PSAD Slides Lec1 Synchronous Machine Model

Synchronous machine model Two axis model Simplified representation for transient analysis Short circuit current DC component
48582 - P OWER S YSTEM A NALYSIS AND

D ESIGN
L ECTURE 1 - S YNCHRONOUS M ACHINE
M ODEL
D R . G ERMANE X ATHANASIUS
School of Electrical, Mechanical and Mechatronic Systems
U NIVERSITY
OF
T ECHNOLOGY S YDNEY
Lecture Outline
1
Synchronous machine model

Per phase equivalent circuit
Two axis model

Parks Transformation
Transient model
Balanced three phase fault
Simplified representation for transient analysis
Short circuit current
DC components of stator currents
Fault on a loaded generator
Synchronous Generators
Synchronous Generators
Synchronous generators or alternators are used to convert
mechanical power derived from steam, gas, or hydraulic-turbine
to ac electric power
Synchronous generators are the primary source of electrical
energy we consume today
Large ac power networks rely almost exclusively on synchronous
generators
Construction
Basic parts of a synchronous generator:
Rotor - dc excited winding

Stator - 3-phase winding in which the ac emf is generated
The manner in which the active parts of a synchronous

machine are cooled determines its overall physical size and
structure
Various Types
Salient-pole synchronous machine
Cylindrical or round-rotor synchronous machine

Non-uniform
air-gap
Uniform air
air-gap
gap
Salient-Pole Synchronous Generator
Stator
Cylindrical-Rotor Synchronous Generator
Stator
Cylindrical rotor
Operation Principle
The rotor of the generator is driven by a prime-mover
A dc current is flowing in the rotor winding which

produces a rotating magnetic field within the machine
Thee rotating
otat g magnetic
ag et c field
e d induces
duces a three-phase
t ee p ase
voltage in the stator winding of the generator
Electrical Frequency
Electrical frequency produced is locked or synchronized to
the mechanical speed of rotation of a synchronous
generator:
P nm
fe =
120
where fe = electrical frequency in Hz
P = number of poles
nm= mechanical speed of the rotor,
rotor in r/min
Schematic diagram
Figure: Schematic diagram of a synchronous generator
Flux linkages
The speed of the machine (N) in rpm is given by
N=
120f
P
(1)
Stator coils self inductance, Ls = Laa0 = Lbb0 = Lcc 0

Mutual inductance Ms = Lab = Lbc = Lca
The mutual inductance between field coil and stator coil, if the
maximum value of mutual inductance is Msf , then mutual
inductance for an angle of d is given by,
Lfa = Msf cos d

Lfb = Msf cos d 1200

Lfc = Msf cos d 2400
Self inductance of the field winding Lff 0 is constant
(2)
Flux linkages
The flux linkage of stator and rotor coil is given by,
Laa0
Lab
Lac
Laf
a
b Lba
Lbb0
Lbc
Lbf
c = Lca
Lcb
Lcc 0
Lcf
Lfa
Lfb
Lfc
Lff 0
f
ia
ib
ic
if
(3)
For a balanced three phase system, ia + ib + ic = 0 and

ia = (ib + ic ), ib = (ia + ic ) and ic = (ia + ib ).
a
Ls + Ms
ia
Laf
b = L(Lss+
+M
Mss) ib + Lbf if
(4)
c
Ls + Ms
ic
Lcf
Flux linkages
If the field current has a constant magnitude If and the angular

velocity of the rotor is then we have
dd
=
dt
and
d = t + d0
(5)
Substituting in (4) and combining (2) and (4) we get,
Msf cos (t + d0 )
a
Ls + Ms
ia
0
b = L(Ls
Ms)
s ++M
s ib + Msf cos t + d0 120 If (6
c
Ls + Ms
ic
Msf cos t + d0 2400
Induced emf
If the coil a has a resistance R, then the emf across the coil is
given by,
da
ea = Ria
dt
dia
+ Msf If sin (t + d0 ) (7)
= Ria (Ls + Ms )
dt
The last term in (7) represents the internal emf induced in coil
a by the field current and is given by,
ea0 =
2|Ea | sin (t + d0 )
(8)
where |Ea | is the rms magnitude and is given by
Msf If
(9)
2
ea0 will be the emf across the coil a when ia = 0. This voltage
is known as open circuit / noload / synchronous internal / voltage.
|Ea | =
Induced emf
d0 is the angle with reference to d axis, if is
the angle with
reference to the q axis, then = d0 900 ,
d = t + d0 = t + + 900
(10)
Now equation (8) becomes,

