EEEl Transactions on Energy Conversion, Vol. 10, No.
3, September 1995
A GENERALSIMULATION ALGORITHMFOR THE ACCURATEASSESSMENT OF
ISOLATED DIESEL WIND TURBINES -
SYSTEMS INTERACTION.
PART I: A GENERAL MULTIMACHINE POWER SYSTEM MODEL.
G.S . Stavrakakis
Technical University of Crete
Dept. of Electronic and Computer Engineering
73133 Chania, Crete, Greece.
-
Abstract In the first part of this two-part paper, detailed
dynamic equations for the power system and Wind Energy Conversion
System (WECS) components and their synthesis to a unified model are
presented. This model is the bask for creating a simulation software able
to perform transient stability analysis of isolated Diesel-wind turbines
power systems for accurate assessment of their interaction.
Approximations In the various component models, when necessary,
remain between limits that do not affect the accuracy of the analysis
performed. A new general multimachine power system model is also
developed which describes the topology and the complexity of Wind-
Diesel systems in a compact form easy to implement in the simulation
software.
b v w o r d s :Autonomous power systems, Diesel - wind turbines
systems, transient stability analysis, multimachine power
system modelling.
1. I"
In recent years there has been a growing interest in intermittent
generation such as Wind Energy Conversion Systems
interconnected with utility systems due to environmental,
political and institutional reasons [l-31. Such systems are usually
interfaced with the existing power grid for "fuel displacement"
purposes as well as for earning some "capacity credit".
Intermittent generation is quite different from conventional
power plants. In the case of autonomous operation of WECS,
some form of energy storage is required (pumped storage,
hydrogen production, battery storage, etc.), thus reducing the
economic attractiveness of the overall system.
The introduction of a relatively small amount of wind derived
electrical power into the utility grid does not normally present
any interfacing or operational problems. The situation is
completely different when substantial amount of power is
penetrating a conventional utility system. Penetration related
problems are particularly acute when considering the installation
and parallel operation of WECS with a small or medium
autonomous power system.
95 WM 092-7 EC A paper recommended and approved
by t h e IEEE Energy Development and Power Generation
Committee of t h e IEEE Power Engineering S o c i e t y f o r
p r e s e n t a t i o n a t t h e 1995 IEEE/PES Winter Meeting,
January 29, t o February 2, 1995, New York, Np.
Manuscript submitted December 21, 1992; made a v a i l -
a b l e f o r p r i n t i n g November 14, 1994.
0885-8969/95/$04.00 0 1995 IEEE
577
G.N. Kariniotakis
In an autonomous grid supplied by Diesel - wind turbines
system the voltage and frequency fluctuations will be
considerably greater than in the main public grid. The assessment
of the effects of the wind power penetration to an existing
isolated power system necessitates the calculation of the
disturbances (voltage and frequency deviations as well as
instabilities) that may be provoked by the wind turbines (WT)
under several abnormal operating conditions e.g. start-up or
sudden disconnection of the wind farm or part of the wind farm,
wind gusts, short circuits on the network e.t.c. The study of the
previously mentioned abnormal system conditions enables power
system stability studies.
The results presented in [ l ] have shown that the energy
delivered by a wind turbine is at the range of frequency 10-O"Hz to
Hz. This is the frequency range of the common transient
stability power system studies.
In transient stability power system studies the concern is the
stability of the power system following a disturbance which
generally causes large excursions in many system variables [7-91.
Hence the nonlinearities of the system equations must be included
in the transient stability representation. Thus, advanced
component modelling must be used. Such a system model because
of the detailed component considerations consists a very realistic
dynamic simulation model for isolated Diesel - wind turbines
systems. Power system dynamic stability is out of the scope of
the present paper.
Models of the Diesel engine, Diesel engine governor,
synchronous generator, automatic voltage regulation (AVR),
wind turbine (WT), induction generator, compensating capacitor
banks (CB),transmission network and the load are presented and
analyzed.
