T U R B I N E - G E N E R AT O R S H A F T

T O R S I O N A L V I B R AT I O N S

SCHOOL OF ENGINEERING,IIT MANDI,MANDI

H P, I N D I A 1 7 5 0 0 1
 GENERATOR MODELLING
Nowadays, a two-axis model is employed for the synchronous machine. In
the figure, the windings are illustrated as concentrated, in other words, the
real winding has been replaced by a bar-shaped equivalent winding depicted
on the magnetic axis of the real winding. The magnetic axes of the stator
phase windings a, b, and c are fixed to the respective phase windings. The
stator reference frame is fixed in the direction of the phase winding a and in
the direction perpendicular to the phase winding. The axes of this two-phase
stator reference frame are denoted x and y. The rotor reference frame is fixed
aligned with the magnetic pole of the rotor, and in the direction perpendicular
to the magnetic pole. The axes of this two-phase rotor reference frame are
denoted d and q. The rotation angle between the rotor and stator reference
frame is equal to the rotor angle .
In the case of a synchronous machine, it is extremely important to operate in a reference frame fixed to the
rotor. We avoid the modelling of the inductance variation as a function of rotor position when we change over
to the rotor reference frame. If we stick to a fixed stator reference frame, the magnetizing inductance will vary,
which in turn complicates the determination of the equations considerably. We transform a vector initially
represented in the stator reference frame into the d-q reference frame that rotates fixed to the rotor .

The xy reference frame is a stationary reference frame

fixed to the stator, i.e., the stator reference frame. The
dq reference frame, i.e., the rotor reference frame is
fixed to the rotor; the d-axis of the reference frame is
aligned with the magnetic pole of the rotor. is is the
stator current vector, isx and isy are its components in the
stator reference frame, and isd and isq are the

components in the rotor reference frame. is the rotor
position angle, 1 are 2 the angles of the stator current
vector in the stator and rotor reference frames.
The voltage equation of the stator of the machine in its own frame of reference is
d ss
u = Ri
s
s
s
s (i)
dt
uss = stator winding voltage
R = stator winding resis tan ce
ss = magentic flux linkage in stator

The stator current vector iss = ie j1

where
i = current vactor magnitude
In rotor referecne frame
isr = ie j 2 = ie j (1 )
isr = iss e j
iss = isr e j (ii)
 Similarly
uss = usr e j (iii)
ss = sr e j (iv)
From (i), (ii), (iii) and (iv) we get
j d sr e j
j
u e = Ri e
r
s
r
s
dt
j d s d
r
r j r j
us e = Ris e e j sr e j
dt dt
d sr d
us = Ris
r r
jsr
dt dt
As usr = ud + juq , isr = id + jiq , sr = d + j q
d d
ud = Rid + q (1)
dt
d q
uq = Riq d (2)
dt
where is electric angular velocity of rotor
Similarly zero sequence component equation is as
d 0
u 0 = R i0 (3 )
dt
where
x A + xB + xC
x0 =
3
x u , i,
In synchronous machine, three-phase stator winding is
illustrated by three concentrated phase windings. In the rotor,
there is a field winding and two equivalent damper windings. isa,
isb, and isc are the stator currents, and usa, usb, and usc are the
stator voltages. iD and iQ are the damper winding currents. iF and
uF are the field current and voltage.

The field winding magnetizes the magnetic circuit in the

direction of the d-axis. The damper winding is illustrated by the
two short circuited equivalent windings, one of which
magnetizes the machine together with the field winding in the d-
direction, and the other in the q-direction.
For field winding and damper windings equations are
d fd
u fd = R fd i fd + (4)
dt
d D
0 = RD iD + (5)
dt
d Q
0 = RQ iQ + (6)
dt
Generator torque equation is given by

p ( d iq + q id )
3
Tem = (7)
2
p = no of generator pole pairs
The equation of mechanical motion is
J d
Tdrive = Tem + (8)
p dt
Tdrive = driving turbine torque
J = moment of inertia

The equations (1) to (8) are used to drive final dynamical model
to find various generator parameters during sudden fault
conditions.
The standard flux equations are as
d = Ld id + Lmd (i fd + iD ) (9)
q = Lqiq + LmqiQ (10)
0 = L0i0 (11)
fd = Lfd i fd + Lmd (id + iD ) (12)
D = LDiD + Lmd (id + i fd ) (13)
Q = LQiQ + Lmqiq (14)
where
m denotes mutual induc tan ce and denotes leakage induc tan ce.
imd = id + i fd + iD , imq = iq + iQ (15)

Ld = L + Lmd , Lq = L + Lmq

L fd = L fd + Lmd , LD = LD + Lmd , (16)

LQ = LQ + Lmq
Also
d
= (17)
dt

Park Transformation is given as:

2 2 4
xd = [ x Acos + xB cos ( + ) + xc cos ( + )]
3 3 3
(18)
2 2 4
xq = [x A sin + xB sin( + ) + xc sin( + )]
3 3 3
Inverse Park Transformation is given as:

xA = xd cos + xq sin + x0

2 2
xB = xd cos ( + ) + xq sin( + ) + x0 (19)
3 3
4 4
xC = xd cos ( + ) + xq sin ( + ) + x0
3 3
Now, instead of x we can use it for flux (), current (i) and voltage (u)
xA + xB + xC
x0 = (20)
3
Continued
Some of inductance equations are simplified

Ld 1 = Ld cos , Ld 2 = Ld sin
Lq1 = Lq cos , Lq 2 = Lq sin

(21)
Lmd 1 = Lmd cos , Lmd 2 = Lmd sin
Lmq1 = Lmq cos , Lmq 2 = Lmq sin

From rotor voltage equations flux term is removed by replacing with equation (12), (13) and
(14) di di diD
Lmd d
+ L fd fd
+ Lmd = R fd i fd + u fd (22)
dt dt dt
did di di
Lmd + Lmd fd + LD D = RD iD (23)
dt dt dt
diq diQ
Lmq + LQ = RQ iQ (24)
dt dt
 Continued

Now put the values of flux given by equation (9) and (10) and after simplifying eqn.(7) gives

3
Tem = p ( Lmd imd iq + Lmq id imq ) ____(25)
2
LINE TO GROUND SHORT CIRCUIT
Let phase A be faulted phase.
The boundary condition s in this case.
u A = 0, (26)
iB = iC = 0. (27)
Voltage across phase A is given as:
d A
u A = R iA +
dt
from (26)
d A
R iA + =0 (28)
dt
Also from converse Park-Gorev transformation (19), we get:

A = d cos + q sin + 0 (29)

Continued

Differentiating (29) w.r.t time and considering (9),(10,(11), (17) and (28) , we get
d d d q d 0
cos + sin + = RiA d sin + q cos (30)
dt dt dt
1
3 L0

L
d 1 iA R iA
id L i
Lq 2 d2 d

d iq Lq1 iq
dt i =
L

i
(31)
Lmd 1 fd md 2 fd

iD L iD
i


Lmd 1 Q iQ
Lmq1

L
mq 2
Also from (18), (26) and (27), we get

2 did 2 diA
id = i A co s
= cos + iA sin
3 dt 3 dt
(3 2 ) (33)
2 diq 2 diA
iq = i A sin = sin iA cos
3 dt 3 dt

Also subtract (23) out of (22) , we get

di fd diD
L fd LD = R fd i fd + RD iD + u fd (34)
dt dt
Also from (15) and (32) and Eqn (25)
T
2
3 (Ld 1 Lq1 ) sin iA
i
Tem = P Lmd 2 fd i (35)
iD A
Lmd 2

Lmq1 iQ
LINE TO LINE SHORT CIRCUIT
Suppose Phase B and Phase C is short circuited

u B = uC (36)
iA = 0
(37)
iB = iC

Applying Boundary conditions

d B d C
u B = R iB + , uC = R iC + (38)
dt dt

d
( B C ) + R (iB iC ) = 0 (39)
dt
d
( B C ) + 2 R iB = 0 (40)
dt
From (19)

B C = 3 ( d sin + q cos ) (41)

Differentiating (41) w.r.t time and taking in to acccount (17), (36) and (40) ,
we get
d d d q 2
sin cos = RiB + d cos + q sin (42)
dt dt 3
T
2
Further from (9) and (10), we get 3R


Ld 1
T iB
Ld 2 id i
L i d
d L
q1 q q 2
iq
Lmd 2 . i fd = (43)
dt i fd
Lmd 2 iD Lmd 1 iD
Lmq1 iQ

L iQ
md 1

L
mq 2
Torque Calculation:
Apply boundary conditions to current equations and using Park-Transform (18), we get

2 did 2 diB
id = iB sin = sin + iB cos
3 dt 3 dt
(44) (45)
2 diq 2 diB
iq = iB cos = cos + iB sin
3 dt 3 dt

Further from Eqns (15), (25) and (44), we get

T
2(Ld 1 Lq1 ) sin iB
i
3Lmd 1
Tem = p fd i (46)
3Lmd 1 iD B

3Lmq 2 iQ

THREE PHASE SHORT CIRCUIT
Boundary conditions are as
iA + iB + iC
iA + iB + iC = 0 i0 = = 0 (47)
3
u A = u B = uC = 0
From (18), we get ud = uq = 0 (48)