ea0 =
=

2|Ea | sin t + + 900
2|Ea | cos (t + )
(11)
substituting in (7)
ea = Ria (Ls + Ms )
dia
+ 2|Ea | cos (t + ) (12)
dt
Induced emf
Equation (12) can be diagrammatically represented as in
Figure 2.
Figure: Equivalent circuit of phase a
Similarly we can find b , c , eb0 and ec0 for other two stator coils
also.
Field flux linkages

If ia lags ea0 by l , we can write,
ia = 2|Is | cos (t + l )
(13)
Similarly for other phases we can write as,

ib = 2|Is | cos t + l 1200

ic = 2|Is | cos t + l 2400
(14)
Now considering the flux linkage with the field circuit and
substituting for Laf , Lbf and Lcf from (2) into (3) we get,
h

i
f = Lff 0 If + Msf ia cos d + ib cos d 1200 + ic cos d 2400 (
Field flux linkages
Now substituting for ia and d using (10) and (13) we get,

ia cos d = 2|Is | cos (t + l ) cos t + + 900
(16)
Using the trigonometric identity

2 cos A cos B = cos(A + B) + cos(A B) we can write,
|Is |
ia cos d = { sin l sin [(2t +2) l ]}
2
(17)
Field flux linkages

Similarly we can write,

h

io
|Is | n
ib cos d 1200 = sin l sin (2t +2) l 1200
2

h

io
|I
|n
s
ic cos d 2400 = sin l sin (2t +2) l 2400 (18)
2
In the above equations terms with 2t represent a balanced
three phase second harmonic components whose three phase
sum will be zero. Now adding (17) and (18) we get,

3
ia cos d + ib cos d 1200 + ic cos d 2400 = Is sin l (19)
2
||
Field flux linkages

Substituting (19) in (15)
r
f = Lff 0 If +
3
M id
2 sf
(20)
where
id
r h

i
2
ia cos d + ib cos d 1200 + ic cos d 2400
=
3
=
3Is sin l
(21)
- ||
From the above discussion we conclude the field flux linkage

due to time varying currents ia , ib and ic produce a constant
flux linkages and does not vary with time. We can represent
this flux linkage as one coming from a fictitious coil with a
steady DC current id and have an axis coinciding with daxis and
the two coils synchronously rotate and have a mutual
inductance of Msf as represented in Figure 3.
sqrt(3/2)*Msf
Field flux linkages
3
2
sf
Field flux linkages
Now the field voltage,

Vff 0
= If R f +
df
dt
= If R f
since
df
does not vary
dt
The current id depends on Is and l . For lagging power factors

id will be negative causing demagnetising effect. So If has to
be increased to counteract. For leading power factors id will be
positive causing magnetising effect and If is decreased. This
effect is called armature reaction and this principle is used in
excitation system control.
Figure: Per phase equivalent circuit.
Two axis model
Need for the model:

