System?
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 2 -

Synchronous Machine Operation Modes and Characteristics.

1.1 What is an Excitation System

North

Rotor Current
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 3 -

The rotor of a synchronous machine is an electromagnet. The effect of the rotating flux on the stator windings produces an induced voltage.

South

1.1 What is an Excitation System

Excitation System

Voltage Regulation

Voltage

Current Control
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 4 -

Power Supply

Rotor Current Production

1.1 What is an Excitation System

CONTROL ROOM STEP UP TRANSFORMER LV SWITCHGEAR

HV SYSTEM

HV- BREAKER

AC & DC AUXILIARY SYSTEMS

AUX. TRANSF. GOVERNOR GENERATOR BREAKER

PROTECTION

CONTROL SYSTEMS

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 5 -

PTs & CTs SYNCHRONIZING EXCITATION SYSTEM

TURBINE

SYNCHRONOUS GENERATOR

STAR POINT CUBICLE

EXCITATION TRANSFORMER

1.2 The Synchronous Machine Chain of energy conversion

Primary Energy

Mechanical Energy

Electrical Energy

Consumer

Turbine
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 6 -

Generator
Field Current Generator Voltage

Excitation System

1.2 The Synchronous Machine

Controlled Object
I f

Disturbance
Ug
Network

Synchronous Machine Excitation System

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 7 -

1.2 The Synchronous Machine

The solid pole synchronous machine

Rotor Stator

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 8 -

High speed application for speed range > 1500 rpm

1.2 The Synchronous Machine

The salient pole synchronous machine

Stator

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 9 -

Rotor
Slow speed application for speed range < 1500 rpm

1.2 The Synchronous Machine

Synchronous machine triphase representation
IR

Stator
IDR

UR

120
UT If IT IDT Uf

120
Rotor

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 10 -

120
IDS

IS

US

1.2 The Synchronous Machine

d-q axes representation
d
D axis ra Id Ud

Stator

rdD

dD

IdD

rf Uf If

f Q1 IQ1 Q2 IQ2 q
Q axis

rQ1

rQ2

ra Iq

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 11 -

Rotor

Uq

1.2 The Synchronous Machine

The simplified equivalent circuit for the synchronous machine

q-axis

Synchronous Reactance

If
d-axis
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 12 -

Xf

Xa Xm

Xd,q

Uf

Rotor

Stator EP EP

UG
Rotor
Fig. a

Stator
Fig. b Fig. c

1.2 The Synchronous Machine

What values can you find on the name plate of your synchronous machine?
Physical values of your machine Absolute Value Unit Per unit value

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 13 -

Link to data sheet of real SM

1.2 The Synchronous Machine Generator no load characteristic

Xd
If ,n

Ug UGn

Saturation

Ep
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 14 -

UG

Generator nominal voltage

No load field current

I fo

Speed n = constant

If

1.2 The Synchronous Machine Generator short circuit characteristic

Xd
UGn

Ig IG
Generator current at Ifo

If ,n

Ep

UG = 0
Ep = UGn

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 15 -

No load field current

I fo

Speed n = constant

If

For If = Ifo Xd = IG/IGn

Example:

IG at (If = Ifo)

Measurement at If = Ifo: IG/IGn = 2.43 Xd = 2.43 pu

1.2 The Synchronous Machine

Generator on load
Xd
U = IG Xd

IG
U = Xd Ig

Ug

UG = const.

Load

Ep
Ep
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 16 -

p ~I f

IG
Load angle

Fig. a Fig. b

1.3 Operation of the Synchronous Machine The power chart of the synchronous machine
Active Power

P
1 pu
1 Turbine Power

P(Ep)~If

Generator Operation

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 17 -

-Q

-1

1 xd
under excited

+1

+ Q Reactive power

Motor

over excited

1.3 Operation of the Synchronous Machine The synchronizing torque

FDrive

mech

mech el el

mech el

Fsyn

=0o
Fig. a)
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 18 -

=45 o
Fig. b)

=90 o
Fig. c)

Some equations:

"rubber band"

P = T T = F r
P T F r Active power Torque Force Rotor radius Speed

T95_0154.DRW

Fig. d)