Put (9) ,(10),(48) in (1) and (2) , we get

did di fd di
Ld + Lmd + Lmd D = Rid + ( Lq iq + Lmq iQ ) (49)
dt dt dt
diq diQ
Lq + Lmq = Riq ( Ld id + Lmd i fd + Lmd iD ) (50)
dt dt
The stator phase currents are calculated using (19) and (47)

iA = id cos + iq sin


iB =
1
2
( )
id + 3iq cos
1
2
( )
3id + iq sin (51)


1
( )
iC = id + 3iq cos +
2
1
2
( )
3id iq sin

 DYNAMIC SIMULATION
The general dynamic model for Line to Ground fault and Line to Line fault is shown below. The below
mentioned six coupled equations can be solved in MATLAB using Adams predictor corrector scheme
with startup by Runge-Kutta method.

i phase i phase u fd
i
d i fd 0
+X =
fd
L
dt iD iD 0

Q
i Q 0
i
d
P
= Tem (52)
dt J
d
=
dt




For Line to ground fault use equations (34), (23), (24), (31), (17) and (25) processed using (32),(33)

0 Lfd LD 0
c L cos L L 0
md md D
L= c Lmq sin 0 0 LQ

L
+ c L cos cos + c L sin sin L cos L cos L sin
0
3 d q md md mq

0 R fd RD 0
c L sin 0 RD 0
X =
md

c Lmq cos 0 0 RQ

G Lmd sin Lmd sin Lmq cos
where
G = c ( Ld Lq ) cos sin + ( Ld Lq ) sin cos + R
2
c=
3
For Line to Line fault use equations (34), (23), (24), (43), (17) and (25) processed using (44),(45)

0 L fd LD 0
c Lmd sin Lmd LD 0
L=
c Lmq cos 0 0 LQ

c Ld sin sin + c Lq cos cos Lmd sin Lmd sin Lmq cos

0 R fd RD 0
c L cos 0 RD 0
X =
md

c Lmq sin 0 0 RQ

G Lmd cos Lmd cos Lmq sin
where
G = c ( Ld + Lq ) cos sin + ( Ld + Lq ) sin cos + c R
2
c=
3
For Three Phase fault

The below mentioned seven coupled equations again can be solved in MATLAB using Adams
predictor corrector scheme with startup by Runge-Kutta method.

id id 0
i i
d q q 0
L i fd + X i fd = u fd
dt
iD iD 0
iQ iQ 0

d P
= Tem
dt J
d
=
dt
Use equations (49), (50), (22), (23), (24), (25) and (17)
where
Ld 0 Lmd Lmd 0
0 Lq 0 0 L m q

L = Lmd 0 L fd Lmd 0

Lmd 0 Lmd LD 0
0 Lmq 0 0 L Q

R Lq 0 0 Lmq
L R Lmd Lmd 0
d

X = 0 0 R fd 0 0

0 0 0 RD 0
0 0 0 0 RQ

 VALIDATION OF PREDICTOR CORRECTOR
FORMULATION IN MATLAB
Validation for linear equation
from ref. [1] x + 1.5 x = 7.5 + 4.5 cos(t ) + 3sin(5t ), x (t = 0) = 0
S S Rao, fifth edition chapter 4
 x1 = x2
Validation for nonlinear equation from ref. [2]
x2 = 200 x1 10 x2 50 x1 x1 x1
S S Rao, second edition, chapter 13, pp 643
x1 (0) = 7.5
x2 (0) = 0

Time Adams P-C Scheme Ref. [2] Adams P-C Scheme Ref. [2]
(x1) (x1) (x2) (x2)

0 7.500000000000000 7.50000 0 0
0.0025 7.430295407266823 7.43030 -55.2857313413170 -55.2857
0.0050 7.227114553836680 7.22711 -106.3502008584617 -106.35
0.0075 6.903976272629309 6.90398 -150.9436182706467 -150.944
0.0100 6.478992587482140 6.47900 -187.6677677688700 -187.662
0.0125 5.972579126001135 5.97268 -216.0208293218877 -216.014
0.0150 5.405450100088078 5.40567 -236.3178352751917 -236.317
0.0175 4.796747326300100 4.79708 -249.4562148819691 -249.463
0.0200 4.162906242365495 4.16331 -256.6594832884100 -256.674
0.0225 3.517126088700053 3.51755 -259.2491802493062 -259.270
RESULTS

Fig. 2(a) Peak values during Line to Ground Fault.

Fig. 2(b) Peak values during Line to Ground Fault.
Fig. 3 Time related evolution curve during Line to Ground short circuit in favorable conditions
Fig. 4 Time related evolution curve during Line to Ground short circuit in unfavorable conditions
Fig. 5 Time related evolution curve during Three Phase short circuit in unfavorable conditions
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