1
The synchronous machine model we developed so far is

based on round rotor theory. This model will be sufficient
to analyse the machine under steady state conditions.
For transient studies we need to use two axis model.
In salient pole machines the air gap is small above pole

faces and large in the interpolar regions. These aspects
need to be considered.
Also the rotor has damper windings. These windings are

represented as Daxis and Qaxis windings which are short
circuited coils.
Two axis model

a
b
c
b
Two axis model

We can rewrite equation (3) including the damper windings as,
a
b
c
f
D
Q
Laa0
Lba
Lca
Lfa
LDa
LQa
Lab
Lbb0
Lcb
Lab
LDb
LQb
Lac
Lbc
Lcc 0
Lac
LDc
LQc
Laf
Lbf
Lcf
Lff 0
LDf
LQf
LaD
LbD
LcD
LfD
LDD0
LQD
LaQ
LbQ
LcQ
LfQ
LDQ
LQQ 0
ia
ib
ic
if
iD
iQ
The elements of the above matrix can be defined as follows:

stator self inductances:
Laa0
Lbb0
Lcc 0
= Ls + Lm cos 2d

2
= Ls + Lm cos 2 2d
3

2
= Ls + Lm cos 22d +
3
(23)
(2
Two axis model

stator mutual inductances:

Lab = Lba = Ms Lm cos 22d +
6

Lbc = Lcb = Ms Lm cos 22d
2

5
Lca = Lac = Ms Lm cos 2 2d +
6
(24)
rotor mutual inductances:

LfD = LDf
= Mr
LQf = LfQ = 0
LDQ = LQD = 0
(25)
Two axis model

stator-rotor mutual inductances:
Laf = Lfa = Msf cos d

2
Lbf = Lfb = Msf cos d
3

4
Lcf = Lfc = Msf cos d
3
(26)
stator-rotor daxis damper mutual inductances:

LaD = LDa = MsD cos d

2
LbD = LDb = MsD cos d
3

4
LcD = LDc = MsD cos d
3
(27)
Two axis model
stator-rotor qaxis damper mutual inductances:

LaQ = LQa = MsQ cos d

2
LbQ = LQb = MsQ cos d
3

4
LcQ = LQc = MsQ cos d
3
(28)
Features of Parks Transformation
The inductance elements given by (23) to (28) are

dependant on the angular position of the rotor which will be
varying continuously so these inductance will be time
varying. Analysing the model with time varying inductance
will be difficult.
Using Parks transformation these inductances can be

made time invariant for the purpose of analysis.
The stator a, b, c variables are transformed to direct axis

(d), quadrature axis (q) and zero sequence (0) quantities
using the transformation matrix P.
The matrix P has the orthogonality property ie., P1 = PT .

Any stator variable can be transformed to dq0 axis by
multiplying with P.
For example stator currents are transformed as,
ia
id
iq = P ib
ic
i0
(29)
where
r
P =
cos d
sin d

cos d 1200
sin d 1200
1
2
1
2

cos d 2400
sin d 2400
1
2
(30)
Transient model
Transient model
Equation (22) can be represented in short form as,

LSS
LSR
iabc
abc
=
ifDQ
fDQ
LRS
LRR
(31)
Using Parks transformation we can transform the stator time

varying inductance to rotor reference frame without modifying
the rotor quantities. Now the transformation to do that is,

dq0
P
0
abc
=
(32)
fDQ
0
I
fDQ
where I is 3 3 identity matrix.
Transient model
Transient model
From (32) we can write,

abc
=
fDQ

1
dq0
P
0
=
fDQ
0
I

=

dq0
=
fDQ

P1
0
0
I
LSS
LRS
LSR
LRR
LSS
LRS
LSR
LRR

P
0
P1
0
0
I
0
I

dq0
fDQ

iabc
ifDQ

P1
0
LSS
LSR
LRS
LRR

idq0
ifDQ
0
I

idq0
ifDQ
(3
Transient model
Transient model
Now substituting for P and P1 in (33) we get,

d
Ld
0
0
kMsf
q
0
L
0
0
q

0
0
0
L
0
0

f = kMsf
0
0
Lff 0

D kMsD
0
0
Mr
Q
0
kMsQ
0
0
kMsD
0
0
Mr
LDD0
0
0
kMsQ
0
0
0
LQQ 0
where
r
k=
3
2
Ld
Lq
L0
3
Lm
2
3
= Ls + Ms Lm
2
= Ls 2Ms
= Ls + Ms +
(35)
id
iq
i0
if
iD
iQ
Transient model
Transient model
Similarly using (32) we can find the transformations for currents