1.3 Operation of the Synchronous Machine

The torque characteristic of the generator

Stability limit

The torque equation

Md

d2 ~ If2
Md1 ~ If1
Drive torque
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 19 -

M d = E p I G sin =

E p U G Xd

sin

1.3 Operation of the Synchronous Machine The safe operating area of the synchronous machine
Stability Limit

Active Power

P
1 pu
Rated Power Drive Limit

safe operating area

~Ifn Sn

Generator Operation

Field Current Limiter

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 20 -

max= 90

-Q

-1

1 xd
under excited

+1

+ Q Reactive power

Motor

over excited

1.3 Operation of the Synchronous Machine The power chart of the synchronous machine with limiters

Under excitation, P/Q Limiter Stator Current Limiter Minimum Field Current Limiter
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 21 -

P [MW]

Field Current Limiter

Save operating area

-Q

1/Xq

1/Xd

1.3 Operation of the Synchronous Machine

The V-curves of the synchronous machine

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 22 -

1.4 The Network The Network

2
External reactance Infinite bus voltage

Tie 3 Regional grid

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 23 -

Xe UNet

Substation

Power station
T 95_01 57.D RW

1.4 The Network

Substitution diagram of the network with the generator

Transformer reactance External reactance

G
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 24 -

XT

Network voltage

Xe

Infinite bus voltage

RL
Consumer

UNet

1.4 The Network Calculation of reactive power

UG = 1.05 pu UN = 1.0 pu

XTr= 0.1 pu

= 0.2 pu Xe

IQ
Reactive Power

RL
Consumers

UNet

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 25 -

IQ = ?.............

Q = ?............

1.4 The Network

Voltages and impedances of the generator-grid system

UN I G ~ US
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 26 -

XT

RT

XE

RE Ug UN US

AVR

1.5 Reactive Power Distribution

Reactive power distribution
Grid Busbar

IQ

AVR Generator 1

Uref1

AVR Generator 2

Uref2

U
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 27 -

Uref1

Busbar voltage
Uref2

IQ
Generator 2

IQ
Generator 1

Q, IQ

1.5 Reactive Power Distribution

Reactive power distribution
U

Grid (HV)

UG
AVR Generator 1

Uref

U
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 28 -

UG
U

Uref

Q, IQ

1.5 Reactive Power Distribution Static behavior of AVR (Reactive power influence to AVR)
UG pos. static neg. static

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 29 -

-Q

+Q

1.6 Transient behaviour of the synchronous machine

Transient behavior of the synchronous machine
Ug If = konst. S

U=XdIQ

U = Ig *Xd

Ug

XE

Ugo t

Td

t=0
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 30 -

Td

Tdo

Td Sub transient time constant Td Transient time constant Tdo Time constant

1050ms 0.51.5 s

Behavior of Generator voltage in case of reactive power surge with constant field current

1.6 Transient behaviour of the synchronous machine

Faults and surges for the generator
High voltage line Generator Xd 5) G Load 4) ~ UNet 3) S 1, 2) XT XE1 XE2 infinite bus

1) Reactive power surge 2) Active power surge

AVR
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 31 -

3) Load rejection 4) Long distance short circuit 5) Short circuit at generator terminal

1.6 Transient behaviour of the synchronous machine

Behavior of generator voltage in case of reactive power surge

Ug
static excitation systems with rotating exciter

U = Ig *Xd
Manual mode
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 32 -

Ugo t t=0

1.6 Transient behaviour of the synchronous machine

PE PA U Consumer

Active power surge with power oscillations

P A = M A P =UI=U E
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 33 -

E sin XD

I XD U E

Torque Equation MA - M E =
Inertia speed

d
dt

1.6 Transient behaviour of the synchronous machine Generator voltage in case of reactive load rejection
Ug Overvoltage relay

with constant field current with AVR (static excitation system)

Uo IQ x Xd "
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 34 -

t t=0 1 Sec.

