FLUX LINKAGE RELATIONS

 mmfs of rotor windings are along d-q axis. Axis of north

pole is in d-axis, stator internal voltage is in q-axis

 Field winding is mainly in d-axis, damper winding are in

d,q axis
 FLUX LINKAGE RELATIONS
 For a phase current flowing into the stator, the a
phase mmf Fa produces flux components ψd, ψq
along the d- and q- axes

 The inductance representation has θr variable

 MATH MODEL OF SYNCHRONOUS MACHINE (abc frame)
 Voltage equation of the stator and rotor windings
vs   rs 0 is  d Λ s 
v  = 0 r  i  + dt Λ 
 r   r  r   r
 Flux linkage equation of the stator and rotor windings
Λ s = Lssis + Lsrir
Λ r = [Lsr ] is + Lrrir
t

 Lss, Lsr, Lrr are shown in Eq.7.7 to Eq.7.9

 Computational difficulty in abc frame
 The inductances in Lss and Lsr are time dependent variables
present computational difficulty when voltage equations are being
solved
 To obtain the phase current quantities, the inverse of the time-
varying inductance matrix will have to be computed at each time
step, this would be time consuming and could produce numerical
instability
 TRANSFORMATION TO ROTOR REFERENCE FRAME
 Transform the stator quantities to rotor qd0 reference
frame, then the voltage equation has time-invariant
coefficient
 Rotor voltage equation already attached to q- and d- axes,
qd0 transformation only need be applied to the stator
winding
 For transformation, we denote 
 cos θ cos

 θ −
2π 
 cos

 θ +
2π 

vqd 0 = Tqd 0 (θ r )vs ( abc )
r r r
  3   3 
 2 2π  2π  
iqd 0 = Tqd 0 (θ r )is ( abc ) [ ] 
Tqd 0 (θ r ) = sin θ r sin θ r −

 sin θ r +
3 

3 
3  
 1 1 1 
Λ qd 0 = Tqd 0 (θ r ) Λ s ( abc ) 
 2 2 2


 where Tqd0(θr) is as Eq. (7.11)
 Apply transformation Tqd0(θr) into stator voltage equation,
the stator voltage equation becomes
= Tqd 0 (rsis ( abc ) ) + Tqd 0  Λ s ( abc )  = Tqd 0 rs (Tqd 0iqd 0 ) + Tqd 0 (Tqd 0 Λ qd 0 )
d  −1 d −1
v
 qd 0
 dt  dt
 TRANSFORMATION TO ROTOR REFERENCE FRAME

 The first term of the transforming equation on

flux linkage (pp.266)
 0 1 0
d 
Tqd 0  Tqd−10  Λ qd 0 = ωr  − 1 0 0 Λ qd 0
 dt   
 0 0 0 
 The second term of the transforming equation on
flux linkage (pp.266) −1 d d
Tqd 0Tqd 0 Λ qd 0 = Λ qd 0
dt dt
 The stator voltage equation of qd0 rotor
reference frame
0 1 0 
vqd 0   d
= rsiqd 0 + ωr - 1 0 0 Λ qd 0 + Λ qd 0
  dt
 0 0 0 
 FLUX LINKAGE IN TERMS OF WINDING CURRENTS
 Flux linkage Λqd0 and qd0 current can be obtained from
stator quantities
Λ s ,qd 0 = (Tqd 0 LssTqd−10 ) iqd 0 s + (Tqd 0 Lsr ) iqd 0 r
 The stator qd0 flux linkage equations
 3 
λqs =  Lls + ( L0 − Lms ) iq + Lsfqisfq + Lskqiskq
 2 
 3 
λds =  Lls + ( L0 − Lms ) id + Lsfd isfd + Lskd iskd
 2 
λ0 s = Llsi0
 The rotor qd0 flux linkage equations
3
λ fd = Lsfd id + L ff i f + L fkd ikd
2
3
λkd = Lskd id + L fkd i f + Lkdkd ikd
2
3
λ fq = Lsfqiq + L fqfqi fq + L fqkqikq
2
3
λkq = Lskqiq + L fqkqi fq + Lkqkqikq
2
 VOLTAGE EQUATIONS IN ROTOR REFERENCE FRAME

 Voltage equations of  Flux linkage equations

synchronous machine in terms of L and i
dλq dθ r λq = Lq iq + Lmq i 'fq + Lmq ikq'
vq = rsiq + + λd
dt dt
dλd dθ r λd = Ld id + Lmd i 'fd + Lmd ikd'
vd = rsid + − λq
dt dt λ0 = Lls i0
dλ0
v0 = rsi0 + λ'fd = Lmd id + Lmd ikd' + L' fdfd i 'fd
dt
d λ '
λ'kd = Lmd id + Lmd i 'fd + L'kdkd ikd'
v 'fd = rfd '
i 'fd + fd

dt λ'fq = Lmq iq + L fqfq i 'fq + L'mq ikq'

dλ'kd
vkd = rkd ikd +
' ' '
λ'kq = Lmq iq + Lmq i 'fq + L'kqkq ikq'
dt
λ where
'
d 
v 'fq = rfq
' '
i fq + fq

dt Lq = Lls + Lmq
d λ '
Ld = Lls + Lmd
'
vkq = rkq' ikq
'
+ kq

dt
EQUIVALENT qd0 CIRCUIT IN ROTOR REF. FRAME
 CURRENT EQUATIONS IN ROTOR REFERENCE FRAME

 Current equations in  Current equations in

terms of λs, q-axis terms of λs, d-axis
(from Fig.7.4) (from Fig.7.4)
1 1
iq = (λq − λmq ) id = (λd − λmd )
Lls Lls
1 ' 1 '
i = ' (λ fq − λmq )
'
fq i 'fd = '
(λ fd − λmd )
Llfq Llfd
1 ' 1
ikq' = '
(λkq − λmq ) ikd' = '
( λkd − λmd )
'

