Unit 4

SYNCHRONOUS
MACHINE MODELLING
& ANALYSIS
R.RAMANUJAM
UNIT IV MODELLING OF SYNCHRONOUS

MACHINES (9 hours)
Synchronous machines Voltage and torque equations
in static and rotating reference frames - Equivalent
circuit Phasor equations - Phasor diagrams -Power
angle characteristics - Machine reactance and time
constants - Analysis of steady state and dynamic
operations Synchronous machine dynamics under
unbalanced/fault conditions - Computer simulation. m
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REFERENCE
1. R. Ramanujam, Power System Dynamics Analysis
and Simulation, PHI Learning, New Delhi, 2013.
2. Paul C.Krause, OlegWasyzczuk, Scott D.Sudhoff
Analysis of Electric Machinery and Drive Systems
IEEE Press, Second Edition, 2002.
3. Hadi Sadat, Power System Analysis McGraw-Hill,
2004.
4. E.W. Kimbark, Power System Stability:
SYNCHRONOUS MACHINES, Dover Publications ,
Inc., New York, 1956
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SEVEN-WINDING MODEL
(RAMANUJAM)
b-axis
d
f
r
q
a
a-axis
D
c-axis
a
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M/C MODEL-ELEC PART: EQUATIONS

(RAMANUJAM)
Flux linkage equations in stator (abc) coordinates
Sign Convention
Flux linkage of a circuit produced by the current in the same circuit

element is considered to have the same sign as the current.
For example, for winding k is positive, the flux linkage due to this current
is given by
k = Lkk ik
(ik out of the terminal is +ive)
is positive; Lkk is the self inductance of the winding. The same convention
is extended to the contribution from a mutually coupled winding. Hence,
a = Laa ia + Lab ib + Lac ic + Laf if + LaD iD + Lag ig + LaQ iQ
For all 7 wdgs we get a vector eqn
= Li
a
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M/C MODEL - ELEC PART CONTD

(RAMANUJAM)
Voltage equations in stator (abc) coordinates
Sign Convention for induced emf
e= - p (p = d/dt)
Note the negative sign
Sign Convention for voltage equation
Source convention used for a,b and c. Accordingly,for a winding
vk = - Rk ik p k , k= a,b,c
Load convention used for f winding
-vf = - Rf if p f
For other rotor windings LHS = 0. For all 7 wdgs we get a vector eqn for
voltages
j am
[v]= - [R] [i ] - p []
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SCHEMATIC OF SYNCHRONOUS
MACHINE (RAMANUJAM)
Rk
SYSTEM
vk
ik
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IMPORTANT
IN WHAT FOLLOWS IT IS ASSUMED THAT ALL THE
ROTOR QUANTITIES (VOLTAGE, CURRENT AND FLUX
LINKAGES) AND PARAMETERS (RESISTANCE AND
INDUCTANCE)OF
THE
ROTOR
CIRCUITS
ARE
REFERRED TO THE STATOR SIDE SIMILAR TO WHAT

WE DID FOR INDUCTION MOTORS. HOWEVER, WE ARE
NOT USING PRIME () FOR THE STATOR-REFERRED
ROTOR QUANTITIES AND PARAMETERS FOR BREVITY.
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M/C MODEL ELEC PART CONTD(RAMANUJAM)
Variation of inductance matrix elements

Except rotor-to-rotor self and mutuals all elements are functions of rotor
position as shown below
Stator self:
jam
Laa = La0 + La2 cos 2
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Lbb = Lb0 + Lb2 cos 2( - 120)
Ra
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Lcc = Lc0 + Lc2 cos 2( + 120)
La0 = Lal +Lg0 ; Lg0 = Na2 (Pd + Pq)/2; La2 = Na2 (Pd - Pq)/2
Pd Pq Permeance coefficients with
Pd = (4/) (kw/2)Pd ; Pd = (4/) (kw/2)Pq ; Pd and Pq are actual
permeances
Typical numerical expression for Laa based on measurements for a 4-pole, 15

kVA, 220 V, 1800 RPM machine is
Laa = 2.36 + 0.796 cos 2
mH
M/C MODEL ELEC PART CONTD (RAMANUJAM)

The mutual between b and c and c and a obtained by adding and subtracting 120 to
and from the argument of the cosine term in the above expression.
Typical numerical expression for the machine mentioned earlier based on
measurements is given by
Lab = -1.14 + 0.796 cos (2 - 120)
In the above eqn. Lab0 is negative and also for an ideal machine with identical
windings
Lab0 = Lbc0 = Lac0 -La0 / 2

Lab2 = Lbc2 = Lac2 = La2
Stator-to-rotor Mutual Inductances
Laf = Maf cos
LaD = MaD cos
Lag = Mag sin
LaQ = MaQ sin
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To get the mutual inductances between phases b and c and the rotor
windings replace by -120 and + 120 in the above expressions.
Simplifications
1. For a properly designed machine assuming full symmetry and identical
windings we have
La0 = Lb0 = Lc0 = Ls= Ll +Lg0 ; Lg0 = Na2 (Pd + Pq)/2; Ll = leakage ind.
La2 = Lb2 = Lc2 = Lm= Na2 (Pd - Pq)/2
Lab0 = Lbc0 = Lac0 = Ms - L s / 2
Lab2 = Lbc2 = Lac2 = M2
2. The coefficient of second harmonic terms of stator self inductances are equal
to those of the stator mutual inductances. That is,
Lm = M2
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3. All harmonic terms of order higher than two are neglected.
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Expressions For Inductances With Simplifications and New Notations