Very detailed component models as Park equations [4] for
induction and synchronous generators have been avoided, because
these models do not add significant precision in the transient
analysis power system studies.
It is a common practice for transient power system analysis to
use simplified simulation models in which the stator electric
transients of synchronous and induction machines are neglected
[4, 6, 241. Moreover, the time constants associated with the
transmission network transients are very small and can be
considered to be zero without significant loss of accuracy [2, 6,8,
19, 251.
A new general multimachine power system model is developed
which incorporates in a compact form the transmission network
and the machines stator equations by taking into account in a
simple way the machine topology in the network. This approach
offers a fast numerical solution of the numerous Wind-Diesel
power system algebraic equations.
The paper finally presents the guidelines for incorporating the
various components models in an integrated software able to
perform transient stability studies for isolated Diesel - wind
turbines interaction assessment.
578
2 . 2 G OF THE
ES SUS=
In order to develop a simulation algorithm able to perform
transient stability analysis of an autonomous Wind/Jliesel power
system, appropriate models for all the power system and the
WECS components are given in this Section. The various
components models presented here are general and able to give
accurate results for a wide range of the Windpiesel system
perturbations.
2.1
The ability of a wind turbine to extract power from varying
winds is a function of three main factors : the wind power
available, the power curve of the machine, and the ability of the
machine to respond to wind fluctuations. The mechanical power
that is produced by a wind turbine is given by [111 :
Ph = 0.5 pCdU.! (watts) (1)
where the various notations are provided in a Nomenclature at the
end of this paper.
In [12, 131 it is demonstrated that the power coefficient of any
wind turbine can be given analytically either by a third degree
polynomial or by other more complex expressions l i e the one
presented below :
cP--- 1 6 'x - 0.57
2
(2)
27 + 1.32 + [(X-8)/20J2 L(x+J-)
B
D 2B
where k is the tip speed ratio defied as: k = m.
UW
In the above expression, B is the number of blades of the wind
turbine and LID is the lift to drag ratio. B and LID are known from
the technical characteristics of the WT. Equation (2) is valid for
41h120, for B=1, 2 or 3. and LID225 with a high degree of
accuracy (e.g. C p within k 0.005) [13].
The case of a variable-speed WT with a pitch mechanism, that
alters the effective rotor aerodynamic efficiency, can be easily
considered if an appropriate expression for C,. as a function of
the pitch angle, is applied. Such expressions, as well as the
equations governing the control action, can be found in [ll].
2.2 The mechanical Dart of the wind turbine mode]
The shaft dynamics of the wind turbine are characterized in
terms of the wind turbine blade speed (aB),
the hub speed (aH).the
gear box speed (ac)and the generator mechanical speed (a,,,)The
.
equations describing the motion of the several shaft sections are
the following [ l l ] :
(3)
The mechanical (a,,,) and the electrical (aA)angular velocities of
the generator are related by aA=(p/2)w,,,,while the angular
velocities at the two sides of the gear-box by a,,,=R,oc, where P is
the number of poles and R , is the transmission ratio. Angular
velocities are related to shaft angles by
dt
= Am : i =B, H , G.
Equations (3) can be normalized, based on the generator three
phase voltampere rating.
The above model is convenient for the case in which the
machine behavior will be studied during high turbulent wind, wind
gusts, etc. It is a common practice however to neglect the
dynamics of the mechanical part as considerably slow compared
to the fast electrical ones, especially for machines with great
inertia or when the necessary parameters are not available. Then
the system of equations (3) can be reduced to one differential
equation by neglecting the hub dynamics and considering the
shaft as inflexible (@ = 0,=2OA):
P
(4)
In equation (4). called the swing equation, angular velocities
are in rads=. while the other quantities are given in the per-unit
(P.u.) system where the machine kVA rating is chosen as basis.
The well-known per-unit transformation is extensively developed
in [4. 19, 231.
