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MotorStarting
FromOpenElectrical
Contents
1 Introduction
1.1 Whydothecalculation?
1.2 Whentodothecalculation?
2 CalculationMethodology
2.1 Step1:ConstructSystemModelandCollectEquipmentParameters
2.2 Step2:CalculateEquipmentImpedances
2.2.1 NetworkFeeders
2.2.2 SynchronousGenerators
2.2.3 Transformers
2.2.4 Cables
2.2.5 StandingLoads
2.2.6 Motors
2.3 Step3:ReferringImpedances
2.4 Step4:ConstructtheEquivalentCircuit
2.5 Step5:CalculatetheInitialSourceEMF
2.6 Step6:CalculateSystemVoltagesDuringMotorStart
3 WorkedExample
3.1 Step1:ConstructSystemModelandCollectEquipmentParameters
3.2 Step2:CalculateEquipmentImpedances
3.3 Step3:ReferringImpedances
3.4 Step4:ConstructtheEquivalentCircuit
3.5 Step5:CalculatetheInitialSourceEMF
3.6 Step6:CalculateSystemVoltagesDuringMotorStart
4 ComputerSoftware
5 WhatNext?
Introduction
Thisarticleconsidersthetransienteffectsofmotorstartingonthesystemvoltage.Usuallyonlythelargestmotor
onabusorsystemismodelled,butthecalculationcaninprinciplebeusedforanymotor.It'simportanttonote
thatmotorstartingisatransientpowerflowproblemandisnormallydoneiterativelybycomputersoftware.
Howeverastaticmethodisshownhereforfirstpassestimatesonly.
Whydothecalculation?
Whenamotorisstarted,ittypicallydrawsacurrent67timesitsfullloadcurrentforashortduration(commonly
calledthelockedrotorcurrent).Duringthistransientperiod,thesourceimpedanceisgenerallyassumedtobefixed
andtherefore,alargeincreaseincurrentwillresultinalargervoltagedropacrossthesourceimpedance.This
meansthattherecanbelargemomentaryvoltagedropssystemwide,fromthepowersource(e.g.transformeror
generator)throughtheintermediarybuses,allthewaytothemotorterminals.
Asystemwidevoltagedropcanhaveanumberofadverseeffects,forexample:
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Equipmentwithminimumvoltagetolerances(e.g.
electronics)maymalfunctionorbehaveaberrantly
Undervoltageprotectionmaybetripped
Themotoritselfmaynotstartastorqueis
proportionaltothesquareofthestatorvoltage,so
areducedvoltageequalslowertorque.Induction
motorsaretypicallydesignedtostartwitha
terminalvoltage>80%
Whentodothecalculation?
Thiscalculationismoreorlessdonetoverifythatthelargest
motordoesnotcausesystemwideproblemsuponstarting.
Thereforeitshouldbedoneafterpreliminarysystemdesignis
complete.Thefollowingprerequisiteinformationisrequired:
Figure1.Highvoltagemotor(courtesyofABB)
Keysinglelinediagrams
Preliminaryloadschedule
Tolerablevoltagedroplimitsduringmotorstarting,whicharetypicallyprescribedbytheclient
CalculationMethodology
ThiscalculationisbasedonstandardimpedanceformulaeandOhm'slaw.Totheauthor'sknowledge,thereareno
internationalstandardsthatgovernvoltagedropcalculationsduringmotorstart.
Itshouldbenotedthattheproposedmethodisnot100%accuratebecauseitisastaticcalculation.Inreality,the
voltagelevelsarefluctuatingduringatransientcondition,andthereforesoaretheloadcurrentsdrawnbythe
standingloads.Thismakesitessentiallyaloadflowproblemandamoreprecisesolutionwouldsolvetheload
flowproblemiteratively,forexampleusingtheNewtonRhapsonorGaussSiedelalgorithms.Notwithstanding,the
proposedmethodissuitablyaccurateforafirstpasssolution.