With the new notations the self and mutual inductances can be written as
Laa = Ls + Lm cos 2
Lbb = Ls+ Lm cos 2( - 120)
Lcc = Ls+ Lm cos 2( + 120)
Lab = Ms+ M2 cos (2 - 120) = Ms - M2 cos (2 + 60)
Lbc = Ms+ M2 cos 2
Lac = Ms+ M2 cos (2 + 120) = Ms - M2 cos (2 - 60)
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M/C MODEL ELEC PART CONTD

Comparison with inductance matrix elements of induction machine
For IM: Laa= Lbb= Lcc= Ls = Lls + Lms ; Lms =
Lab= Lbc= Lca= -(1/2) Lms
ar
as c1
br cr
c3 c 2
[Lsr(r)] = bs c2 c1
cs c3
c2
c3
c1
c1= cos r ; c3,2 = cos (r 120)

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For SM: Laa= Ls + Lm cos 2 ; Lcc , Lbb : 120

Lab = Ms + Lm cos (2 120); Lca , Lbc : 2 2 120
Ls= Ll + Lg0 ; Lg0 = Na2 (Pd + Pq)/2; Lm= Na2 (Pd - Pq)/2 as before
Lg0 similar to Lms and Lm extra

Comparison with inductance matrix elements of induction machine (contd)
Lsr(r)] =
Maf c1
MaD c1
Mag s1
MaQ s1
Maf c2
MaDc2
Mag s2
MaQ s2
Maf c3
MaDc3
Mag s3
MaQ s3
c1= cos ; c3,2 = cos ( 120) ; s1= sin ; s3,2 = sin ( 120)
a
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Substituting for flux linkage in voltage eqn we get differential eqns with current
as state variables
Unfortunately ind.matrix elements are functions of time since they depend on
rotor position and permeance depends on rotor position as shown below
S
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The second term of votage eqn will give rise to two terms for each current since
product rule of differentiation must be applied. For a alone, the second term
will give rise to 14 terms (as shown in the next slide)! Hence, we get differential
equations with time-varying coefficients - not desirable from stability algorithm
point of view
VOLTAGE EQUATION IN TERMS OF CURRENT

DERIVATIVES
Therefore,
VOLTAGE EQUATION IN TERMS OF CURRENT

DERIVATIVES
With similar two terms for second to seventh terms
for the derivative of
the voltage equation becomes
Huh!
Is there a way out? Yes Parks Transformation!

A similar transformation resulted from the
work done by Blondel (1923), Doherty and
Nickle (1926), and Robert Park (1929,
1933), which is referred to as Parks
transformation. In 2000, Parks 1929
paper was voted the second most important
paper of the last 100 years (behind
Fortescues paper on symmertical
components).
Robert H. Park,
1902-1994
R, Park, Two reaction theory of synchronous

machines, Transactions of the AIEE, v. 48, p.
716-730, 1929.
G. Heydt, S. Venkata, and N. Balijepalli, High
impact papers in power engineering, 19001999, NAPS, 2000.
R. Ramanujam

PARKS TRANSFORMATION (RAMANUJAM)
The key lies in trying to some how end up with constant
coefficients for the derivatives of the current. Let us see how.
The flux produced by the field current and resultant flux
produced by the three-phase stator currents(recall rotating
magnetic field!) rotate at synchronous speed in steady state.
We can project the stator flux on to the direct and quadrature
axes with respect to which the rotor flux is stationary. This
will yield two components of flux, d and q.(say). See next
slide.
We can imagine that these fluxes are produced by currents id
and iq flowing in the fictitious windings d and q on the direct
axis and quadrature axis.
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f
Ad
A
Aq
q
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These fictitious windings will be linked by mutual flux with
other rotor windings only along the same axes. For example, d
winding will be mutually coupled with f and D windings and
not with any other winding along the q axes.
Since the fictitious windings are stationary with respect to
other windings on the rotor, the mutual inductance between
them will be independent of the position of the rotor and hence
constant
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WINDING MODEL AFTER PARKS

TRANSFORMATION (RAMANUJAM)
b-axis
d
f
d
q
q
a-axis
g
Q
D
c-axis
a
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Strictly speaking, there must be one more winding with

appropriate current and voltage which should be added to the
list of fictitious windings since there were originally three
windings. This is chosen as the winding that carries the
conventional zero sequence current.
We now ask the question, what should be the currents id and iq

in the windings d and q and that would produce the flux
components Ad and Aq. The flux linkage equations contain
the clue. For winding f we have
am
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R.
R am

f = Maf [ia cos + ib cos ( - 120) + ic cos ( + 120)]+

Lff if + MfD iD
The first term containing all three stator currents within the square
brackets represent the contribution to the flux linkage of f winding from a
mutually coupled winding. The other mutual contribution is the third term
which is from the D winding.
Hence,the first term should be the contribution from the d winding which
implies that the sum of the current terms enclosed within the square
brackets must be the current in the d winding, id. With certain future
simplifications in mind we multiply the term within the square brackets by
an arbitrary constant kd which gives us the following expression for id:

id = kd [ ia cos + ib cos ( - 120) + ic cos ( + 120)]
By similar reasoning we get
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iq = kq [ ia sin + ib sin ( -120) + ic sin ( +120)]