1.6 Transient behaviour of the synchronous machine

Generator voltage in case of long distance short circuit

UG
UO

with voltage regulator

with constant field current

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 35 -

t=0

1 sec

1.6 Transient behaviour of the synchronous machine

Short circuit at the medium voltage busbars or at generator terminals
Supply of excitation taken from generator terminals (shunt supply) Supply of excitation system taken from an auxiliary supply

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 36 -

1.7 Definition of Excitation Systems

Duties of the Excitation System

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 37 -

Maintain the generator terminal voltage Operate the synchronous machine within its operating limits Prevent the synchronous machine from being in asynchronous mode Fast response in case of network disturbances Share reactive power with other synchronous machines connected in parallel Stabilize power oscillations High reliability

1.7 Definition of Excitation Systems

Glossary and Definitions (IEEE STD. 421.2)

Ifo Ifn Icl Ufo Ufn
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 38 -

No load field or excitation current

Required field current to achieve 100% generator terminal voltage at rated speed

Nominal field or excitation current

Required field current to operate the synchronous machine at rated power

Ceiling field current

Maximum field current that excitation system is able to supply from its terminals for a specific time

No load field voltage

Required field voltage to obtain the no load field current considering the field resistance

Nominal field voltage

Required field voltage to obtain the rated field current considering the field resistance

Ufcl KPl

Ceiling field voltage

Required field voltage to obtain the ceiling field current

Excitation Ceiling factor

Ceiling field voltage divided by no load field voltage Ufcl/Ufo

Load angle
Physical angle between rotor field and stator field

1.7 Definition of Excitation Systems

Glossary and Definitions cont

cos Xd Xq Rs Tv
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 39 -

Phase angle
Electrical angle between machine voltage and machine current

Power factor Ratio of machines active power to apparent power Machine synchronous reactance in direct axe Machine synchronous reactance in quadrature axe System nominal response
The rate of increase of the excitation system output voltage divided by the nominal field voltage

Excitation system voltage response time

The time in second for the excitation voltage to attain 95% of the difference between ceiling field voltage and nominal field voltage

1.8 Excitation System: Supply Modes

Excitation Systems State of the Art

~
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 40 -

=
SM

SM

1 to 200 A Rotating Exciter Brushless Excitation System

100 to 10000 A Static Excitation System

1.8 Excitation System: Supply Modes

Comparison: Indirect - Static Excitation System
Brushless excitation
Just positive ceiling voltage capability Exciter response limited by the exciter machine time constant (>200ms) Field discharge with natural time constant Supply from PMG possible providing supporting of short circuit currents Relative large size of exciter machine for low speed generators No sliprings (less maintenance and dust)

Static Excitation System

Positive and negative ceiling voltage capabilities Fast response (<20 ms) in both directions Fast field discharge by discharge resistor or inverter operation Size of excitation of transformer depends on field requirements only Shorter shaft (torsional oscillations) Maintenance on power rectifier the machine must not be at standstill Direct measurements of field quantities Uf, If possible

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 41 -

1.8 Excitation System: Supply Modes

Main types of rotating exciters

~
SM
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 42 -

=
SM ~

=
SM ~

DC Exciter

AC Exciter with stationary diodes

AC Exciter with rotating diodes Brushless

1.8 Excitation System: Supply Modes

Main supply modes

SM MS Supply taken from machine terminals ( shunt supply )

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 43 -

SM MS

SM MS

Series Compounding System

Vectors Compounding System

1.8 Excitation System: Supply Modes

Main supply modes (cont.)

Auxiliary supply

SM MS
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 44 -

SM MS

Supplied from a permanent magnet generator (PMG) or from a pilot exciter

Supplied from a safe auxiliary supply

1.8 Excitation System: Supply Modes

Design Example of Static Excitation System
High voltage line

Unit step up transformer

Excitation transformer

AVR

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 45 -

Sn = 210 MVA Un = 15.75 kV Cos n = 0.85 fn = 50 Hz Ifn = 1600 A Ufn = 230 V Ifo = 400 A Xd = 2.1

Sensing PT

=
SM

~
Power Converter

Synchronous machine

Aux. Supply

1.9 Excitation System: Basic Configurations Basic Configurations

Power supply Power supply I AVR UG IG If AVR FCR

Uc

=c U
FCR AVR FCR
AVR = Autom. Voltage Reg. FCR = Field Current Reg.