Llkq Llkd
where λmq = Lmq (iq + i 'fq + ikq' ) where λmd = Lmd (id + i 'fd + ikd' )
LMQ LMQ LMQ LMD L LMD '
λmq = λq + λ fq +
'
λ
'
kq
λmd = λd + MD
'
λ'
f + '
λkd
Lls L'
lfq L'
lkq
Lls Llfd Llkd
1 1 1 1 1 1 1 1 1 1
= + + + = + ' + ' +
LMQ Lls L'lfq L'lkq Lmq LMD Lls Llfd Llkd Lmd
 CURRENT EQUATIONS IN ROTOR REFERENCE FRAME
 Matrix current equations in terms of flux linkage

 LMD 1 LMD LMD 

(1 − ) - '
- ' 
L L L L Lls Llkd 
id   ls ls ls lfd
λd 
 '   LMD LMD 1 LMD   ' 
i fd  = − L L' (1 − ' ) ' - ' '  λ fd 
 '   ls lfd Llfd Llfd Llfd Llkd   
λ'
ikd   L L LMD 1   kd 
- MD' - ' MD' (1 − ) ' 
 Lls Llkd Llfd Llkd Llfd Llfd 
'

 the above matrix can be substituted into voltage and torque

equation to obtain the math model of synchronous machine
 the synchronous machine model derived from above use flux
linkages of rotor windings as state variables
 ELECTROMAGNETIC TORQUE
 Electromagnetic torque is obtained from the component
of input power that transferred across airgap
 Stating from the input power into the machine:
 Pin=vaia+ vbib +vcic+ vfdifd+ vfqifq
 Stator quantities transformed into qd0 reference frame
 Pin=(3/2)(vqiq+ vdid)+3v0i0+ vfdifd+ vfqifq
 Eliminating ohmic losses and rate of change of magnetic
energy (Eq.7.33 in pp.271)
 Pem=(3/2)ωr(λdiq - λqid) W
 For a P-pole machine, ωr=(P/2)ωrm
 Pem=(3/2)(P/2)ωrm(λdiq - λqid) W
 Dividing the Pem by ωrm, the torque developed by P-pole
machine
 Tem=(3/2)(P/2)(λdiq - λqid) N.m
 SIMULATIONS OF 3 PHASE SYNCHRONOUS MACHINE

 The winding equation of Syn. mach. model could use

terminal voltage as input and currents as output
 Main inputs: stator abc phase voltage, excitation voltage to
field winding, applied mechanical torque (load)
 Main outputs: stator abc phase current
 Modeling procedure
 Stator winding voltage must be transformed to qd0 reference
frame attached to rotor
First Step : Second Step
vqs =
2 1
va − vb − vc
1 vqr = vqs cos θ r (t ) − vds sin θ r (t ) (7.71)
3 3 3
1 vdr = vas sin θ r (t ) + vds cos θ r (t )
vds = (vc − vb ) (7.70)
3 where
1 t
v0 = (va + vb + vc ) θ r (t ) = ∫ ωr (t )dt + θ r (0) elect. rad. (7.72)
3 0
 SIMULATION OF A SYNCHRONOUS MACHINE

 Overall Diagram
SIMULATION OF A SYNCHRONOUS MACHINE

 abc to rotor qd0 block

from oscillator block
 SIMULATION OF A SYNCHRONOUS MACHINE

 Variable-frequency oscillator
 the equation of the oscillator
d 2 y1
2
= −ω 2
y1
dt
 convert 2nd-order equation to 2 1st-order
equation: 1 dy1 dy2
y2 = , = −ωy1
ω dt dt
 rewrite the above equations into integral forms:

y2 = −ω ∫ y1 dt , y1 = ω ∫ y2dt

 assume y1 is sinωt, y2 is cosωt

 MODEL OF VARIABLE FREQUENCY OSCILLATOR
 The cosωt, sinωt signals could be
obtained by integrating each other
 Variable y1 , y2 could be obtained
by variable ωt
 The variable oscillation block is
shown as below

ω r / ωb
cos θ r × (ωr / ωb )
− sin θ r × ωr cos θ r

sin θ r × (ωr / ωb )
sin θ r
 SIMULINK RESULT OF OSCILLATOR

 plot result: y1 and y2 (from oscillator block), ω is

constant

5
y1 and y2

y1
y2
0

starting reference

-5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
time in sec
 TERMINAL VOLTAGE AND FLUX LINKAGE EQUATIONS

 Modeling procedure (relate input variables to state variables)

 Stator: relate terminal voltages (input variables) with flux linkage of
stator and rotor windings (state variables) (Eq.7.74)
 Rotor: In this case, only flux linkages of field winding in d-axis and a
pair of damper windings in d- and q- axes are related together
(Eq.7.74)

 ω  ω r '
r
Ψq = ωb ∫ vq − r Ψd + s ( Ψmq − Ψq )  dt Ψkq' = ' ∫ (Ψmq − Ψkq' ) dt
b kq

 ωb xls  xlkq
 ω r  ωb rkd'
Ψd = ωb ∫ vd − r Ψq + s ( Ψmd − Ψd )  dt Ψ = ' ∫ (Ψmd − Ψkd' ) dt
'