Note that the currents id and iq must be unidirectional and the flux produced
by them will act on constant permeance paths.
To satisfy the dimensionality requirement, we add the zero sequence
current to the above list.
i0 = k0 ( ia + ib + ic )
There is no uniformity among various authors on the choice of numerical

values for the arbitrary constants kd, kq and k0. In conventional fault
analysis we choose k0 as . Two common choices for the constants are
k = k = and k = and k = k = () and k =()

PARKS TRANSFORMATION (RAMANUJUAM)
In the above eqns is the instantaneous position of rotor d axis with
respect to axis of phase a.
d
q
Synch. Ref. Frame, s
Stationary Ref.
Frame , a-axis
= s t + /2 +
a
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With kd = kq = () and k0 =() the Parks transformation is given by
id
cos
iq
= () sin
i0
1/2
cos (-120) cos (+120)

sin (-120) sin (+120)
1/2
1/2
ia
ib
ic
Or
idqo = P iabc
where P is the Parks transformation matrix
Similar transformation holds good for voltages and flux linkages
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PARKS INVERSE TRANSFORMATIONTION
(RAMANUJAM)
cos
P-1 = () cos (-120)
cos (+120)
sin
1/2
sin (-120)
1/2
sin (+120) 1/2
Note P 1 = P T
Above choice of kd and kq leads to power invariance i.e,
instantaneous power in abc coordinates = power in dqo
R. Ramanujam
M/C MODEL ELEC PART CONTD EQUATIONS IN

PARKS COORDINATES (RAMANUJAM)
With damper windings ignored it can be shown that flux linkages for windings
along d-axis are given by
d = Ld id + k Maf if
f = k Maf id + Lff if
where k= sqrt(3/2). Similar equations are obtained for flux linkages of windings
along q axis.
The voltage equations transform to
v d = - R a i d - p d - r q
v q = - R a i q - p q + r d
v 0 = - R a i 0 - p 0
Space vector diagram:
vd + Ra id+pd
- rq
r d
q
vq + Ra iq+pq
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M/C MODEL ELEC PART CONTD EQUATIONS IN

PARK.S COORDINATES (RAMANUJAM)
In the above equations
Ld = Ls - Ms + 3/2 Lm
Lq = Ls - Ms - 3/2 Lm
L0 = Ls+ 2 Ms
Note that our sign convention is d leading q in the direction of
rotation
The second term in volt.eqn. is called transformer emf
which gives rise to DC offsets and harmonics. The third term
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is called speed emf/dynamic emf/motional emf and is much
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greater than second term.
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M/C MODEL ELEC PART CONTD TORQUE

EQUATION (RAMANUJAM)
The three phase instantaneous power of a synchronous machine can be
written down as
P = vaia+ vbib + vcic = vdid+ vqiq + v0i0
Substituting for vd ,vq and v0 from stator voltage equations
P = (-Raid pd -rq ) id + (-Raiq -pq + rd ) iq+ (-R0i0 - p0 ) i0
= (-Raid2- Raiq2- Roio2) + ( -pd id - pq iq -p0 i0 )+ r(d iq - qid )
Interpretation:
Power output = - Stator ohmic losses - rate of change of stator magnetic
energy
+ Power transferred across the air-gap.
Therefore, Torque developed = Power transferred across air-gap
Mechanical speed
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That is, Te = r(d iq - q id ) / mech = P /2 (d iq - q id )
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THEOREM OF CONSTANT FLUX LINKAGE

(KIMBARK)
THE PHYSICAL PICTURE OF VARIOUS SM REACTANCES
WHICH FOLLOWS DEPENDS ON THEOREM OF
CONSTANT FLUX LINKAGES (KIMBARK). THE
THEOREM IS BRIEFLY EXPLAINED BELOW:
CONSIDER ANY CLOSED CIRCUIT OR MESH OF AN
ELEC.CCT HAVING FINITE RESISTANCE, FLUX
LINKAGE, NO SERIES CAPAITANCE AND EMFS NOT DUE
TO CHANGE IN FLUX LINKAGE. FOR SUCH A MESH
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(KIMBARK)
INTEGRATING THE ABOVE EQN.
IF R AND e ARE FINITE, AS t 0, THE DEFINITE

INTEGRALS 0 0.
THEOREM STATEMENT:
THE FLUX LINKAGE OF ANY CLOSED CIRCUIT OF
FINITE RESISTANCE AND EMF CANNOT CHANGE
INSTANTLY.
SPECIAL CASE: R = 0 AND e = 0
i.e, = CONSTANT
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THE FLUX LINKAGE OF ANY CLOSED CIRCUIT HAVINGan
m
ZERO RESISTANCE AND EMF REMAINS CONSTANT. . Ra
R

(KIMBARK)
MECHANICAL ANALOGY: CONSERVATION OF
MOMENTUM (TRANSLATIONAL OR ROTATIONAL);
RECALL: L M /J AND i u/
MANIFESTATION OF CONSERVATION OF ANGULAR
MOMENTUM: CEILING FAN
IMMEDIATE
REACTION
SWITCH ON
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SM INDUCTANCES FLUX PICTURE

Xd and Xq (KIMBARK)
See visualization next slide
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Xd and Xq (KIMBARK)
Visualization of Fig.a (previous slide)
Stator mmf
(fundamental)
Flux lines
Direct Axis
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Xd and Xq (KIMBARK)
Visualization (contd)
Fundamental MMF