2.3. bsvnchronous generator model
It is considered that the WTs are equipped with asynchronous
generators. The asynchronous machine equations are derived from
Park equations after some simplifications [4, 8, 91. The most
important is that the stator electrical transients are neglected as
much faster compared to the rotor ones. These equations are given
here in the per-unit (P.u.) system with respect to the synchronous
reference frame.
Wind generators are considered as asynchronous motors in
generating operation (negative loads). The operation of the
asynchronous machine will be determined from the sign of the
electromagnetic torque and the slip, that is negative torque and
slip correspond to generator operation while positive torque and
slip to motor operation [41.
Thus, the algebraic stator equations are :
vd = EA + rJd - xi,, v, = E; + r,Iq + x ' I d (5)
The differential equations describing the dynamics of the rotor
windings are :
a;- 1 [-E& - (X-X')Iq+ s a ; ]
dt Ti
The electromagnetic torque equation is :
TAc=Ed Id + E; Iq (7)
Output active and reactive power, voltage and current are given
by the following relations :
In the case of a wind park consisting of many units,the number
of differential equations becomes very high. Then, in order to
reduce the total number of equations it can be assumed that a
number of wind generators operate under the same wind
conditions. The wind park can be partitioned into groups of n -
machines which operate identically and each group can then be
replaced by an equivalent machine. In the same group should
belong identical machines. The parameters of the equivalent
machine replacing n-machines identically operating are then
given by the following relations :
HAn=nHA, T L = T i , r,='.,
n
& =nx , xi=L
n (9)
The case of WTs operating in the variable-speed mode by
employing power electronics to control the electrical link to the
grid, can be easily considered given the modularity of the

proposed simulation algorithm. The necessary additional
modelling considerations can be found in [3].
2.4 Diesel enpine modelling
The Diesel engine model gives a description of the fuel
consumption rate as a function of speed and mechanical power at
the output of the engine.
The Diesel engine is usually modeled by a simple first order
model relating the fuel consumption (fuel rack position) to the
engine mechanical power. Notice that the transfer function of a
reciprocating engine involves a small but significant time delay
associated with the mean time between firing [ 141.
The efficiency of the combustion E is the ratio of the effective
horsepower developed by the engine and available on its
crankshaft to the heat consumed during the same time, i.e., [I61 :
Incomplete combustion is the main reason for which the
indicated efficiency is lower than the ideal efficiency. The mean
effective pressure p i of the engine is defined as [ 161 :
p i= w, (1 1)
vh
By solving (IO) with respect to W i and substituting into (11)
we get :
where C, is the appropriate proportionality constant. Note that
for normal or stable power system operation v is almost constant
and its value is imposed in order to keep the system frequency
constant at 50 Hz.
The mean pressure of mechanical losses is taken in a first
approximation proportional to the mean piston speed U,, i.e.,
p f U , [I61 , where U,=2Sfm since the piston travels a distance
I The IEEE General Model for Speed-Governing Systems, defined
of twice the stroke per revolution. Thus, p f can be generally
written as p f =C,o (w=rCPf,) valid for any engine with appropriate
constant C,.
The real mean effective pressure p k of the engine must be :
pk=pi-pf (13)
The real mechanical power PDmof the Diesel engine is given by
the equation :
PDni = zvhvpk = VHVpk = VH cr)n PI. (14)
nK
The mechanical torque Tomof the engine is then given by the
following relation in the p.u. system :
The combustion efficiency E of the engine depends on the
combustion quality as it has been mentioned before. A fuel-
combustion model of the Diesel engine involving characterizing
wave and flame propagation is needed for deeper study. Being out
of the scope of the present paper, combustion efficiency is
represented as a function of the air-fuel ratio m&, as following :
E =f (2)
Analytic expressions off(.) for a specific engine can be found
in [16]. At normal operation of the engine we consider E to be a
constant in the simulations.
The block diagram of the Diesel engine derived using the above
considerations is presented in Fig. 1. Typical values for the
579
F
ENGINE
Fig 1: Diesel engine - Governor model.
parameters of the above model can be found in [14].