ωb
kd
 xls  xlkd
 r  ω r '
xmd
Ψ0 = ωb ∫ v0 − s Ψ0  dt Ψ fd' = ∫ + Ψ − Ψ
b kq '
{ E f '
( md fd )} dt
 xls  xmd xlf
(7.74) (7.74)
SIMULATION OF A SYNCHRONOUS MACHINE

 qd0 stator and rotor block

SIMULATION OF A SYNCHRONOUS MACHINE
 q-axis stator block
STATOR AND ROTOR FLUX LINKAGE

 where
rotor flux linkage stator flux linkage
Ψmq = xmq (iq + ikq
'
)
Ψq = xlsiq + Ψmq
Ψmd = xmd (id + ikq
'
+ i 'fd ) Ψd = xlsid + Ψmd
v 'f Ψ0 = xlsi0
E f = xmd
rf'
Ψ fd
'
= xlf' i 'fd + Ψmd
Ψkd' = xlkd
' '
ikd + Ψmd
Ψkq' = xlkq
' '
ikq + Ψmq
 WINDING CURRENTS

 Modeling procedure (relate state variables to output

variables)
 relate flux linkages (state variables) with winding

currents (output variables)

 Stator winding current Rotor winding current

Ψq − Ψmq Ψkd
'
− Ψmd
iq =
'
ikd = '
xls xlkd

Ψd − Ψmd Ψkq
'
− Ψmq
id =
'
ikq = '
xlkq
xls
Ψ fd
'
− Ψmd
i 'fd = '
xlfd
 WINDING CURRENTS

 Modeling procedure (dq0 to abc transformation)

 transform qd0 rotor frame currents to stationery frame
iqs = iqr cos θ r (t ) + idr sin θ r (t )
ids = −iqr sin θ r (t ) + idr cos θ r (t )
 transform stationery qd0 currents to abc currents
ia = iqs + i0
1 s 1 s
ib = − iq − id + i0
2 3
1 s 1 s
ic = − iq + id + i0
2 3
 TORQUE EXPRESSION

 Electromechanical torque developed with P-poles

in motoring or generating
Pem 3P
Tem = = (λd iq − λqid ) N ⋅ m
ωrm 22
3 P
= (ψ d iq − ψ qid ) N⋅m
2 2ωb
where Tem : ( + ) for motoring, (-) for generating
 The net accelerating torque:
dωrm (t ) 2 J dωr (t ) 2 J d (ωr (t ) − we )
Tem + Tmech − Tdamp =J = =
dt P dt P dt

∫ (T + Tmech − Tdamp )dt

P t
ωr (t ) − we = em
2J 0
SIMULATION OF A SYNCHRONOUS MACHINE

 Rotor block

Tem ωr
 PER-UNIT EXPRESSION FOR TORQUE AND SPEED

 Per-unit variables:
2 2 Sb Vb Sb 2
Vb = Vline−to−line , Ib = , Zb = , Tb = , ωbm = ωb
3 3Vb Ib ωbm P

1 2 J dωr (t )
Tem ( pu ) + Tmech ( pu ) − Tdamp ( pu ) = pu
Tb P dt
d {(ωr (t ) − we ) / ωb } 1 2
= 2H pu, where H = Jωbm Sb
dt 2
SIMULATION OF A SYNCHRONOUS MACHINE

 qd0 rotor frame to abc block

SIMULATION OF A SYNCHRONOUS MACHINE

 VIPQ block

Vt = Vqs2 + Vds2 { }
P = Re (vq − jvd )(iq − jid ) = vq iq + vd id
*

Q = Im{(v − jv )(i − ji ) }= v i − vd iq
*
It = I + I
2
qs
2
ds
q d q d q d
 MINIMIZE STARTUP TRANSIENTS
 Startup transient occurs whenever the state variables of
simulation (such as ψ’s) are not properly initialized
 To wait for the startup transient is rather time consuming
especially when the time constants of field and machinery
are high
 To minimize startup transients, we need to initialize the
corresponding states with good estimates
 The initial values of integrators in the model should be set
close to the desired operating condition to minimize the
initial simulation transients
 The desired operating condition for the variables
initialization could be obtained from steady-state analysis
 Startup transients can also be minimized by setting high
damping coefficient Dω, until steady-state is established,
then Dω is reset to the previous value
 Project. 5-1 Project homework

 (Homework): With the same machine parameters given

in Project 1 (7.10.1), you are given a synchronous
machine model has the following source:
v1=1√2sin(120πt+0) pu
v2=1√2sin(120πt-2π/3) pu
v3=1√2sin(120πt+2π/3) pu

1) With source voltage connected, Tmech = 1pu

(mechanical torque), change the excitation voltage
from 1pu to 0 pu at t=10 sec, observe and plot
1) the Pgen, Tem, ω, δ, in one figure
2) Qgen, If’, id, iq in one figure
3) ia, ib, ic in one figure
4) discuss what you see on the plots (ex. observe transient in
field current, 3 phase current, Q, ω, etc)
 Project. 5-1 Project homework

2. With Excitation voltage = 1pu, Tmech = 0.5 pu (mechanical

torque), short the 3-phase source terminal voltage to
ground from 1pu to 0 pu at t=10 sec, fault clear at
t=10.25 sec, observe and plot
1) vq, vd, iq, id, in one figure
2) ia, ib, ic in one figure
3) Pgen, Tem, δ, ω in one figure
4) Qgen, If’, in one figure
5) discuss what you see on the plots (ex.observe transient in field
current and qd, abc current)
6) calculate the critical clearing time that machine could run out of
synchronism, observe your result