and voltages without modifying the rotor quantities as,

idq0
P
0
iabc
=
(36)
ifDQ
0
I
ifDQ

vdq0
P
0
vabc
(37)
=
vfDQ
0
I
vfDQ
Transient model
Transient model
We can write the voltage equation using (7) as,
Ra
0
0
0
0
va
0
vb
R
0
0
0
a
0
vc
0
Ra
0
0
- vf = 0
0
0
R
0
f
0
- vD
0
0
0
RD
- vQ
0
0
0
0
0
a
b
d
c
dt
f
D
Q
0
0
0
0
0
RQ
ia
ib
ic
if
iD
iQ
(38
Transient model
Transient model
Using simplified notations and transformations we get,

vabc
P1
0
V
dq0
=
vfDQ
0
I

Rabc
0
idq0
P1
0
ifDQ
0
RfDQ
0
I

d
dq0
P1
0
fDQ
0
I
dt

P
0
Rabc
0
=
0
I
0
RfDQ

idq0
P1
0
ifDQ
0
I

d
P
0
dq0
P1
0
fDQ
0
I
0
I
dt
vVdq0
abc
vfDQ
Transient model
Transient model
On simplification we get,

vVdq0
abc
=
vfDQ

Rabc
0
1
P dPdt
0
dq0
fDQ
[ ]
d
_ ___
dt

RfDQ
0
0I

idq0
ifDQ
dq0
fDQ

(39)
Transient model
Transient model
Now using (39),
P
dP1
dt
d dP1
dP1
= P
dt d
d

cos d
cos d 1200
2
sin d 1200
sin d
3
1
1
= P
d
___
cos d

cos d 1200

cos d 2400
0
1
0

cos d 2400
sin d 2400
1
0
0
0
0
0
sin d

sin d 1200

sin d 2400
1
2
1
2
1
2
1
2
(4
Transient model
Transient model
Combining (34), (39) and (40) we get,
vd
6 vq
6
6 v0
6
6 vf
4 0
0
2
3
7
7
7
7
7
5
Ra
Lq
0
Ra
0
6 _ Ld
6
0
0
Ra
6
6
0
0
0
6
4
0
0
0
0
0
0
2
Ld
0
0
Lq
6
6
0
0
6
6
0
6 kMsf
4 kM
0
sD
0
kMsQ
2
=_
0
_ kM
sf
0
Rf
0
0
0
0
L0
0
0
0
0
_ kM
sD
0
0
RD
0
kMsf
0
0
Lff 0
Mr
0
kMsD
0
0
Mr
LDD 0
0
kMsQ
0
0
0
0
RQ
0
kMsQ
0
0
0
LQQ 0
3
id
iq 7
7
i0 7
7
if 7
iD 5
iQ
2
id
6 iq
d 6
6 i0
6 (41
dt 6 if
4 i
D
iQ
32
76
76
76
76
76
54
3
7
7
7
7
7
5
The zero sequence voltage v0 is not coupled with other equations so it can be treated
separately. In (41) all the matrix coefficients are constants if is assumed to be
constant.
Consider a three phase fault on the terminals of a three phase

generator, which is operating with constant speed and
excitation. Before fault we assume the phase currents ia , ib , ic
are zero, this will make the currents id , iq , i0 are also zero.
Initial field current will be given by,
if =
Vf
Rf
During fault the terminal voltages will be zero, ie.,

va , vb , vc = 0 so vd , vq , v0 = 0.
(42)
We shall use (41) to solve for the fault currents. Since i0 = 0, we can
eliminate it from (41) and write as,
vd
Ra
Lq
0
0
kMsQ
_ kMsf _ kMsD
vq _ Ld
Ra
0
vf = -
0
0
R
0
0
f
0
0
0
RD
0
0
0
0
0
0
RQ
id
Ld
0
kMsf
KsD
0
kM
0
Lq
0
0
kMsQ
d iq
0
i
kM
0
L
M
0
r
sf
ff
dt f
iD
kM
KsD
0
Mr
LDD0
0
iQ
0
kMsQ
0
0
LQQ 0
id
iq
if
iD
iQ
(4
Equation (43) can be represented in short form as,