2.5 Diesel engine speed repulator (Povernor)
A governor can be defined as a mechanical or electromechanical
device for automatically controlling the speed of an engine by
relating the intake of fuel. Several types of governors exist as
mechanical-hydraulic, direct mechanical type, electrohydraulic,
electronic and microprocessor based governors.
For a constant setting of the speed changer the static increase
in Diesel engine power output is directly proportional to the
static frequency droop [7]. This result points out the physical
significance of the regulator feedback parameter R . It is reminded
that the physical unit for R is H a W . The value of R is considered
always positive and if frequency and power variations are in p.u.
then R is also in p.u.
After the primary control function, which brings the system to
an equilibrium state with a permanent frequency error, a secondary
control is needed which establishes eventually nominal
rotational speed by eliminating the static frequency error. The
device which performs this action is the frequency error signal
integrator [5, 151.
in [IO], has been used in this study. In the case of governors for
Diesel units, this model is simplified by setting all the time
constants that correspond to steam or hydro units [19] equal to
zero and by neglecting the gate servo rate limits [6, 151. Then, a
first order model with a time constant ‘52 representing the
governor delay, is obtained.
The complete Diesel engine and speed regulator block diagram
is shown in Fig. 1.
The load is generally frequency dependent [9, 191. This fact can
be taken into account by considering the p.u. load damping
apL
coefficient D,defined as : D = - (PJ. kW 1 P.U. Hz). The load
af
damping coefficient D can be neglected in practical cases, due
to the positive effect that it always has on the system stability.
The omission of D during the system transient simulations gives
more pessimistic results than the real situations.
The differential equations describing the Diesel engine and the
speed regulation system of Fig. 1, are :
An expression is given in [I41 to compute ‘5, with respect to
the Diesel engine speed variations.
The electrical angle of the rotor 6 is related to the electrical
angular velocity o by the following relation :
580
&=,-a=&
dt
The mechanical motion equation (swing equation), is in p.u. :
In some practical cases the necessary parameters for the Diesel
engine model, which is proposed in this paper, may not be
available. Then the Diesel engine system can be simplified to a
first order transfer function model with a time constant To [15]. in
which the mechanical losses and the delay are neglected (C,=O,
r,=O).
2.6 -nous e
- equals v,.
The equations of synchronous generator are obtained from Park
equations after some simplifications [4, 171. The most important
is that stator transients are neglected as much faster compared to
the rotor ones. In the model presented here synchronous machine
rotor consists of three windings. A field and a damping winding
are considered on the direct axis in order to take into account the
transient and subtransient behavior respectively in this axis. On
the quadrature axis a damping winding is considered having a
subtransient (or transient) time constant. With this model both
subtransient and transient phenomena can be examined [17, 251.
The algebraic stator equations are in p.u. :
vd = E: -rsld +x;Iq, vq= E; - r,I, -xi& (22)
The differential equations corresponding to the rotor winding
dynamics are in p.u. :
The electromagnetic torque equation is in p a . :
Toe= E& + EiIq - (Xi - Xq-)ldq (26)
The machine current, output voltage and power given by (8) for
the asynchronous generator are also valid here.
2.7 Automat ic voltage reg ulator (AVR)
The purpose of an AVR is to provide to the synchronous
machine the proper field voltage, so as to maintain the desired
voltage and reactive power that the synchronous machine
generates. An important characteristic of an AVR system is that it
responds rapidly to voltage deviations during both normal and
emergency system operation.
The most commonly used AVR general models are those defied
by the IEEE and especially Type 1 model [18. 191. The differential
equations of the IEEE Type 1 AVR model can be written in a
matrix form convenient for the system simulation as following :
where S, = flVJ is the exciter saturation function. Expressions for
S, can be found in [18, 241.