Suggestion:
In the case 2, the figure time scale can be shown starting
from t=9 sec through the time when system becomes
stable after the fault cleared
 STEADY-STATE OPERATION
 Steady state analysis for the simulation
 the results of the steady state analysis can be used to
initialize the simulation so that simulation could start
with the desired steady state condition
 the results of the steady state analysis can be used to
check the correctness of the simulation results.
 Two assumptions of steady state analysis
 rotor rotating at the synchronous speed ωe
 field excitation held constant
 voltage and current referral
 qr- as rotor axis, qe- as synchronous rotating axis, qs-
as stationery axis
 qs- axis is along with the axis of a-phase winding
 STEADY-STATE OPERATION
 Transform balanced three-phase current into
space vector qd0
 three-phase current use transformation matrix
 1 1
ia = I m cos(ωet + φ ) 1 − −
iqs 
 2 2
2π   ia 
 s 2 
ib = I m cos(ωet + φ − ) id  = 0 −
3 3  
3 3 2 2  ib 
i    ic 
4π  0   1 1 1 
ic = I m cos(ωet + φ − )  2 2 2 
3
 stationery qd axis current
iqs = I m cos(ωet + φ )
ids = − I m sin(ωet + φ )
i0 = 0
 current space vector
 s
i = iq − jids = I m {cos(ωet + φ ) + j sin(ωet + φ )} = I m e j (ω t +φ ) e
 STEADY-STATE OPERATION
 Transform balanced three-phase current into space
vector qd0 (continue)
 transform stationery qd0 to synchronous current space
vector
( )
iqe − jide = (iqs − jids )e − jωet = I m e j (ωet +φ ) e − jωet = I m e jφ
 similarly, the synchronous voltage space vector
( )
vqe − jvde = (vqs − jvds )e − jωet = Vm e j (ωet +0 ) e − jωet = Vm e j 0
 Steady state equations of rotor
 only f field winding is excited, vf’≠0, other rotor windings’
voltage are 0, vkd’= vkq’= vfq’=0
 ωr=ωe, no speed voltage in rotor winding
 only rotor current if’=(vf’/rf’) exists
 STEADY-STATE OPERATION
 Steady state of equations
of the stator vq = rs iq + ωe λd +
dλq
 from Eq.(7.30), dλq/dt and dt
dλd
dλd/dt are zero vd = rs id − ωe λq +
dt
 effect of damper windings dλ0
v0 = rs i0 +
die out in steady state dt
 only d-axis field winding v fd = r fd i fd +
' ' '
dλ'fd
exists dt
vq = rsiq + ωe (λd ) dλ'kd
vkd = rkd ikd +
' ' '

dt
= rsiq + ωe ( Ld id ) + ωe ( Lmd i 'f )
dλ'fq
= rsiq + ωe Ld id + E f v fq = r fq i fq +
' ' '

dt
vd = rsid − ωe (λq ) d λ'

= rkq' ikq +
' ' kq
vkq
= rsiq − ωe ( Lqiq ) dt
 STEADY-STATE EQUATION OF THE STATOR
 Steady state of equations of the stator
 steady state qd voltage equations of stator winding
vq = rsiq + ωe (λd ) = rsiq + ωe ( Ld id ) + ωe ( Lmd i 'f ) = rsiq + ωe Ld id + E f
vd = rsid − ωe (λq ) = rsiq − ωe ( Lqiq )
 Ef is the steady state field excitation voltage on stator
side
 Ef = ωeLmd(vf’/rf’), vf’ is the field excitation voltage
applied at rotor side and the quantity is mapped to the
stator side
 Ef is along the rotor qr axis
 LOCATING ROTOR’S ANGLE AND qr AXIS
 The rotor angle δ between qr and qe axes
 δ = θr(t)-θe(t)=∫ {ωr(t)-ωe(t)}dt+ θr(0)-θe(0)
vq − jvd = (rs + jωe Lq )(iq − jid ) + ωe ( Ld − Lq )id + E f
= (rs + jωe Lq )(iq − jid ) + Eq
 Determination of rotor angle δ
 Eq = vq − jvd − (rs + jωe Lq )(iq − jid ) = Eq e j 0 (7.49)
 the resultant voltage along the qr axis, Eq ,
Ef = Eq- ωe(Ld-Lq)id (motoring),
Ef = Eq+ωe(Ld-Lq)id (generating)
 3Φ balanced voltage source at stator qd component in synchronous
frame can be transformed into rotor frame by multiplying by e-jδ
vq − jvd = ( vqe − jvde )e − jδ = Vm e − jδ
iq − jid = (iqe − jide )e − jδ = I m e j (φ −δ )
 rearrange (7.49)
Eq e j 0 = vq − jvd − (rs + jωe Lq )(iq − jid ) = Vm e − jδ − (rs + jωe Lq )I m e j (φ −δ )
 LOCATING ROTOR’S ANGLE AND qr AXIS
 Determination of rotor angle δ
 Eq is derived in terms of Vm and Im
| Eq| ejδ = Vm- (rs + jωeLq)(Imejφ)
= Vm- (rs + jωeLq)(Imcosφ + jImsinφ)
 taking the ratio of the imaginary part to real part on
both side, δ is obtained as
rs I m sin φ + ωe Lq I m cos φ
tan δ = −
Vm − rs I m cos φ + ωe Lq I m sin φ
 δ is – (motoring), when Im is + (flow into machine)
 δ is + (generating), when Im is - (flow out of machine)
 TIME PHASOR TO SPACE VECTOR