(KIMBARK)
MMF WAVE DUE TO POS.SEQ. ARM.CURRENTS DOES NOT
DEPEND ON ROTOR POSITION BUT FLUX WAVE DOES.
IF THE ROTOR IS ROTATED SUCH THAT THE d AXIS STAYS
IN LINE WITH THE CREST OF THE MMF WAVE A PATH OF
HIGH PERMEANCE IS ENCOUNTERED. FLUX WAVE HAS
THE GREATEST MAGNITUDE.
FLUX LINKAGE OF EACH PHASE WDG IS MAXIMUM.
UNDER THIS CONDITION FLUX LINKAGE OF ARM.PHASE
PER UNIT AMPERE IS Ld , FIG. (a).
R. Ramanujam
SM INDUCTANCES FLUX PICTURE (KIMBARK)

W.R.T ARM. FLUX WAVE MOVES AT THE SPEED s FLUX LINKAGE
OF EACH ARM.PHASE WDG VARIES SINUSOIDALLY WITH TIME.
TIME VARIATION OF FLUX LINKAGE IS IN PHASE WITH TIME

VARIATION OF ARM. CURRENT SINCE SPACE FUNDAMENTAL OF
FLUX WAVE IS IN PHASE SPACE FUNDAMENTAL OF MMF WAVE.
ARM.VOLTAGE IN DUCED DUE TO CHANGE IN FLUX LINKAGE IS IN

QUADRATURE WITH FLUX AND CURRENT.
THE RATIO OF THE ARM.VOLTAGE TO CURRENT UNDER THIS
CONDITION IS Xd
FLUX WAVE HAS MIN.MAGNITUDE WHEN QUADRATURE AXIS OF THE
ROTOR IS COINCIDES WITH THE CREST OF THE MMF WAVE. UNDER
THIS CONDITION ARM.FLUXLINKAGE PER ARM. AMPERE IS Lq (FIG.b)
R. Ramanujam
SM INDUCTANCES CIRCUIT PICTURE

(RAMANUJAM)
From flux linkage
Ld - k Maf
Equations
Ld
Lff - k Maf
k Maf
Ld - k Maf
Ld
{= Ld (k Maf)2/Lff }
Lff - k Maf
k Maf
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SM INDUCTANCES FLUX PICTURE Xd

and Xq(KIMBARK)
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SM INDUCTANCES FLUX PICTURE Xd and

Xq(KIMBARK)
Xd : CONDITIONS SAME AS Xd EXCEPT POS.SEQ. CURRENTS
SUDDENLY APPLIED AND VOLTAGE MEASURED IMMEDIATELY.
CONSTANT FLUX LINKAGES OF FIELD RESULTRS IN FLUXES
THAT DO NOT LINK THE FIELD WINDING.
ABRUPT APPLICATION OF ARM .CURRENTS CAUSES SUDDEN
MMF OPP FIELD EACH FIELD POLE TRYING TO ESTABLISH FLUX
THROUGH THE POLE IRON.
OPPOSED BY INDUCED CURRENT IN THE FLD WDG (CONST.
FLUX LINKAGE THEOREM)
FLUX ESTABLISHED DOES NOT LINK FLD.WDG; ONLY
THROUGH LOW PERMEANCE LEAKAGE PATHS MOSTLY IN AIR
Xd < Xd ALSO SEE EQ.CCT
R. Ramanujam
SM INDUCTANCES FLUX PICTURE Xd

and Xq(KIMBARK)
Xq:
FLUX CAN PASS SIDE WAYSTHROUGH FIELD COIL
WITHOUT LINKING THEM (SEE FIG. d)
FLUX PATHS IN FIG. d SAME AS IN FIG.b
SINCE CHANGING FIELD CURRENT IS INDUCED BY
CHANGING DIRECT-AXIS FLUX NOT BY CHANGING
QUADRATURE AXUS FLUX Xd < Xq.
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Xq (KIMBARK)
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Xq (KIMBARK)
Xd :
WHEN POS.SEQ. CURRENTS ARE SUDDENLY APPLIED
TRANSIENT CURRENTS INDUCED IN FIELD AND
ADDITIONAL ROTOR CCTS (DAMPER WDGS).
THESE CURRENTS OPPOSE ARM. MMF AND
INITIALLY STRONG ENOUGH TO KEEP ROTOR FLUX
LINKAGE AT ZERO (CONSTANT FLUX LINKAGE
THEOREM)
DAMPER WDGS SITUATED NEARER THE AIR-GAP
HENCE FLUX SET UP BY ARM. CURRENTS FORCED
THROUGH THEM (SEE FIG.e)
R. Ramanujam

Xq (KIMBARK)
For subtransient quantities we must consider
the damper winding. The flux linkages
including damper winding are given by
d
Ld kMaf kMaD
id
f =
kMaf
Lff
kMaD MfD
MfD
if
LDD
iD
EQUIVALENT CIRCUIT INTERPRETATION GIVEN