The synchronous generator field voltage Efd is related to the
excitation voltage V, by :
where ~f = Ldd is characteristic parameter of the generator (&$
6 Rfd
mutual inductance between stator and field windings, R,d:
resistance of the field winding). All the variables must be in the
per unit-system. The one per-unit (1 P.u.) generator voltage is
defied as rated voltage. The one per-unit (1 P.u.) exciter output
voltage is that voltage required to produce rated generator voltage
on the generator air gap l i e . Hence in the per-unit system Efd
Other AVR schemes may easily be tested since the interface
variables between the AVR system and the synchronous generator
remain the same : the output of all four IEEE Types is the p.u.
excitation voltage V,, while the input is the p.u. synchronous
generator terminal voltage Vr (in Type 3 the p.u. synchronous
generator terminal and field currents should be added as input) [le].
2.8 Load m o a
For a realistic model of the load it is necessary to estimate
qualitatively and quantitatively its composition that is the nature
of the load components and their percentage in the total load. An
analysis for the estimation of the load composition is presented
in [20-221.
In the simplest but common case the whole load or a part of
this can be modeled as an impedance 2, = RL + j d,. When the
load active (P,), the reactive (aL)
power and the bus-bar voltage
(V,) are known at steady-state then the values of resistance (R,)
and inductance (LJ can be calculated by the relation :
PL +~QC
= IVr P Y i (29)
where YL = Yi' and * denotes the conjugate of Y
,.
The load components which represent motors can be
aggregated into groups depending on the machines size. Each
group of motors is represented by an equivalent motor which is
modeled by the induction machine equations (5) to (7) with the
appropriate parameters. The motor acceleration dynamics can be
described also by (4).
The mechanical load torque is represented by the following
polynomial function of the motor speed [22] :
T,= T , (A& + B% + c) (30)
The values of A, B and C are determined from the steady-state
loading of the motor and hence the steady-state value of speed U ,
.
A simpler relation that can also be used is T,,,= T,& where k= 1
for fan-type loads or k=2 for centrifugal pumps [24]. The value
of T , is estimated in the same way as the parameters of (30).
Another important category of load is lighting load which is
modeled by static models, that is models depending only on
frequency and voltage and not on time, like the motor (dynamic)
loads. For details on lighting load models the reader is referred to
[20]. In [22] more complex aggregated models for static load can
be found that take into account the effect of frequency and voltage
variations on this load type [18].
2.9 -itor
Capacitor banks (CBs) play an important role when connected
to Diesewind power systems especially when large penetration
levels are examined. Wind generators absorb reactive power for
their excitation and hence reactive load in the power system is
increased. Capacitor banks contribute in maintaining the power
 581
factor of synchronous generators to acceptable levels. A positive Bk
effect also in voltage regulation is provided. IC = MI I
I (33)
CBs are connected in steps to the power system. In the i =1
simulations they are expressed as injected currents in the and Bc (k=l,..N) is the number of machines connected at the k-th
network. When a CB is applied in a particular node the injected bus-bar.
current in the bus-bar, after the elimination of the transients, is : The matrix M: is introduced in order to consider the appropriate
-
I c = J v,
9

- (31)
sign of the current 1; of the i-th machine connected to the k-th
xc bus-bar, that is :
Equation (31) is valid when there are not large deviations from
the nominal frequency. The reactance X c can be introduced in the
network admittance matrix. In order to take into account large
frequency variations, parameter X, must be expressed as oC.
1
J for a synchronous generator (J is the 2x2 identity matrix),
Mf = -J for an asynchronous machine.
The total number G of machines in the power system is the s u m
N
Transients from the CBs interconnection are neglected as very
fast compared to the transient stability phenomena time scale
of machines connected at each bus-bar : G = C Bk. Equation (33)
A=1
examined here.
expresses that the total injected current lkat the k-th bus-bar is
, COMPACT MULTIMACHINE POWER SYSTEM
3. 4 the algebraic sum of currents injected (absorbed) by the B ,
generators (or motors) which are connected to this bus-bar.