 Locate time phasor to space vector in rms quantity

 stator abc current in stationery reference frame
2
iqs − jids = (ia + aib + a 2ic ) = I m e jφ e jωet
3
 rms time phasor of the a-phase stator current
I m jφ
Ia = e
2
 space vector is can be expressed in terms of time phasor
iqs − jids = 2 I a e jwet , i a = Re 2 I a e jwet { }
 a set of balanced stator voltages
V
vqs − jvds = 2Va e jwet , where Va = m e j 0
2
 the relationship between time phasor and space vector
 vqs vds  − j (ωet ) − jδ  vq vd 
(rms time phasor) Va e − jδ
=  − j e e = 
 − j  = Vq − jVd (rms space vector)

 2 2  2 2
 iqs ids  − j (ωet ) − j (δ +φ )  iq id 
(rms time phasor) Iae − jδ
=  − j e e = 
 2 − j  = I q − jI d (rms space vector)

 2 2   2 
 TIME PHASOR TO SPACE VECTOR

 Locate time phasor to space vector

 rms time phasor is equal to 1/ 2 times the space vector
− jδ  vq vd  
(rms time phasor) Va e =  − j  = Vq − jVd = Vqd (rms space vector)
 2 2 
 iq i  
(rms time phasor) I a e − jδ =  − j d  = I q − j I d = I qd (rms space vector)
 2 2

 Space vector qd voltage equation multiplied by 2 can be

expressed in steady-state rms qd voltage equation
Vq = rs I q + ωe Ld I d + E f
Vd = rs I q − ωe ( Lq I q )
 Ef is also the rms quantity
(
E f = ωe Lmd / 2 (v 'f / rf' ) )
 Conclusion:
 rms time phasor to the space vector
1 jδ
Time Phaor : Va = ( e )vqd (space vector)
2
 STEADY STATE TORQUE EXPRESSION
 Complex power into three phase stator winding
S = 3(Vq − jVd )( I q − j I d )*
 Electromagnetic power subtracting i2r loss

{ 2 2
} {
Pem = Re 3(Vq − jVd )( I q − j I d )* − 3( I q + I d ) rs = 3 E f I q + ωe ( Ld − Lq ) I d I q }
 Electromagnetic torque in qd rms quantities
Pem  P 
Tem = =   Pem
ωsm  2ωe 
 P 
= 3 {E f I q + ωe ( Ld − Lq ) I d I q }
 2ωe 
 first torque component is main torque component with field
excitation
 second component is the reluctance torque component
 STEADY STATE TORQUE EXPRESSION

 Electromagnetic torque in phasor rms quantities

 In Pem equation, substitute Iq & Id in terms of Vq and Vd
Vq = rs I q + ωe Ld I d + E f
Vd = rs I q − ωe ( Lq I q )
use Va with Vq and Vd relations, from Va e = Vq − jVd
− jδ


Vq = Va cos δ , Vd = Va sin δ
 electromagnetic power equation in terms of phasor voltage Va
 E f Va Va2 1 1 
Pem = −3 sin δ + ( − ) sin 2δ  positive for motoring
 X d 2 Xq Xd 

 electromagnetic torque equation in terms of phasor voltage Va and

rotor angle δ
 P  E f Va Va2 1 1 

Tem = −3 
 X sin δ + 2 ( X − X ) sin 2δ  positive for motoring
ω
 e  d
2 q d 
 PHASOR AND SPACE VECTOR DIAGRAMS

 Motoring with a leading power factor

 Q=VaIasin φ, Q is (-),
 δ (-), motoring => absorbing
 absorbing Q(-), means capacitive
 check: Ef cos δ > Va, over-excitation
 Motoring with a lagging power factor
 Q=VaIasin φ, Q is (+),
 δ (-), motoring => absorbing
 absorbing Q(+), means inductive
 check: Ef cos δ < Va, under-excitation
 PHASOR AND SPACE VECTOR DIAGRAMS

 Generating with a leading power factor

 Q=VaIasin φ, Q is (-),
 δ (+), generating => exuding
 outputting Q(-), means inductive
 check: Ef cos δ < Va, under-excitation
 Generating with a lagging power factor
 Q=VaIasin φ, Q is (+),
 δ (+), generating => exuding
 outputting Q(+), means capacitive
 check: Ef cos δ > Va, over-excitation
 MACHINE PARAMETER
 Machine data from manufacturers are in form of
 reactance
 time constants
 resistances
 they are derived from measurement of stator windings
 The parameters of the rotor winding from stator
measurements are taken from a method of short
circuited oscillogram
 Short circuited oscillogram: stator is initially open-
circuited, keep field excitation constant, then apply
three phase short-circuit ground on stator and observe
3 phase stator current decay period
 The rate of stator current decay could tell us
information of machine’s time constant, reactance, etc.
 MACHINE PARAMETER
 Short circuit oscillogram
 the stator’s short-circuited transient current decay
exhibits two distinctly different decay period
 sub-transient: the first few cycles of short circuit when
current decay is fast, mainly attribute from the changes
of currents in damper winding
 transient: rate of current decay is slower and attribute
to the current changes in field winding
 Oscillogram cause
 sub-transient: change of current in the outer damper
winding limit the stator-induced flux from penetrating
the rotor
 transient: change of current in the field winding react
the same manner
 SYNCHRONOUS MACHINE TRANSIENT
ANALYSIS
 Generator transient behavior
 sub-transient analysis: lasting for only a few cycles right after the
disturbance
 transient analysis: lasting longer time than sub-transient period
 steady state analysis: transient phenomena die out
 SYNCHRONOUS MACHINE TRANSIENT
ANALYSIS
 Generator transient behavior
 sub-transient,

 transient,

 steady state
 SYNCHRONOUS INDUCTANCES
 Inductance is defined as L=λ/I
 Peak of rotating mmf aligned with d-axis, then
Ld= λd/I, same manner as Lq= λq/I, Ld and Lq
could be obtained in the synchronous operation.
 Voltage behind the synchronous inductance:
 A change in λd, λq in synchronous operation must be
contributed from change in id, iq where rotor currents
are unchanged
 λd=LdΔid+ λdss, λq=LqΔiq+ λqss
 Operate machine in synchronous speed, keep rotor
field current constant
 λdss = λd – Ldid = Lmd ifd’
 λqss = λq – Lqiq = Lmq ifq’ (7.94)
 VOLTAGE BEHIND SYNCHRONOUS INDUCTANCES