Thecalculationhasthefollowingsixgeneralsteps:
Step1:Constructthesystemmodelandassembletherelevantequipmentparameters
Step2:Calculatetherelevantimpedancesforeachequipmentiteminthemodel
Step3:Referallimpedancestoareferencevoltage
Step4:Constructtheequivalentcircuitforthevoltagelevelsofinterest
Step5:Calculatetheinitialsteadystatesourceemfbeforemotorstarting
Step6:Calculatethesystemvoltagesduringmotorstart
Step1:ConstructSystemModelandCollectEquipmentParameters
Thefirststepistoconstructasimplifiedmodelofthesystemsinglelinediagram,andthencollecttherelevant
equipmentparameters.Themodelofthesinglelinediagramneedonlyshowthebusesofinterestinthemotor
startingcalculation,e.g.theupstreamsourcebus,themotorbusandpossiblyanyintermediateordownstream
busesthatmaybeaffected.Allrunningloadsareshownaslumpedloadsexceptforthemotortobestartedasitis
assumedthatthesystemisinasteadystatebeforemotorstart.
Therelevantequipmentparameterstobecollectedareasfollows:
Networkfeeders:faultcapacityofthenetwork(VA),X/Rratioofthenetwork
Generators:perunittransientreactance,ratedgeneratorcapacity(VA)
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Transformers:transformerimpedancevoltage(%),ratedtransformercapacity(VA),ratedcurrent(A),
totalcopperloss(W)
Cables:lengthofcable(m),resistanceandreactanceofcable(
km
)
Standingloads:ratedloadcapacity(VA),averageloadpowerfactor(pu)
km
Motor:fullloadcurrent(A),lockedrotorcurrent(A),ratedpower(W),fullloadpowerfactor(pu),
startingpowerfactor(pu)
Step2:CalculateEquipmentImpedances
Usingthecollectedparameters,eachoftheequipmentitemimpedancescanbecalculatedforlateruseinthemotor
startingcalculations.
NetworkFeeders
Giventheapproximatefaultlevelofthenetworkfeederattheconnectionpoint(orpointofcommoncoupling),the
impedance,resistanceandreactanceofthenetworkfeederiscalculatedasfollows:
2
cV n
Zf =
Sf
2
cVn
Zf =
Sf Zf
Rf =
()1+
X 2
R
Zf
Rf =
1 + (
X
)
2
X
R Xf = Rf
R
X
Xf = Rf
Where R
Zf
isimpedanceofthenetworkfeeder(
Zf
Rf
isresistanceofthenetworkfeeder(
R
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Rf
)
Xf
isreactanceofthenetworkfeeder(
Xf
)
Vn
isthenominalvoltageattheconnectionpoint(Vac)
Vn
Sf
isthefaultlevelofthenetworkfeeder(VA)
Sf
c
isavoltagefactorwhichaccountsforthemaximumsystemvoltage(1.05forvoltages<1kV,1.1for
voltages>1kV)
c
X
R
isX/Rratioofthenetworkfeeder(pu)
X
R
SynchronousGenerators
Thetransientresistanceandreactanceofasynchronousgeneratorcanbeestimatedbythefollowing:
2
Vg
Xd = d Kg
Sg
2
Vg
X = d Kg
d
Sg
Xd
Rg = X
R
X
d
Rg =
X
Vn c
R
Kg =
V g 1 + d sin g
Vn c
Kg =
Vg 1 + d sin g
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g d g
Where
Xd
isthetransientreactanceofthegenerator(
X
d
Rg
istheresistanceofthegenerator(
Rg
)
Kg
isavoltagecorrectionfactor(pu)
Kg
d
istheperunittransientreactanceofthegenerator(pu)
d
Vg
isthenominalgeneratorvoltage(Vac)
Vg
Vn
isthenominalsystemvoltage(Vac)
Vn
Sg
istheratedgeneratorcapacity(VA)
Sg
X
R