MODEL The stator equations of both synchronous and asynchronous
In this Section the more general case of a power system, where machines, given by (5) and (22). can be expressed by the
the transmission network is not neglected and an arbitrary following global matrix relation :
number of synchronous generators and/or asynchronous = E: - Z,"MfI,^ (34)
machines is connected at each bus-bar, is considered. This general
case as well as the differences between the machines reference where the index i denotes the machine connected to the bus-bar k.
frames, imply normally a large amount of consecutive In (34) VI and I; are the vectors of each connected machine
intermediate calculations in order to calculate the machine stator terminal voltage and current coordinates, given as VI = [Vd. V q r
currents. In the following analysis, a unique relation which gives
analytically by a simple matrix inversion the internal machine and I f = [ I d , Iq]' respectively. E: is each connected machine
currents is derived by eliminating all the intermediate voltage behind transient (or subtransient) reactance defined as
calculations.
Transmission lines are modeled depending on their size. They
E! =[E;, E~T
for an asynchronous machine or as EI = [G, E;Y
are characterized as short when their length is less than 80 km. as for a synchronous. Finally the impedance Zf is given by
medium when it is between 80 and 240 km and as long lines when
their length is greater than 240 km [23]. A small line is modeled
by the series resistance RTL and inductance LTL which are
considered as concentrated for the total length of the line. The
Z:=[ i ,]: for an asynchronous and by Z I =

synchronous machine respectively.

[X, I.
rJ. -" for a

In order to write the stator equations of a general multimachine

capacitance C T L of small transmission lines can be neglected
while in the case of medium lines it has to be included (equivalent
1c circuit). The modelling of long lines is out of interest in this
paper since small or medium isolated power systems are
examined.
Although in similar studies [12, 151 it is usual to neglect
transmission network, especially for small power systems, this
practice will not be followed here in order to develop a general
algorithm able to cover cases with rather extensive networks
which can not be neglected.
Since transmission line characteristics (RT? LTL. C T L ) are given
per length, they are multiplied by the line length and the
resulting values are considered as concentrated over the
transmission line. Then the network admittance matrix Y can be
easily formulated as explained in 119, 231. Other power system
components, which can be represented by an equivalent
admittance (capacitor banks, transformers, loads, etc.), can be
also introduced in the network admittance matrix.
The admittance matrix Y can be reduced [19] so as to obtain
matrix YN with dimension 2Nx2N, where N is the number of
power system bus-bars where current is injected.
The bus-bar voltages V N and the corresponding injected
currents IN are related by the following equation which is written
in the synchronous reference frame D-Q :
I , = Y , VN (32)
The vector of the currents injected into the N bus-bars is
system in a compact matrix form, the following definitions are
necessary :
v, 9 [vl',...,vi',,v:,..., vi2,v,N...., V&P
E,: [E! ,.... EJl, E? ,..., E & E f ...., EB"]T
Each element of the above vectors and matrices refers to a
specific machine. Elements with the same indices are related
through (34). Hence the following general equation can be
written for the multimachine system :
Vdq=E,+q-ZnMml* (36)
Equation (36) contains quantities expressed in the d-q reference
frame of each machine, thus the elements of system variables
vectors in (36) are not expressed in a common reference frame.
In order to be able to express all the elements of vectors in (36)
in a common reference frame, that is in the synchronous reference
frame. the following transformations are used :
VW=TV+, EW=TE,, IW=TI+ (37)
where T is the rotation matrix defined as :
582
k
where 6; is the angle of the i-th machine connected to the k-th
bus-bar and rot (S) = cos(6) -sin(@
sin (@ cos (@
The transformation from the synchronous to the machine reference
frame (for the vector of voltage) is demonstrated in Fig. 2.
We introduce the matrix L, in order to take into account the
machines topology in the network. The dimension of L, is
2Nx2G. The matrix L, is composed by submatrices 2x2 each one
characterizing the topology of only one machine. Each
submatrix is either the 2x2 identity matrix J for the Bk machines
that are connected to the k-th bus-bar or the 2x2 null matrix for
the other machines that are not connected to this bus-bar. The
algorithm to create matrix L,,,is given below :
It can be easily shown that :
IN = Lm Mm IDQ (39)
From (32), (39) and (40) the following relation is obtained in
the synchronous reference frame :
rDQ = E24 L MJ'VDQ (41)
where & = Yil.