LATER
R. Ramanujam
SM INDUCTANCES SALIENT-POLE
MACHINE
SALIENT-POLE:
FLUX PATHS IN FIGS b (STEADY-STATE PATH)AND d
(TRANSIENT PATH) SIMILAR EVEN FOR SAL-POLE
M/C AFTER DAMPER WDGS HAVE DIED DOWN Xq <
Xq
DAMPER WDGS RESTRICT QUAD FLUX TO LOWPERMEANCE PATHS (SEE FIG.f) Xq SLIGHTLY < Xq
IN A SAL-POLE M/C WITHOUT DAMPER WDGS Xq = Xq
WHICH IS EQUAL TO Xq
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SM INDUCTANCES ROUND-ROTOR
MACHINE
IN SOILD ROTOT MACHINE THE CHANE IN
REACTANCE DUE TO QUAD.AXIS EDDY CURRENTS
CAN BE REPRESENTED BY A DOUBLE DECAYING
EXPONENTIAL.
THE SLOWER DECAY EXTRAPOLATED BACK TO
TIME-ZERO AXIS GIVE Xq
Xq BETWEEN Xd AND Xq
Xq SLIGHTLY SMALLER THAN Xq .
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SM INDUCTANCES NEGATIVE
SEQUENCE (KIMBARK)
FIELD UNEXCITED, OTHER ROTOR CCTS.(INCLUDES
AMORTISSEUR WDGS) CLOSED AND ROTATED
FORWARD AT SYNC. SPEED WITH NEGATIVE SEQUENCE
(NS) CURRENTS APPLIED TO ARMATURE
NS CURRENTS PRODUCE MMF ROTATING BACKWARD
(OPP. TO ROTOR) TWICW SYNC. SPEED W.R.T ROTOR
DOUBLE-FREQ, CURRENTS IN ALL ROTOR CIRCUITS
DOUBLE-FREQ CURRS KEEP FLUX LINKAGE OF ROTOR
CCTS. ALMOST AT ZERO VALUE
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SM INDUCTANCES NEGATIVE
SEQUENCE (KIMBARK)
FLUX DUE TO ARM.CURRENTS FORCED THROUGH LOW
PERMEANCE PATHS SIMILAR TO SUBTRANSIENT
CONDITIONS (FIGS.e AND f)
THE ARM. FLUX LINKAGE PER AMPERE OF THE
ARMATURE UNDER THESE CONDITIONS IS
NEG.SEQ.INDUCTANCE.
SINCE STATOR MMF MOVES AT TWICE SYNC.SPEED IT
ALTERNATELY MEETS PERMEANCES OF d AND q AXES
CORRESPONDING TO SUBTRANSIENT REACTANCES
NS REACTANCE X2 BETWEEN Xd
AND Xq
; X2=(Xd
+ Xq
)/2
R. Ramanujam
SM INDUCTANCES ZERO SEQUENCE

(KIMBARK)
Z.S CURRENTS NO FUND.(ROTATING) SPACE MMF
X0 IS SMALL AND NOT AFFECTED BY ROTOR MOTION.
THERE IS A THIRD HARMONIC STATIONARY
PULSTAING AIR-GAP MMF OPPOSED BY CURRENTS IN
THE ROTOR NOT MUCH AIR-GAP FLUX.
Z.S CURRENTS PRODUCE SLOT, END-WINDING AND
DIFF.LEAKAGE
VERY LITTLE FLUX SET UP X0 < Xd
.
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SM RESISTANCES (KIMBARK)
POSITIVE SEQUENCE:
Rpos IS THE AC RESISTANCE OF THE ARMATURE
ALMOST ALWAYS NEGLECTED IN SYSTEM STUDIES
EXCEPTION: THREE-PHASE FLT ON NEAR GEN TERMINALS
LEADS TO PESSIMISTIC RESULTS.
NEGATIVE SEQUENCE:
NEG.SEQ. POWER INPUT TO ARM. SUPPLIES HALF COPPER
LOSSES IN THE ROTOR CCTS. OTHER HALF MECHANICALLY.
HOW/ RECALL IM EQ.CCT Rr /s = Rr +
Rr(1-s)/s. Rr REPRESENTS ROTOR Cu LOSSES. R r(1-s)/s
REPRESENTS MECH. POWER OUPUT WHICH BECOMES
NEGATIVE FOR s=2. HENCE, INPUT
Rneg(OR R2) = Pneg,input/ Ineg2 > Rpos . Rneg DEPENDS ON Rdamper
R. Ramanujam
SM RESISTANCES (KIMBARK)
ZERO SEQUENCE:
Rzero Rpos . USUALLY NEGLECTED
IF NEUTRAL IS GROUNDED THROUGH RESISTOR
(WYE-CONNECTED ARMATURE) Rzero CANNOT BE
NEGLECTED.
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SM TIME CONSTANTS: DIRECT-AXIS

(KIMBARK)
DIRECT-AXIS TRANSIENT OPEN-CIRCUIT (Tdo):
ARMATURE OPEN AND NO AMORTISSEUR WINDING
FIELD CCT INCLUDES FIELD RHEOSTAT (IF PRESENT),
ARMATURE OF ROTATING EXCITER AND LEADS
SINCE AMPLITUDE OF OPEN-CCT ARM TERMINAL VOLTAGE OF
AN UNSATURATED M/C IS PPL TO FLD CURRENT IT ALSO
CHANGES WITH THE SAME TIME CONSTANT
GREATER THAN ANY OTHER TIME CONSTANT OF THE M/C;
TYPICALL 2 - 11 SEC.
ALSO, SEE THE EXPRESSION FOR Tdo GIVEN LATER.
R. Ramanujam
SM TIME CONSTANT CIRCUIT PICTURE

(RAMANUJAM)
Ld - k Maf
k Maf
Lff - k Maf Rf
Tdo =Lff/Rf
THIS IS AN APPROXIMATE EXPRESSION WHICH