istheX/Rratio,typically20for
X
R Sg
100MVA,14.29for
Sg
Sg <
100MVA,and6.67forallgeneratorswithnominalvoltage
Sg <
Vg
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1kV
Vg
c
isavoltagefactorwhichaccountsforthemaximumsystemvoltage(1.05forvoltages<1kV,1.1for
voltages>1kV)
c
cos g
isthepowerfactorofthegenerator(pu)
cos g
Transformers
Theimpedance,resistanceandreactanceoftwowindingtransformerscanbecalculatedasfollows:
2
Vt
Zt = uk
St
2
V
t
Zt = u k
St P kt
Rt = 2
3I t
P kt
Rt =
2
2 2
3I
t
Xt = Zt Rt
2 2
Xt = Z R
t t
Where
Zt
istheimpedanceofthetransformer(
Zt
Rt
istheresistanceofthetransformer(
Rt
)
Xt
isthereactanceofthetransformer(
Xt
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Xt
)
uk
istheimpedancevoltageofthetransformer(pu)
uk
St
istheratedcapacityofthetransformer(VA)
St
Vt
isthenominalvoltageofthetransformeratthehighorlowvoltageside(Vac)
Vt
It
istheratedcurrentofthetransformeratthehighorlowvoltageside(I)
It
P kt
isthetotalcopperlossinthetransformerwindings(W)
P kt
Cables
CableimpedancesareusuallyquotedbymanufacturersintermsofOhmsperkm.Theseneedtobeconvertedto
Ohmsbasedonthelengthofthecables:
Lc
Rc = R
1000
Lc
Rc = R
1000 Lc
Xc = X
1000
Lc
Xc = X
Where 1000
Rc
istheresistanceofthecable{
Rc
Xc
isthereactanceofthecable{
X
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Xc
)
R
isthequotedresistanceofthecable{
R
/ km
)
/km
X
isthequotedreactanceofthecable{
X
/ km
)
/km
Lc
isthelengthofthecable{m)
Lc
StandingLoads
Standingloadsarelumpedloadscomprisingallloadsthatareoperatingonaparticularbus,excludingthemotorto
bestarted.Standingloadsforeachbusneedtobecalculated.
Theimpedance,resistanceandreactanceofthestandingloadiscalculatedby:
2
Vl
Zl =
Sl
2
V
l
Zl =
Sl R l = Z lcos
R l = Zl cos
2 2
Xl =
Z l Rl
2 2
Xl = Z R
l l
Where
Zl
istheimpedanceofthestandingload{
Zl
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Rl
istheresistanceofthestandingload{
Rl
)
Xl
isthereactanceofthestandingload{
Xl
)
Vl
isthestandingloadnominalvoltage(Vac)
Vl
Sl
isthestandingloadapparentpower(VA)
Sl
cos
istheaverageloadpowerfactor(pu)
cos
Motors
Themotor'stransientimpedance,resistanceandreactanceiscalculatedasfollows:
2
1 V mcos m
Zm =
I LRC / I FLC Pm
2
1 Vm cos m
Zm =
ILRC /IF LC Pm P m I LRC / I FLC cos s
Rm = 2
3I LRC cos m
2 2
Xm = Zm R m
Where
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Zm
istransientimpedanceofthemotor(
Zm
Rm
istransientresistanceofthemotor(
Rm
)
Xm
istransientreactanceofthemotor(
Xm
)
I LRC / I FLC
isratioofthelockedrotortofullloadcurrent
ILRC /IF LC
I LRC
isthemotorlockedrotorcurrent(A)
ILRC
Vm
isthemotornominalvoltage(Vac)
Vm
Pm
isthemotorratedpower(W)
Pm
cos m
isthemotorfullloadpowerfactor(pu)
cos m
cos s
isthemotorstartingpowerfactor(pu)
cos s
Step3:ReferringImpedances
Wheretherearemultiplevoltagelevels,theequipmentimpedancescalculatedearlierneedtobeconvertedtoa
referencevoltage(typicallytheHVside)inorderforthemtobeusedinasingleequivalentcircuit.