 The speed voltages corresponding to the flux linkage

components:
 Efd-jEfq=jωr(λqss-jλdss) (7.95)

 Substitute λdss, λqss in (7.94) into (7.95) the equation

yield
 Efd=Ed=ωr Lmd ifd’= ωr Lmd (vfd’/ rfd’)

 Efq=Eg=ωr Lmq ifq’= ωr Lmq (vfq’/ rfq’)

 Ed and Eg are the field excitation speed voltages

on stator side in the q- and d-axis in synchronous
operation.
 VOLTAGE BEHIND SYNCHRONOUS INDUCTANCES

 Ed and Eg are the field excitation speed voltages on stator

side in the q- and d-axis in synchronous operation.

Ed

Eq
 SYNCHRONOUS INDUCTANCE AND VOLTAGE
BEHIND INDUCTANCE
 Balanced steady state operation
 rotor and stator mmf are in synchronous speed, relative
speed of mmf=0, flux linkage does not vary with time,
no voltage is induced in rotor circuits
 generator is represented with a constant emf behind
synchronous reactance Xs=Xd, as figure below
Efd

 Transient operation
 short circuit at the generator terminal will result in
varying flux linkages with rotor, induce rotor transient
current and in turn reacts on stator armature
 transient analysis must use transient machine
parameters
 transient parameters must be obtained by test of
oscillogram
 TRANSIENT INDUCTANCES
 Induced current in the damper decay is more rapid
 the damper winding resistance >> field winding resistance
 In the transient period,
 we assume damper current decay is over
 induced field current still changes to opposite the change in flux
linkage by stator current
 Procedure for transient inductance estimation
 stator initially opened, then short circuit is applied
 keep rotor field excitation constant
 Change of flux linkage in d-axis in Stator winding
 Δλd=LdΔid+LmdΔ if’ (7.96)
 No change of flux linkage in rotor winding
 Δλfd = LmdΔid+Lff’Δif’ = 0 (7.97)
 where Lff’ =Lmd+L’f’, Lkd’ =Lmd+Lkd’,
 Substitute Δ if ‘ in (7.96) into (7.97), we have
 Δλd = (Ld -Lmd2 /Lff ) Δid
 TRANSIENT INDUCTANCES
 d-axis and q-axis transient inductance
 Ld’ = Δλd/Δid = (Ld -Lmd2 /Lff’ ) (7.99)
 Lq’ = Δλq/Δiq = (Lq -Lmq2 /Lgg’) (7.100)
 d,q axis transient inductance could be
considered as Lls in series with (Lmd//Lff’) or
Lls in series with (Lmq//Lgg’)

Lls
Lmd Llf’
Ld’
 SUB-TRANSIENT INDUCTANCES
 Procedure for sub-transient inductance estimation
 stator initially opened, then short circuit is applied
 keep rotor field excitation constant
 For the sub-transient period, rotor flux linkage
keeps initially constant, thus
 Δλf’ =0, Δλkd’ = 0
 Δλf’ = Lmd Δid+Lff’Δif’+LmdΔikd’ = 0
 Δλkd’ = Lmd Δid+LmdΔif’+Lkdkd’Δikd’ = 0 (7.104)
 Corresponding change in d-axis stator flux linkage
 Δλd = Ld Δid+LmdΔif’+Lmd’Δikd’ (7.106)
 Rearrange Δif’ = Δikd’ in (7.104) and substitute into
(7.106), we obtain (7.107)
 Ld’’ = Δλd / Δid
 SUB-TRANSIENT INDUCTANCES
 Equivalent circuit: Lls in series with (Lmd // Lff’
// Llkd’)

Lls
Lmd Llf’ Llkd’
Ld”
 TRANSIENT TIME CONSTANT
 Procedure for open circuit transient time constant
estimation
 stator initially open circuited, then apply field excitation
voltage change
 Transient time constant Tdo’
 larger value
 observe field winding current decay
 Procedure for open circuit sub-transient time
constant estimation
 stator initially open circuited, then short field winding
 Sub-transient time constant Tdo’’
 smaller value
 observe damper winding current decay
 Open/Short Circuit Transient (Field) Time Constant

 Open circuit transient (field) time constant Tdo’

 observe change in field currents in response to a change in
excitation voltage when stator is open circuited
 Tdo’ = Lff’ / rf’
 Lff’ equivalent circuit: Llf’ in series with Lmd
 Tqo’ = Lgg’ / rg’
 Typically, Tdo’ is of order of 2 to 11 secs.
 Short circuit transient (field) time constant Td’
 observe change in field currents in response to a change in
excitation voltage when stator is short circuited, Td’
 ratio of Td’ and Tdo’ equals to ratio of Ld’ and Ld, that is
 Td’ / Tdo’ = Ld’ / Ld
 The transient time constant can also be expressed as
1  ( L − L ) 2