IGNORES THE PRESENCE OF DAMPER
WINDING. AN ACCURATE EXPRESSION WHICH
INCLUDES THE DAMPER WINDING IS GIVEN
LATER.
a
m
a
R
.
R
j
nu
am
SM TIME CONSTANTS: DIRECT-AXIS (KIMBARK)

DIRECT-AXIS TRANSIENT SHORT-CIRCUIT (Td):
IF ARM AND FLD ARE SHORT-CIRCUITED CURRENT IN ONE
INDUCES CURRENT IN THE OTHER
CURRENTS ARE NOT OF THE SAME FREQUENCY; DC IN THE

FLELD WDG CORRESPONDS TO PO.SEQ AC IN THE ARMATURE .
AND DC IN THE ARMATURE CORRESPONDS TO AC IN THE FIELD.
TIME CONSTANT OF DC IN THE FIELD AND POS.SEQ IN THE

ARMATURE GOVERNED BY DIRECT AXIS TRANSIENT TIME
CONSTANT
DC IN THE ARMATURE AND AC IN THE FIELD GOVERNED BY
am
ARMATURE TIME CONSTANT
uj
an
m
a
R
R.

(KIMBARK)
FIELD TIME CONSTANT = APPARENT IND. OF FIELD
COUPLED TO ARMATURE TO APPARENT RESISTANCE
DEPENDS IMP. OF ARMATURE CIRCUITS (Tdo IS A
SPECIAL CASE OF THIS TIME CONSTANT)
FIELD SHORT-CIRCUIT TIME CONSTANT WHEN THE
ARMATURE IS SHORTED.
IT CAN BE SHOWN THAT FOR A TRANSFORMER
SHORT CCT INDUCTANCE/ OPEN CCT INDUCTANCE
SAME FROM BOTH SIDES OF THE TRANSFORMER jam
an
m
a
R
R.

(KIMBARK)
THIS MEANS
APPARENT RESISTANCE OF THE FLD IS ALMOST SAME

WHETHER ARMATURE IS OPEN OR SHORTED.
SINCE Xd/ Xd IS RATIO OF FLD CCT WITH SHORTED TO OPEN
am
ARMATURE AND RESISTANCE IS UNCHANGED WE SEE nTHAT
uj
a
m
a
Td = (Xd/ Xd) Tdo ( 0.25 Tdo)
R
R.

(KIMBARK)
IF ARMARURE IS CLOSED THROUGH EXTERNAL
IMPEDANCES THEY MUST BE INCUDED IN Xd/AND Xd
AND FIELD TIME CONSTANT = [Td,Tdo]. IF EXT.CCT
HAS MORE RESISTANCE OR MORE SMs THEN THINGS
ARE MORE COMPLICATED.
HOWEVER, FIELD TRANSIENT CAN BE COMPUTED IN
TERMS OF THE OPEN-CIRCUIT TIME CONSTANT.
a
m
a
R
.
R
j
nu
am

(KIMBARK)
DIRECT AXIS SUBTRANSIENT TIME CONSTANTS Tdo AND Td
IN A SM WITH AMORTISSEURS THE FIELD AND
AMORTISSEUR WDGS ARE COULPLED AND ARE AT REST
W.R.T EACH OTHER. TWO TIME CONSTANTS.
THE LARGER IS Tdo AND SHORTER Td
BOTH AFFECTED BY IMPEDANCE OF THE ARMATURE

CIRCUIT.
TYPICAL CALUES Tdo = 6 SEC., Tdo = 0.125 SEC; Td = 1.5

SEC., Td = 0.035 SEC
j am
an
am
R
R.
SM TIME CONSTANTS: QUADRATUREAXIS (KIMBARK)

QUADRATURE-AXIS TRANSIENT /SUBTRANSIENT OPEN AND
SHORT-CIRCUIT (Tqo,Tq ,Tqo,Tq):
IN A ROUND-ROTOR SM WITH AMORTISSEURS THE FIELD AND
AMORTISSEUR WDGS ARE COULPLED AND ARE AT REST W.R.T
EACH OTHER. TWO TIME CONSTANTS .
Tqo ,Tqo WHEN THE ARMATURE IS OPEN AND Tq ,Tqo WHEN
THE ARMATURE IS SHORTED
Tq =0.5 Td (TYPICAL 0.8 SEC) AND Tq Td.
m
ja
INA S.P SM Tq IS MEANINGLESS ; BUT Tq Td IS SIGNIFICANT
u
n
a
m
a
R
.
R
SM TIME CONSTANTS: ARMATURE

SHORT-CIRCUIT (KIMBARK)
APPLIES TO DC IN THE ARMATURE AND FUND. FREQ. IN THE
FIELD.
FIELD AND AMORTISSEURS ARE CLOSED.
EQUAL TO RATIO OF ARM.INDUCTANCE TO RESISTANCE UNDER
THESE CONDITIONS.
ARM INDUCTANCE = NEG.SEQ. IND, L 2 SINCE FOR BOTH
FUNDAMENTAL (DUE TO DC IN THE ARM.) AND DOUBLE-FREQ.
DUE TO NEG.SEQ IN THE ARM. FLUX DUE TO ARM.CURRENTS
FORCED THROUGH LOW-PERMEANCE PATHS (FIGS. e AND f).
UNAFFECTED BY ROTOR CCTS; EQUALS Ta = L2/Ra = X2/Ra
R. Ramanujam
SM MODEL ELEC PART CONTD STAR