v = Ri L
di
dt
di
dt
= L1 Ri L1 v
(44)
Equation (43) is a set of linear first order differential equation

which can be solved for analytical solutions or by using
computer integration methods.
During fault conditions, there will be a sudden rise in current

which will not be backed up by instantaneous changes in flux
linkages in the rotor circuits and armature reaction effects. It
will take a few cycles for the flux linkages to settle for steady
state values. These initial period following the fault is termed as
sub-transient and transient periods.
Using equation (34) we get,
d
= Ld id + kMsf if + kMsD iD
(45)
= kMsf id + Lff 0 if + Mr iD
(46)
D = kMsD iDd + Mr if + LDD 0 idD

The quantities indicate incremental changes.
(47)

The field and damper fluxes cannot change instantaneously so
f = 0 and D = 0. Substituting in (46) and (47) we get,

kMsf LDD 0 kMsD Mr
if =
(48)
id
Lff 0 LDD 0 Mr2

kMsD Lff 0 kMsf Mr
id
iD =
(49)
Lff 0 LDD 0 Mr2
Substituting (48) and (49) in (45) we get,
d
= L00d = Ld k 2
id
d
id
2 L 0 2M M M
Msf2 LDD 0 + MsD
ff
sf sD r
2
Lff 0 LDD 0 Mr
!
(50)
is the flux linkage change for unit current which

sub-transient d-axis inductance L00d and sub-transient d-axis
reactance Xd00 which is less than steady state reactance Xd .

After the sub-transient period the effect of damper windings can
be neglected, so the flux linkage equations become,
d
= Ld id + kMsf if
(51)
= kMsf id + Lff 0 if
(52)
Equating f to zero gives,

kMsf
if =
id
Lff 0
(53)
substituting in (51),
d
(kMsf )2
= L0d = Ld
id
Lff 0
(54)
where L0d is known as transient d-axis inductance and transient

d-axis reactance Xd0 = L0d which is less than steady state
reactance Xd . The reactance will values will be
X 00 < X 0 < X .
From this we can conclude that immediately after the fault ,

the reactance Xd00 and the current decays with the time
constant d00 which
and has a typical value of around 0.03 s.
During this period the reactance is Xd00 .
Once the effect of the damper becomes negligible, the

machine reactance raises to Xd0 and the fault current
During this period the d0
decays with the time constant d0 .during
depends inversely on the field resistance Rf .
In steady state conditions Xd = Ld and Xq = Lq for

salient pole machines and Xd = Ld for round rotor
machines.
The behavior of the short circuit current is similar to R L

circuit behavior when voltage is applied suddenly but in a
more complex manner.
The short circuit currents contain dc components which

makes the three phase currents asymmetrical.
If we remove the dc component of the current, we can

represent the ac component of the fault current as,

t0
t00
1
1
1
1
1
d
Iac = |Ea |
0 e
+ |Ea |
0 e d (55
+ |Ea |
0
00
Xd
Xd
Xd
Xd
Xd
sqrt(2)
sin(wt+\delta)

From (55) it can be seen that the fault current Iac has one
steady state component and two decaying components with
time constants d0 and d00 representing transient and
sub-transient periods.

The rms value of the sub-transient current is given by,
|Ea |
oz
|I 00 | = = 00
Xd
2
(56)
The rms value of the transient current is given by,

oy
|Ea |
|I 0 | = = 0
Xd
2
(57)
The rms value of the steady state fault current is given by,
ox
|Ea |
|I| = =
Xd
2
(58)

Similar to RL circuit switching transients, during fault on the
generator a dc component will be superimposed on the ac
wave. The dc component value depends on the instantaneous
stator voltage Ea and the rotor angle at the time of fault. The
time constant associated with dc component decay is given by
00
dc =
00
Xd + Xq
2Ra
(dc is usually around 0.05 - 0.175 s)(59)
and most of the dc decay occurs during sub-transient period.