Uc

Power supply II

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 46 -

Single channel (AUTO and MAN mode)

Dual AUTO channel (Each channel with AUTO and MAN mode)
T96_0005.DRW

1.9 Excitation System: Basic Configurations

UNITROL AVR Single Channel System with integrated manual facility for indirect Excitation Systems
Voltage set point Supply

~ = = =

Autom. mode A

Manual mode

follow up Field current setpoint

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 47 -

SM

= ~

1.9 Excitation System: Basic Configurations

True-Dual Channel UNITROL AVR with 2 x Automatic & Manual modes for Indirect Excitation Systems
Voltage setpoint

Channel I
Autom. Mode Manual Mode
A M

~ = = =

Follow-up Field current setpoint

Supply
Field current setpoint follow-up

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 48 -

SM

= ~

=
Manual Mode

=
Autom. Mode
VOltage setpoint

= ~

M A

Channel II

1.9 Excitation System: Basic Configurations

Single Channel Excitation System for Static Excitation System

Voltage Setpoint

Supply

~ = = =

Autom. Mode A

Manual Mode

Follow-up Excitation Systems Basics / J990 Training 2005 ABB Ltd - 49 Field current setpoint

SM

1.9 Excitation System: Basic Configurations

True- Dual Channel configuration for Static Excitation
~ = = =
Voltage setpoint

Channel I
Autom. Mode
A

Pulse bus to converter

Manual Mode

follow-up Field current setpoint

Field current setpoint Follow-up

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 50 -

SM

= = ~
Voltage Setpoint

Manual Mode

Pulse bus to converter

A

Autom. Mode

Channel II

1.9 Excitation System: Basic Configurations

Power Converter Configurations
Economy Configuration Supply (Single Channel) Twin Configuration (Double Channel)
Supply

Pulse Gate control unit Channel1 amplifiers Gate control unit Pulse amplifiers

M Excitation Systems Basics / J990 Training 2005 ABB Ltd - 51 M

1 converter

Gate control unit Channel2

Pulse amplifiers

To the field circuit of the machine

To the field circuit of the machine

1.9 Excitation System: Basic Configurations

Parallel bridges with n-1 redundant configuration
Channel1 Gate control
unit of channel I Final pulse stages Supply

2
M

Channel2 Gate control

unit of channel II

3
M

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 52 -

n
Pulse bus M

To the field circuit

1.9 Excitation System: Basic Configurations MTBF Value of Redundancy

Control electronics redundant? No No No No No
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 53 -

Power converter Thyristors/fuses Cooling fan redundant ? redundant? No No No Yes (1+1) Yes (n-1) No No Yes (1+1) Yes (n-1) No No fan Yes Yes (1+1) configuration Yes (n-1) configuration No No fan Yes (1+1) configuration Yes (n-1) configuration

MTBF (Years)

3 4 4 5 5 5 14 46 44

Yes Yes Yes Yes

1.10 Excitation System: Field Flashing Field flashing feature

Ug
100%

Softstart
Field flashing off

U>40%
Field flashing characteristic

Usyn

Thyristor bridge U>10% starts to conduct

t
5s 10s Field flashing OFF Field flashing failed FCB Trip

AVR

Ug
U>40%

Thyristor bridge

Sequence:

Order Fieldbreaker CLOSE Order Excitation ON Field Flashing breaker closes

Generator
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 54 Field flashing breaker Diode Bridge

Stator voltage raises Pulses to thyristors are released Field flashing breaker opens The softstart function brings the generator voltage smoothly to its nominal value.

Auxiliary voltage

1.11 Excitation System: Field Suppression

Field Suppression Feature
Medium voltage Busbars Generator breaker Generator Field Discharge Circuit Thyristor bridge

a
Field suppression and internal faults
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 55 -

c
RE

d
Field Discharge Resistor

a b c d

1.11 Excitation System: Field Suppression

If, Uf [p.u.]