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Thewindingratioofatransformercanbecalculatedasfollows:
(
V t2 1 + t p )
n=
V t1
Vt2 (1 + tp )
n =
Where Vt1
isthetransformerwindingratio
n
V t2
isthetransformernominalsecondaryvoltageattheprincipaltap(Vac)
Vt2
V t1
isthetransformernominalprimaryvoltage(Vac)
Vt1
tp
isthespecifiedtapsetting(%)
tp
Usingthewindingratio,impedances(aswellasresistancesandreactances)canbereferredtotheprimary(HV)
sideofthetransformerbythefollowingrelation:
Z LV
Z HV =
n2
ZLV
ZH V =
2
Where n
Z HV
istheimpedancereferredtotheprimary(HV)side(
ZH V
Z LV
istheimpedanceatthesecondary(LV)side(
ZLV
)
n
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isthetransformerwindingratio(pu)
n
Conversely,byrearrangingtheequationabove,impedancescanbereferredtotheLVside:
Z LV = Z HV n 2
2
ZLV = ZH V n
Step4:ConstructtheEquivalentCircuit
Theequivalentcircuitessentiallyconsistsofavoltagesource(froma
networkfeederorgenerator)plusasetofcompleximpedances
representingthepowersystemequipmentandloadimpedances.
Thenextstepistosimplifythecircuitintoaformthatisnearlythe
Thveninequivalentcircuit(http://en.wikipedia.org/wiki/Th%C3%A
9venin%27s_theorem),withacircuitcontainingonlyavoltage
source(
Vs
),sourceimpedance(
Vs Figure2."Near"Thveninequivalentcircuit
Zs
)andequivalentloadimpedance(
Zs
Z eq
).
Zeq
Thiscanbedoneusingthestandardformulaeforseriesandparallelimpedances,keepinginmindthattherulesof
complexarithmeticmustbeusedthroughout.Thissimplificationtoa"Near"Thveninequivalentcircuitshouldbe
donebothwiththemotoroff(opencircuit)andthemotorinastartingcondition.
Step5:CalculatetheInitialSourceEMF
Assumingthatthesystemisinitiallyinasteadystatecondition,weneedtofirstcalculatetheinitialemfproduced
bythepowersource(i.e.feederconnectionpointorgeneratorterminals).Thisvoltagewillbeusedinthetransient
calculations(Step6)astheinitialsourcevoltage.
Assumptionsregardingthesteadystatecondition:
Thesourcepointofcommoncoupling(PCC)isatitsnominalvoltage
Themotorisswitchedoff
AllstandingloadsareoperatingatthecapacitycalculatedinStep2
AlltransformertapsaresetatthosespecifiedinStep2
Thesystemisatasteadystate,i.e.thereisnoswitchingtakingplacethroughoutthesystem
SinceweassumethatthereisnominalvoltageatthePCC,theinitialsourceemfcanbecalculatedbyvoltage
divider:
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E0 = Vn 1 +
( )
Zs
Z eq
Zs
= Vn (1 + )
WhereE0 Zeq
E0
istheinitialemfofthepowersource(Vac)
E0
Vn
isthenominalvoltage(Vac)
Vn
Zs
isthesourceimpedance(
Zs
)
Z eq
istheequivalentloadimpedancewiththemotorswitchedoff(
Zeq
Step6:CalculateSystemVoltagesDuringMotorStart
Itisassumedinthiscalculationthatduringmotorstarting,theinitialsourceemfcalculatedinStep5remains
constantthatis,thepowersourcedoesnotreactduringthetransientperiod.Thisisasimplifyingassumptionin
ordertoavoidhavingtomodelthetransientbehaviourofthepowersource.
Next,weneedtocalculatetheoverallsystemcurrentthatissuppliedbythepowersourceduringthemotorstarting
period.Todothis,weusethe"Near"Theveninequivalentcircuitderivedearlier,butnowincludethemotor
startingimpedance.Anewequivalentloadimpedanceduringmotorstarting
Z eq , s
willbecalculated.
Zeq,s
Thecurrentsuppliedbythepowersourceistherefore:
E0
Is =
Z eq , s + Z s
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E0
Is =
Where Zeq,s + Zs
Is
isthesystemcurrentsuppliedbythesource(A)
Is
E0
istheinitialsourceemf(Vac)
E0
Z eq , s
istheequivalentloadimpedanceduringmotorstart(
Zeq,s
)
Zs
isthesourceimpedance(
Zs
)
Thevoltageatthesourcepointofcommoncoupling(PCC)is:
V PCC = E 0 I sZ s
VP C C = E0 Is Zs
Where
V PCC
isthevoltageatthepointofcommoncoupling(Vac)
VP C C
E0
istheinitialsourceemf(Vac)
E0
Is
isthesystemcurrentsuppliedbythesource(A)
Is
Zs
isthesourceimpedance(
Zs
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)
ThedownstreamvoltagescannowbecalculatedbyvoltagedivisionandsimpleapplicationofOhm'slaw.