The magnitude of the dc component will be different for
different phases since it depends on the instantaneous voltage.
The dc component for the phase a is given by,
Idca =
|Ea |
-t
2 00 sin e dc
Xd
(60)

The net asymmetrical stator current is obtained by
superimposing dc over ac wave. This asymmetrical current for
phase a is given by,
sqrt(2)|Ea|
sin(wt+\delta)
iasyma = 2|Ea |
"
#

t
t0
t00
1
1
1
1
1
1
+
0 e d +
e d + 00 sin e dc
Xd
Xd0
Xd
Xd00 Xd0
Xd
(61)
Worst possible transient condition will occur if = 900 . The
maximum dc component of fault current is given by,
Idcmax
|Ea |
2 00
Xd
(62)
The maximum rms value of the asymmetrical fault current is

given by,
q
2
Iasymmax =
I 00 2 + Idc
v
!2
u 2
u E
2Ea
a
t
=
+
Xd00
Xd00
=
Ea
3 00 = 3 I 00
Xd
(63)
Iasymmax is used to determine the max asymmetrical breaking

capacity of the circuit breaker.
If the generator is loaded at the time fault and delivering a load

current of Il , we have three internal voltages associated with
sub-transient, transient and steady state periods viz., Ea00 , Ea0
and Ea respectively. These voltages are given by,
Ea00 = Va + Xd00 Il ,
Ea0 = Va + Xd0 Il and Ea = Va + Xd Il

(64)
Figure: Fault on a loaded generator

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Synchronous machine model Two axis model Simplified representation for transient analysis Short circuit current DC component

48582 - P OWER S YSTEM A NALYSIS AND

Synchronous machine model

Two axis model

Simplified representation for transient analysis

Short circuit current

DC components of stator currents

Fault on a loaded generator

Basic parts of a synchronous generator:

Rotor - dc excited winding

The manner in which the active parts of a synchronous

Salient-pole synchronous machine

Cylindrical or round-rotor synchronous machine

Salient-Pole Synchronous Generator

Cylindrical-Rotor Synchronous Generator

A dc current is flowing in the rotor winding which

Figure: Schematic diagram of a synchronous generator

Stator coils self inductance, Ls = Laa0 = Lbb0 = Lcc 0

For a balanced three phase system, ia + ib + ic = 0 and

If the field current has a constant magnitude If and the angular

Substituting in (4) and combining (2) and (4) we get,

Now equation (8) becomes,

Figure: Equivalent circuit of phase a

Field flux linkages

Similarly for other phases we can write as,

ib = 2|Is | cos t + l 1200

ic = 2|Is | cos t + l 2400

Field flux linkages

Now substituting for ia and d using (10) and (13) we get,

ia cos d = 2|Is | cos (t + l ) cos t + + 900

Using the trigonometric identity

Field flux linkages

Field flux linkages

From the above discussion we conclude the field flux linkage

Field flux linkages

Field flux linkages

Now the field voltage,

The current id depends on Is and l . For lagging power factors

Per phase equivalent circuit

Figure: Per phase equivalent circuit.

Two axis model

Need for the model:

The synchronous machine model we developed so far is

For transient studies we need to use two axis model.

In salient pole machines the air gap is small above pole

Also the rotor has damper windings. These windings are

Two axis model

Two axis model

The elements of the above matrix can be defined as follows:

Two axis model

rotor mutual inductances:

Two axis model

stator-rotor daxis damper mutual inductances:

Two axis model

stator-rotor qaxis damper mutual inductances:

Features of Parks Transformation

The inductance elements given by (23) to (28) are

Using Parks transformation these inductances can be

The stator a, b, c variables are transformed to direct axis

The matrix P has the orthogonality property ie., P1 = PT .

For example stator currents are transformed as,

Equation (22) can be represented in short form as,

Using Parks transformation we can transform the stator time

From (32) we can write,