With non-linear resistor

t=0
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 56 -

1.11 Excitation System: Field Suppression

Field Suppression Circuit (Crowbar)
inverter (WR) WR
Ua rc

If (operation)

Ua rc

-Lf.dIf/dt

+ -

+ -

If (field suppression)
Lf Rf Udischarge

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 57 -

- +

RE
Ua rc

- +

Q02

1.11 Excitation System: Field Suppression

Static Field Suppression Circuit (Crowbar) with Firing units
+

DC Breaker Firing PCB

CROWBAR
3 4

Crowbar design
1 0 1 1

-V3 -V2

1 2 T

V1 positive overvoltage thyristor

Field discharge II Free wheeling

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 58 -

K 2

BOD

K 3

Field winding
Discharge resistor
4

Field discharge I

T K 1

V2 discharge and negative overvoltage thyristor V3 redundant discharge or free wheeling thyristor

DC breaker

5 6 7

-V1

-R02

1 3

Current Measurement
_

I>
2

1.11 Excitation System: Field Suppression

Field Suppression from no Load Condition

Field breaker opens

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 59 -

Inverter mode

1.12 Excitation System: Design Design Aspects

Excitation Transformer
Sn=1.1U2Ifn0.816 3 = 848kVA

U2 = Ufc/1.35 = 340V

Ifac = 0.816xIfdc Power Converter

DY5

AVR
Uc

~
=
Uf

Uf
-100% Ufo

+ Ufc

Sensing PT

16% +100% Uc

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 60 -

Sn = 210 MVA Un = 15.75 kV Cos n = 0.85 SM fn = 50 Hz Ifn = 1600 A Ufn = 230 V Ifo = 530 A Xd = 2.1 Synchronous machine

- Ufc

Ifdc

Ufo = 1pu Ufn = xd(xd +1+2 1-cos2 ) in pu = 2.97 pu Ufc = kclUfn = 460V = 6 pu kcl = Ceiling factor acc. =2 standards 1.52.5

1.12 Excitation System: Design Design Aspects Response ratio

Exercise using Generator Simulator

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 61 -

1.12 Excitation System: Design

Application Ranges of UNITROL Excitation Systems

SYSTEM COMPLEXITY

SYSTEMS WITH ROTATING EXCITERS

STATIC EXCITATION SYSTEMS

UNITROL 5000 (Digital) UNITROL D (Digital) UNITROL P (Digital) UNITROL M (Analog) UNITROL F (Digital)
UN1000 UNS3214 UNS2110
GENERATOR / EXCITATION SYSTEM RATINGS

Excitation Systems Basics / J990 Training 2005 ABB Ltd - 62 -

1.12 Excitation System: Design

Milestones of Excitation System
1908 1940 First mechanical rolling sector regulator Oil-pressure regulator KC is added to the mechanical regulator 1989 1950 Magnetic amplifier combined with diode bridge has been introduced 1993 1956 1957 The KC regulator is supplemented by load angle limiter First static excitation system with electronic AVR (Baureihe) accomplished by mercury-arc rectifier Mercury-arc rectifier replaced by thyristor converter Brushless excitation system with rotating diodes Improvement of stability by electronic power system stabilizer (PSS) UNITROL C analog AVR-electronic replaces Baureiheelectronic UNITROL S2210/3214 AVR with low complexity has been developed for small synchronous machines. Static excitation system for positive and negative excitation current applied to rotating synchronous compensator 1999
1983

UNITROL M with high integrated analog circuits applied in indirect excitation systems and direct excitation system of low complexity UNITROL D introduces the microprocessor technology and replaces the UNITROL C analog technology. Second generation of numeric voltage regulator of type UNITROL P as a free programmable regulator replaces UNITROL D A new microprocessor based voltage regulator of type UNITROL F replaces the old analog regulator UNITROLM. This voltage regulator is applied for indirect excitation system and direct excitation system up to medium sized synchronous machines UNITROL 5000 excitation system has been introduced. It combines the capacities of UNITROL F and UNITROL P in one high integrated system. UNITROL 1000 microprocessor based AVR System replaces UNITROL S2210/S3214.

1995

1965 1967
Excitation Systems Basics / J990 Training 2005 ABB Ltd - 63 -

1969

1975

2001

1976 1977