EQUIVALENT CIRCUIT (RAMANUJAM)
1.THE INDUCTANCE MATRIX IS SYMMETRIC, I.E, THE MUTUALINDUCTANCESARE
RECIPROCAL.
2.THE MUTUAL ELEMENTS BETWEEN WINDINGS D AND F AND D AND D ARE
UNEQUAL. THEY CAN BE MADE EQUAL BY ASSUMING APPROPRIATE NUMBER OF
TURNS FOR THE D WINDING. HENCE,
Maf = MaD
3. BEFORE TRANSFORMATION FROM ABC TO DQ0 THE TURNS RATIO BETWEEN THE m
a
STATOR AND F WINDING WAS
uj
Na : N f = 1 : 1
am
R
R.
AFTER THE TRANSFORMATION THE RATIO HAS BECOME

Nd : Nf = 3/2 : 1
NOTE: BEFORE TRANSFORMATION THE MUTUAL BETWEEN IS Maf AFTER

TRANSFORMATION IT HAS BECOME 3/2 Maf
an

BY BRINGING BACK THE RATIO TO 1:1 WE CAN DERIVE A STAR
EQUIVALENT CIRCUIT BY RESCALING THE ROTOR QUANTITIES.
RESCALING MAKES THE MUTUAL BETWEEN d , f AND D EQUAL.
RESCALING IS DONE AS FOLLOWS:
jam
u
fm = 3/2 k f ; ifm = if / ( 3/2 k)
an
Dm = 3/2 k D ; iDm = iD / ( 3/2 k)
Ra
.
R
WHERE k = Maf / Mfd .

INSERTING MODIFIED ROTOR CURRENTS IN THE EXPRESSION
FOR THE FLUX LINKAGES WE GET
d = Ld id + 3/2 k Maf ifm + 3/2 k Maf iDm
fm = 3/2 k Maf id + 3/2 k2 Lff ifm + 3/2 k Maf iD
Dm = 3/2 k Maf id + 3/2 k Maf ifm + 3/2 k2 LDD iDm
WE CAN NOW DRAW THE STAR EQUIVALENT CIRCUIT INVOLVING
INDUCTANCES ONLY AS SHOWN NEXT

Ld - Mm
ffm
m
M
-
an
am
R
R.
Mm
DD
m
am
j
u
-M
m
where Mm = 3/2 k Maf , Lffm = 3/2 k2 Lff , LDDm = 3/2 k2

LDD
M/C MODEL ELEC PART CONTD STAR

EQUIVALENT CIRCUIT d AXIS (RAMANUJAM)
f
Ld - Mm L f
Ra
vd
id
r q
Mm
-m M
R fm
m
ifm
+
R
vfm
LDDm- Mm
Dm
iDm
a
m
a
R
.
R
j
nu
am
M/C MODEL ELEC PART CONTD STAR

EQUIVALENT CIRCUIT q AXIS (RAMANUJAM)
R gm
Lq - Mm L gg
r qd
Mm
-m M
igm
Qm
LQQm- Mm
iQm
a
m
a
R
.
R
j
nu
am
SUBTRANSIENT INDUCTANCE - CIRCUIT

PICTURE (RAMANUJAM)
Ld - Mm
Ld =Ld -A/B
Mm
LDDm- Mm
Lffm - Mm
A= Mm2(Lffm +LDDm 2 Mm)

B= Lffm LDDm Mm 2
a
m
a
R
.
R
j
nu
am
TRANSIENT AND SUBTRANSIENT TIME

CONSTANTS (RAMANUJAM)
The expression for direct axis open cct subtransient time
constant can be derived as follows:
1. Set id = 0 in the flux linkage equations for f and D
windings and express f and D currents as a function of f and D
flux linkages.
2. Substitute in the voltage equations for f and D windings,
expression for currents obtained in step 1. This results in
following coupled equations:
-pf = (1/D){Rf LDD f - Rf Maf D} - vf
-pD= (1/D){RD Maf
- RD Lff D}
The open circuit time constants Tdo and Tdo are the
reciprocals of the eigenvalues of the coefficient matrix.
a
m
Ra
.
R
j
nu
am
TRANSIENT AND SUBTRANSIENT TIME

CONSTANTS (RAMANUJAM)
They are given by
R. Ramanujam
TYPICAL VALUES OF CONSTANTS (KIMBARK)
a
m
a
R
.
R
j
nu
am
M/C MODEL ELEC PART CONTD BALANCED

STEADY STATE OPERATION
A set of balanced currents
ia(t) = 2 I cos (s t+ )
ib(t) = 2 I cos (s t+ - 120)
ic(t) = 2 I cos (s t+ + 120)
get transformed into the dq coordinates as
id = (2/3) [ia cos + ib cos ( - 120) + ic cos ( + 120)
= (2/3) I [ cos (s t+ ) cos + cos (s t+ - 120) cos (-120)
+ cos (s t+ + 120) cos ( + 120)]
which can be simplified to
id = 3 I sin ( - )
Similarly,
iq = 3 I cos ( - )
a
m
a
R
.
R
j
nu
am