Specifically,we'dliketoknowthevoltageatthemotorterminalsandanybusesofinterestthatcouldbeaffected.
Ensurethatthevoltagesareacceptablywithintheprescribedlimits,otherwisefurtheractionneedstobetaken
(refertotheWhat'sNext?section).
WorkedExample
Theworkedexamplehereisaverysimplepowersystemwithtwovoltagelevelsandsuppliedbyasingle
generator.Whileunrealistic,itdoesmanagetodemonstratethekeyconceptspertainingtomotorstarting
calculations.
Step1:ConstructSystemModelandCollectEquipmentParameters
Thepowersystemhastwovoltagelevels,11kVand415V,and
isfedviaasingle4MVAgenerator(G1).The11kVbushasa
standingloadof950kVA(S1)andwewanttomodeltheeffects
ofstartinga250kWmotor(M1).Thereisastandingloadof
600kVAat415V(S2),suppliedbya1.6MVAtransformer
(TX1).Theequipmentandcableparametersareasfollows:
Equipment Parameters
S g1
=4,000kVA
Sg1
V g1
=11,000V
GeneratorG1 Figure3.Simplifiedsystemmodelformotor
Vg1
startingexample
d
=0.33pu
cos
=0.85pu
cos
GeneratorCableC1
Length=50m
Size=500
mm 2
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2
mm
(R=0.0522
\km,X=0.0826
\km)
S s1
=950kVA
Ss1
11kVStandingLoadS1 V s1
=11,000V
Vs1
cos
=0.84pu
cos
MotorM1
P m1
=250kW
P m1
V m1
=11,000V
Vm1
I LRC
=106.7A
ILRC
I LRC / I FLC
=6.5pu
ILRC /IF LC
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cos m
=0.85pu
cos m
cos s
=0.30pu
cos s
Length=150m
Size=35
mm 2
2
mm
(R=0.668
MotorCableC2
\km,X=0.115
\km)
TransformerTX1
S tx1
=1,600kVA
Stx1
V t1
=11,000V
Vt1
V t2
=415V
Vt2
uk
=0.06pu
uk
P kt
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=12,700W
P kt
tp
=0%
tp
Length=60m
Size=120
mm 2
2
mm
(R=0.196
TransformerCableC3
\km,X=0.096
\km)
S s2
=600kVA
Ss2
415VStandingLoadS2 V s2
=415V
Vs2
cos
=0.80pu
cos
Step2:CalculateEquipmentImpedances
Usingthepatametersaboveandtheequationsoutlinedearlierinthemethodology,thefollowingimpedanceswere
calculated:
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) )
GeneratorG1 0.65462 9.35457
GeneratorCableC1 0.00261 0.00413
11kVStandingLoadS1 106.98947 69.10837
MotorM1 16.77752 61.02812
MotorCableC2 0.1002 0.01725
TransformerTX1(PrimarySide) 0.60027 4.49762
TransformerCableC3 0.01176 0.00576
415VStandingLoadS2 0.22963 0.17223
Step3:ReferringImpedances
11kVwillbeusedasthereferencevoltage.Theonlyimpedancethatneedstobereferredtothisreferencevoltage
isthe415VStandingLoad(S2).Knowingthatthetransformerissetatprincipaltap,wecancalculatethewinding
ratioandapplyittoreferthe415VStandingLoadimpedancetothe11kVside:
n=\frac{415\left(1+0%\right)}{11,000}=0.03773\,
n=\frac{415\left(1+0%\right)}{11,000}=0.03773\,
Theresistanceandreactanceofthestandingloadreferredtothe11kVsideisnow,R=161.33333
andX=121.00
Step4:ConstructtheEquivalentCircuit
Theequivalentcircuitforthesystemisshown
inthefiguretotheright.The"Near"Thevenin
equivalentcircuitisalsoshown,andwenow
calculatetheequivalentloadimpedance
Z eq
inthesteadystatecondition(i.e.withoutthe
motorandmotorcableimpedancesincluded):
Zeq