Finally from (36). (37) and (41) the relation which gives the
internal machine currents in the machine reference frame is
obtained :
I, =[T-'Z;T (42)
where: &=c&L,,,M,,, and &=Z.M,.
Relation (42) provides the current coordinates of each machine
(synchronous or asynchronous generator or motor) connected to
the network, in the individual machine reference frame. For a
system of G machines it provides 2xG algebraic equations which
are solved together with the differential equations of the various
components (see Section 2).
Equation (42). which has the same simple form as (32),
incorporates both the network and all the machines stator
equations. Its solution requires minimum calculation effort since
a unique matrix inversion must be performed. It is reminded that
-'
for the transformation matrix T = T'. The matrices & and & are
calculated only once at the initialization of the integration
process.
4. INTEGRATION OF THE VARIOUS COMPONENTS
ELS IN A SIMULATION SOFTW-
In this Section guidelines to integrate the various components
models presented above in order to develop a simulation software
able to perform accurate transient stability analysis of isolated
WmdDiesel systems are given.
In order to construct the network admittance matrix it is
convenient to number the various bus-bars following a specific
order which depends on the type of components that are
connected at each bus-bar. It is recommended to number f i s t bus-
bars where synchronous generators are connected, while buses
with asynchronous generators, motors and static load are then
numbered. If this order is followed it is an easy task to formulate
the described above multimachine power system matrices
necessary for the numerical computations.
Fig. 2 Transformation fran the synchronous to the machine ref. frsme.
The integration of (18) and (19) and all the necessary
intermediate calculations (see Paragraph 2.4) for the Diesel
engine model implementation can be made in the physical units
while only the mechanical torque is transformed in the per-unit
system in order to be used in (21). The same methodology can be
followed for the solution of the differential equations of the wind
turbine mechanical part.
The swing equation (21). the synchronous generator and also
the speed regulator equations are given in a common per-unit
system which is based on the synchronous generator kVA rating.
The interconnection of the voltage regulator (AVR) and
synchronous generator models is described in Paragraph 2.7. In
order to integrate (27). the steady-state values of Vnf and V, are
calculated in p a . by solving (27) when derivatives are equal to
zero. The values of V,and EP needed in order to determine Vn, and
V , are known from the initial conditions of the synchronous
generator.
When equations written in the machine individual per-unit
system must be interconnected, a common per-unit system has to
be chosen. The methodology for choosing the base values for the
common per-unit system is presented in [7. 8, 231. All the
parameters that their definitions are based in per-unit quantities
related to each machine rating, have to be transformed in the
chosen common per-unit system. Such parameters are the
machine inertia time constant H. the Diesel engine speed
regulator parameters R and K,, and the load self regulation
parameter D.
The integration of the entire system of differential equations
provides the time response of the power system and WECS state
variables. Details of the integration procedure as well as the
calculation of the necessary initial conditions are given in the
Part II of this two-part paper.
5. CONCLUSIONS
In the fxst part of this two-part paper the modelling of the
various power system components was examined. Models were
given for the various components of an autonomous power
system that is for conventional units (Diesel engine,
synchronous generator and speed and voltage regulators). for
wind generators (wind turbine, asynchronous generator), for
capacitor banks, for the transmission network and finally for
various types of load.
The common practice to neglect the a.c. machines stator
electrical transients and also the transmission network transients
as very fast with respect to the time scale of the transient
phenomena examined here was analyzed. From this
approximation it was possible to derive a simple but general
multimachine model in a compact form for the power network.
This model permits to describe in a simple way isolated power
systems of arbitrary topology with any number of interconnected
synchronous generators and asynchronous machines. In addition
the derived equation provides a fast solution of the necessary
power system algebraic equations.