Tdo = ' 
' d ls

rf  Ld − Ld '
(7.113)
 Open circuit Sub-transient Time Constants
 Open circuit sub-transient time constant Tdo’’
 time constant of kd damper winding current when
 stator windings are open circuited
 field windings are then shorted
 also defined as time in second required for d-axis
component of stator voltage decrease to (1/e) value
after a short circuited on the stator winding is suddenly
removed in rated speed
 During the initial decay of the sudden open circuit
stator voltage, the effective inductance of kd
winding
 Lkdo’’=Llkd’+(Lmd Llf’)/(Lmd + Llf’)
 Lkdo’’ equivalent circuit: Llkd’ in series with Lmd // Llf’
 Therefore Tdo’’ = Lkdo’’ / rkd’ (7.118)
 By symmetry Tqo’’ => Tqo’’ = Lkqo’’ / rkq’
 Short Circuit Sub-transient Time Constants
 Short circuit sub-transient time constant Td’’
 time constant of kd damper winding current
when
 stator windings are short circuited
 field windings are then applied shorted
 Lls Lmd
L'lf ( )
Lls + Lmd
L'kd
'
= L'lkd +
Lls Lmd
Lls + ( )
Lls + Lmd

 Therefore Td’’ = Lkd’’ / rkd’

 Calculating Machine Parameters
 Procedure to calculate the parameters for the
developed model
 Normally, the parameters given by the
manufacturers are the stator parameters
 stator leakage reactance, xls
 sometimes x0 = xls is given instead of xls
 d,q axis reactance, xd, xq
 Rotor parameters needs to be determined
 Procedure 1: Calculate xmd, xmq
 xmq = xq – xls
 xmd = xd – xls
 Procedure 2: Obtain transient and sub-transient
parameters
 Calculating Machine Parameters
 Determine transient reactance Xd’:
 obtain rms steady short circuit current after
approximately the 10th cycle
use the equation: ∆i ' = (I d' − I d )e − t /τ
'
d


or ln ∆i ' = ln (I d' − I d ) − t / τ d' = c'−m' t

 Calculating Machine Parameters
 Determine transient parameters
 rms transient current
I d' = e c ' + I d
 transient reactance
E0
X d' =
I d'
 transient time constant
1
τd =
'

m'
 Determine sub-transient parameters
 obtain rms short circuit current of the first 2 cycle
 use the following equation
∆i ' ' = (I − I )e
''
d
'
d
− t / τ d' '

or ln ∆i ' ' = ln (I d'' − I d' ) − t / τ d'' = c' '−m' ' t

 Calculating Machine Parameters
 Determine sub-transient parameters
 rms sub-transient current

I d'' = e c '' + I d'

 sub-transient reactance
E0
X = ''
''
d
Id
 sub-transient time constant
1
τ =
''
d
m' '
 Calculating Machine Parameters
 Procedure 3: Calculate xlf’
 when xd’ is obtained from Procedure 2
 from (7.99), calculate xlf’

d − xls )
'
x ( x
 xlf =
' md
xmd − ( xd' − xls )
 Calculating Machine Parameters
 Procedure 4: calculate xlkd’
 when xd’ is obtained from Procedure 2, from Eq. (7.107) calculate
 ( x ''
− x ) x x '
'
xlkd = ' d ls md lf

xlf xmd − ( xd'' − xls )( xmd + xlf' )

 ( xd'' − xls ) xlf'
'
xlkd = if x md >> x 'lf
xlf' − ( xd'' − xls )
 Procedure 5: calculate xlkq’
 Use Lq’’ given in Eq. (7.108) by setting Llg->∞, no field

winding in q axis
( xq'' − xls ) xmq
= if xmq >> xlkq’
'
 xlkq
xmq − ( x − xls )
''
q

 xlkq’ ≈ xq’’-xls
 Calculating Machine Parameters
 Procedure 6: calculate rf’
 Use Td0’ and Eq. (7.138)

1

rf =
'
( xlf + xmd )
'

ωbTdo
'

 Procedure 7: calculate rkd’

 Use Td0’’ and Eq. (7.141)

1
r =
'
( x '
+ x d − xls )
'


kd
ωbTdo
'' lkd

 Procedure 8: calculate rkq’

 use Tq0’’ and Eq. (7.143)

1
r =
'
( xlkq + xmq )
'


kq
ωbTqo
''
 Calculating Machine Parameters
 Or using short-circuit time constants to calculate rf’, rkd’,
rkq’


1 xmd xls
r =
'
(x + '
)
ωbτ d xmd + xls
f ' lf


1 xmd xls xlf'
r =
' '
( xlkd + )
ωτ xmd xls + xmd x + x x
kd '' ' '
b d lf ls lf


1 xmq xls
r =
'
(x +
'
)
ωτ xmq + xls
kq '' lkq
b q
 Project: Synchronous Machine Parameter Test

 (Homework): You need to build up your

synchronous machine model according to
parameters given from table 7.2 and then apply
the short circuit test or open circuit test to obtain:
1) xd’, xd’’, xq’, xq’’, Td’, Td’’, rf’, rkd’, rkq’ by short
circuit test assume only rs, xd, xq, xls are
available from Table 7.2
2) assume Tdo’, Tdo’’ are available from Table 7.2
by open circuit test, and obtain rf’, rkd’, rkq’,
3) verify your results with parameters in Table
7.2
4) you may need to calculate rotor parameters
that is similar to 7.7.1 to build up your model
 Project: Synchronous Machine Parameter Test