Figure4.Equivalentcircuitformotorstartingexample
[ (
Z eq = Z C1 + Z S1 | | Z C3 + Z TX1 + Z S2 )]
Zeq = ZC 1 + [ZS1 || (ZC 3 + ZT X1 + ZS2 )]
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= 64.59747 + j44.80458
= 64.59747 + j44.80458
Similarlytheequivalentloadimpedanceduringmotorstarting(withthemotorimpedancesincluded)canbe
calculatedasasfollows:
[ ( )
Z eq , s = Z C1 + Z S1 | | Z C3 + Z TX1 + Z S2 | | Z C2 + Z M1 ]
Zeq,s = ZC 1 + [ZS1 || (ZC 3 + ZT X1 + ZS2 ) ||ZC 2 + ZM 1 ]
= 20.371997 + j31.22116
= 20.371997 + j31.22116
Step5:CalculatetheInitialSourceEMF
Assumingthatthereisnominalvoltageatthe11kVbusinthe
steadystatecondition,theinitialgeneratoremfcanbecalculatedby
voltagedivider:
E0 = Vn 1 +
( )
Z G1
Z eq
ZG1
E0 = Vn (1 +
= 11,)821.25 + j1, 023.33 = 11, 865
Zeq
Figure5."Near"Theveninequivalentcircuit
Vac
= 11, 821.25 + j1, 023.33 = 11, 865
formotorstartingexample
Step6:CalculateSystemVoltagesDuringMotorStart
Nowwecancalculatethetransienteffectsofmotorstartingonthesystemvoltages.Firstly,thecurrentsuppliedby
thegeneratorduringmotorstartiscalculated:
E0
I G1 =
Z eq , s + Z G1
E0
IG1 =
Zeq,s + ZG1 = 138.8949 j219.36166 = 259.64A
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Vac(or87.98%ofnominalvoltage)
= 9, 677.024 j132.375 = 9, 677.9
Thevoltageatthemotorterminalscanthenbefoundbyvoltagedivider:
Z M1
V M1 = V 11kV
Z C2 + Z M1
ZM 1
VM 1 = V11kV
ZC 2 + ZM 1 = 9, 670.597 j118.231 = 9, 671.3
Vac(or87.92%ofnominalvoltage)
= 9, 670.597 j118.231 = 9, 671.3
Thevoltageatthelowvoltagebusis:
Z S2
V 415V = V 11kV
Z C3 + + Z TX1 + Z S2
ZS2
V415V = V11kV
ZC 3 + +ZT X1 + ZS2 = 9, 521.825 j280.698 = 9, 525.6
Vac,thenreferredtotheLVside=359.39Vac(or86.60%ofnominalvoltage)
= 9, 521.825 j280.698 = 9, 525.6
Anyothervoltagesofinterestonthesystemcanbedeterminedusingthesamemethodsasabove.
Supposethatourmaximumvoltagedropatthemotorterminalsis15%.Fromabove,wehavefoundthatthe
voltagedropis12.08%atthemotorterminals.Thisisaslightlymarginalresultanditmaybeprudenttosimulate
thesysteminasoftwarepackagetoconfirmtheresults.
ComputerSoftware
Motorstartingisastandardcomponentofmostpowersystemsanalysissoftware(e.g.ETAP,PTW,ERAC,etc)
andthiscalculationisreallyintendedtobedoneusingthissoftware.Thenumericalcalculationperformedbythe
softwareshouldalsosolvethepowerflowproblemthroughaniterativealgorithm(e.g.suchasNewtonRhapson).
WhatNext?
Iftheresultsofthecalculationconfirmthatstartingthelargestmotordoesnotcauseanyunacceptablevoltage
levelswithinthesystem,thenthat'stheendofit(orperhapsitcouldbesimulatedinapowersystemsanalysis
softwarepackagetobedoublysure!).Otherwise,theissueneedstobeaddressed,forexampleby:
Reducethemotorstartingcurrent,e.g.viasoftstarters,stardeltastarters,etc
Reducethesourceimpedances,e.g.increasethesizeofthegenerator,transformer,supplycables,etc
Thecalculationshouldbeperformediterativelyuntiltheresultsareacceptable.
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