The integration of the models presented here in a simulation
software will provide a general and robust tool for the accurate
assessment of isolated Diesel-wind turbines systems interaction.

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POMENCLATURl$
P atmospheric density (kg m-').
U, instantaneous wind speed averaged over the wind turbine rotor
swept area (m sec-').
583
r wind turbine blade radius (m).
A wind turbine rotor swept area (m').
B, H, G indices corresponding to blades (B), hub (H) and generator
(G) subsystems of a wind turbine.
6; = B ~ , G axis angle of the wind generator subsystem i.
J i = BJ,,C moment of inertia of the wind turbine subsystem i (kg m s .
Di=BH,G damping coefficient of the wind turbine subsystem i (when the
index is ij the quantity corresponds to the axis connecting the
subsystems i and]) (J sechad).
Kij;ij=BCI.G spring constant of the axis connecting the subsystems i and j
("/rad).
TArn mechanical torque developed by a wind turbine @.u.).
HA total wind turbine and induction generator inertia time constant.
0 0 synchronous angular velocity [=2 x 50 Hz] (radsec).
0A wind generator angular velocity (rad/sec).
0, angular velocity of the synchronous reference frame.
S slip of induction machine defined as the ratio s = q-0, .
Q
>
X'
induction or synchronous generator stator resistance @A).
induction generator open circuit reactance @.u.).
induction generator open circuit transient reactance @A.).
ro induction generator rotor open circuit transient time constant (sec).
2,Vq
Ed', E,'
a.c. machine terminal (bus-bar) voltage @.u.).
voltage coordinates : V,= v d + jVq @.u.).
induction machine voltages behind transient reactance X'@.u.)
[A induction machine current magnitude @.U,).
Id, I , current coordinates : I, = Id + j I , @.u.).
Diesel engine controller reference speed (rad/sec).
Diesel engine speed (radlsec).
Diesel engine efficiency of the combustion.
Number of poles in the synchronous generator.
base toque for the per-unit transformaion [4, pp.1801.
Diesel engine stroke cycles per second [=o,,,/(~cK)]. where :
K=2 for two-stroke engine or K=4 for a four-stroke engine.
Diesel engine number of cylinders (operating during a
combustion cycle).
Diesel engine one stroke volume [=zD2S/4. where D : cylinder
diameter, S : stroke] (m').
Diesel engine total stroke volume [= zV,] (m')
Diesel engine heat value of the fuel (kJ / kg).
Diesel engine time delay (sec).
Fuel actuator gain constant
Diesel engine mean effective work (developed by one piston
during a combustion cycle) (kWh).
Diesel engine consumption rate (kg/sec).
Diesel engine combusted fuel rate (kg/sec).
Diesel engine mechanical losses expressed as equivalent
pressure droop (bar).
govemor summing loop amplification factor @.u.kW/p.u.Hz)
Diesel engine permanent speed droop (pm Hz / p.u. kW).
synchronous generator inertia time constant (sec).
synchronous generator reactance of direct (i=d) or quadrature
(i=q) axis (P.u.).
synchronous generator transient reactance of direct (i=d) or
quadrature (i=q) a x i s (PA.).
synchronous generator subtransient reactance of direct (i=d)
or quadrature (i=q) (PA.).
synchronous generator voltage behind the transient reactance
x d (p.U.1.
synchronous- generalor voltages behind the subtransient
reactances x d and x (P.U.).
synchronous generator open circuit subtransient time constant
of quadrature axis (sec).
synchronous generator open circuit transient and subtransient
respectively time constants of direct a x i s (sec).
AVR subsystems indices : Regulator input fdter (R), Amplifier
(A), Stabilizer (S). Exciter (E).
gain constant of the i subsystem of AVR.
time constant of the i subsystem of AVR (sec).
AVR reference voltage @.U,)
Acknowledgements as well as the authors
biographies are found in the Part I1 of the paper.