 Table 7.2
 % parameters of three-phase synchronous machine Set 1
 Perunit = 1 % parameters given in per unit of machine base
 Frated = 60;
 Poles = 4;
 Pfrated= 0.9;
 Vrated =18e3;
 Prated=828315e3;
 rs = 0.0048;
 xd = 1.790;
 xq = 1.660;
 xls = 0.215;
 x’d = 0.355;
 x’q = 0.570;
 x”d = 0.275;
 x”q = 0.275;
 T’do = 7.9;
 T’qo = 0.410;
 T”do = 0.032;
 T”qo = 0.055;
 H = 3.77;
 Domega = 0; % mechanical damping coeff
 Voltage behind Synchronous Inductances

 Voltage behind the synchronous inductance:

 A change in λd, λq in synchronous operation
must be contributed from change in id, iq where
rotor currents are unchanged
 Δλd=LdΔid+ λdss, Δλq=LqΔiq+ λqss
 Operate machine in synchronous speed, keep
rotor field current constant
 λdss = Δλd – Ldid = Lmd ifd’

 λqss = Δλq – Lqiq = Lmq ifq’ (7.94)

 Voltage behind Synchronous Inductances

 The speed voltages corresponding to the flux linkage

components is from unchanged flux component:
 Efd-jEfq=jωr(λqss-jλdss) (7.95)

 Substitute λdss, λqss in (7.94) into (7.95) the equation

yield
 Efd=Ed=ωr Lmd ifd’= ωr Lmd (vfd’/ rfd’)

 Efq=Eg=ωr Lmq ifq’= ωr Lmq (vfq’/ rfq’)

 Ed and Eg are the field excitation speed voltages

on stator side in the q- and d-axis in synchronous
operation.
 VOLTAGE BEHIND SYNCHRONOUS INDUCTANCES

 Ed and Eg are the field excitation speed voltages on stator

side in the q- and d-axis in synchronous operation.

Ed

Eq
 Permanent Magnet Synchronous Motors
 The dc excitation field winding can be replaced with
permanent magnet
 Difference of replacing the dc excitation with permanent
magnet is the elimination of copper losses
 Magnet arrangement:
 Surface: high magnetic material, leakage of magnet is small, not
easy to demagnetize, smaller volume of permanent magnet
interior: need a longer length of magnet, flux focusing is needed
 Permanent Magnet Synchronous Motors

 Advantage: simple construction, lower

weight and size for same performance
 Disadvantage: high price, magnet change
with time
 Motor start:
 line-start: have a rotor cage to help start motor
on a fixed frequency supply
 inverter-fed: variable frequency supply to start
motor to synchronous speed
 Permanent Magnet Synchronous Motors
 The circuit model used is similar to the
synchronous model we had before, the difference
is the rotor field winding
 Rotor field winding is replaced by a permanent
magnet inductance Lrc and equivalent
magnetizing current im’ in d-axis only, no q-axis
field winding
 Some difference of dq0 equations between
Synchronous and PM Synchronous motors
 flux linkage:
 λd = Ld id +Lmdikd’+Lmdim’
 λkd’ = Lmd id +Lkdkdikd’+Lmdim’
 λmd = Lmd (id +ikd’+im’) = LMD (λd/Lls +λkd’/Lkd’+ im’)
 Tem = (3/2)(P/2) (λd iq - λq id)
 Basics of Magnetics
B, φ, λ

 Recoil line (0, φr1)

 H (magnetic field) vs. B (flux density)

 F (mmf) vs. φ (flux)

 i (current) vs. λ (flux linkage) H, F, i

(-Fo, 0)

 φ, F relationship of the Recoil line

φ
Prc
φ = ( Fo − F ) Prc +
φr1 = Prc Fo Fo F
DC

φ -
F = Fo −
Prc
 Basics of Magnetics
 Equivalent magnetic circuit
 thevenin’s equivalent
φ
Prc
φ = ( Fo − F ) Prc +
φr1 = Prc Fo Fo F
DC

φ -
F = Fo −
Prc
 norton’s equivalent φ

φr1 = Prc Fo to replace Fo with φr1 φr1

+

φ Prc F
in F = Fo − , we get
Prc -
φ = φr1 − Prc F
 Basics of Magnetics
 Math dual between magnetic and electric circuit
 norton equivalent i
Prc φ
+ +

Fo F io Lrc V
DC

- -

 thevenin equivalent
φ
Lrc i
+ +
φr1
Prc F Vr DC
V
-
-
 Permanent Magnet Synchronous Motors
 Electric circuit on synchronous machine
 the permanent magnetic part will be represented by a
fixed current source im’ in parallel with inductor Lrc

DC

Lmd
Lrc
stator part im’

equivalent electric
circuit for PM part
in rotor
 Permanent Magnet Synchronous Motors
 Electric circuit on synchronous machine
 machine equations
 Project: Simulation of Permanent Magnet
Synchronous Machine

 (Homework): You need to build up the permanent

magnet synchronous generator (PMSG) model according
to parameters given in Table 7.6 (im’=1.6203pu) . The
PMSG is connected to a Y balanced resistive load
(Ω=0.1pu). When a torque is applied at the generator,
obtain the following simulation result for the simulation
run time of 10 sec.
1) A constant torque 0.5pu is applied to the generator,
obtain d-q terminal voltages, stator currents,
electromagnetic torque, rotor speed, input power,
resistive loss, and real power output.
2) A series torque is applied as the following:
[0 0 1 1 0.5 0.5 1 1] for the corresponding time [5 5.4
5.4 5.8 5.8 6.2 6.2 6.5], obtain d-q terminal voltages,
stator currents, electromagnetic torque, rotor speed,
input power, resistive loss, and real power output.