We can synthesise a phasor in dq coordinates as follows
iqd = iq + j id
= 3 I e j ( - )
where
I a = I e j
is the RMS phasor. Hence,
iqd = 3 Ia e - j
Ignoring the scaling factor 3 we see that the phasor in the dq coordinates is the phasor
in the real-imaginary coordinates rotated clockwise by an angle .
We can conveniently redefine the phasor in dq coordinates by including the scaling
factor as:
Iqd = Ia e - j
(*)
where Iqd = Iq +j Iqd with Iq = iq /3 and Id = id /3
a
m
a
R
.
R
j
nu
am

The phasor rotation is pictorially depicted in the figure, where instead of
rotating the current phasor clockwise, we have rotated the dq axes
counterclockwise. Eq.(*) is the phasor form of Park's transformation. In
terms of the components we can write Eq.(*) as
Im
d
Id
Ia
Ii
Ir
cos
Iq
q
Re
sin
Ir
=
Id
-sin cos
Im
j am
u
where Ir and Im are the real and imaginary components of Ia . man
a
R
.
R
M/C MODEL ELEC PART CONTD SIMPLIFIED

MODELS
Simplified equations are obtained by assuming that the DC offsets and
harmonics in stator currents can be ignored. This is equivalent to dropping the
transformer emf term in the stator voltage equations. When the transformer emf
terms are dropped, it is justified to assume that r = s as these two assumptions
introduce errors that cancel each other to some extent. With these changes we
can write the voltage equations in terms of phasor components in dq coordinates
that correspond to RMS phasor in network coordinates as
V d = - R a Id - s q
V q = - R a Iq + s d
whereVd = vd /3, Vq = vq /3, d = d /3, q = q /3
With similar scaled quantities for the rotor we can write rotor voltage equations as
Vf = - R f If - p f
0 = - R D ID - p D
j am
u
an
with similar equations for g and Q windings
m
a
R
R.

MODELS
Flux linkage equations:
d = L d I d + (3/2) Maf I f +(3/2) MaD I D

q = L q I q + (3/2) Mag Ig +(3/2) MaQ I Q
f = (3/2) Maf I d + Lff I f + MfD I D
D = (3/2) MaD I d + MfD I f + LDD I D
g = (3/2) Mag I q + Lgg I g + MgQ I Q
Q = (3/2) MaQ I q + MgQ I g + LQQ I Q
If Vq + j Vd and Iq + j Id are treated as phasors as we did for steady-state
operation, then transient conditions can be visualised as simple amplitude
modulation due to change in magnitude change alone. This is one of the
assumptions made in stability analysis.
j am
an
m
a
R
R.

MODELS-STEADY STATE OPERATION
The voltage and and the flux linkage equations given earlier hold good for steady state as
well as transient conditions of course under the assumption that the current and voltage can
be treated as phasors at synchronous frequency. For steady state, in addition we have to set
all the derivatives and the currents in the windings D, g and Q to zero. Then, The flux
linkage equations for the d, q and f windings become
d = L d I d + (3/2) Maf I f
q = L q I q
f =(3/2) Maf I d + Lff I f
Substituting for d in eqn for Vq we get
Vq = - RaIq + s (Ld Id + (3/2) Maf If) = = - RaIq + XdId + (3/2) sMaf If
i.e, Vq = - RaIq + XdId + Eq
where Eq = (3/2) s Maf If is known as voltage proportional to field current and is
jaam
u
an
measure of the excitation level.
m
a
R
R.

Similarly, we get
Vd = - R a I d X q I q + E d
where Ed = - (3/2) s Mag Ig
Note that Ig = 0 is zero during steady state. Hence, Ed = 0 in steady state.
Also, in steady-state pf = 0. Hence, the voltage equation for the f winding
yields
am
j
u
If = V f / Rf
an
From equation for Eq we get
Eq = (3/2) s Maf Vf / Rf = EFD
m
a
R
R.
where EFD is called voltage proportional to field voltage.Note that Eq = EFD

only during steady state. We can initalise the field current as
If (0) = Eq(0) / (3/2) s Maf = (Vq + Ra Iq - Xd Id )/ (3/2) s Maf

LetVRMS be the RMS value of the terminal voltage and Vqd the terminal voltage
phasor in the qd coordinates. Vqd can be written as
Vqd = Vq + j Vd
Similarly, the current phasor in the qd coordinates can be written as
Iqd = Iq + j Id
Vq + j Vd = - Ra (Iq + j Id) + XdId j XqIq + Eq + j Ed
If we ignore saliency, i.e., assuming Xd = Xq = Xs (say), then
Vq + j Vd = -Ra Iqd j Xs Iqd + Eqd
That is,
Vqd = -(Ra + j Xs)Iqd + Eqd
where Eqd is the phasor Eq + j Ed.
a
m
a
R
.
R
j
nu
am

Using phasor form of Parks transformation
V = - (Ra + j Xs) I + E
where, E = Eqd ej
In the above eqn. is the angle between the reference for phasor solutions in
the network coordinates and the q axis of the machine. If we take terminal
voltage as the reference. i.e.,
V = V 0
and assume that the current lags the voltage by an angle . Then,
I = I - and
(Eq + j Ed) eji= E i = Eq i
since Ed = 0 during steady state. In the above equation, i is the angle
between the internal and terminal voltage phasors. It is referred to as internal
rotor angle or load angle since it increases as the machine isR.loaded.
Ramanujam
M/C MODEL ELEC PART CONTD EQUIVALENT

CIRCUITS FOR STEADY STATE OPERATION
I
Eq<i
Thevenin
V
INorton
Norton
a
m
a
R
.
R
j
nu
am
M/C MODEL ELEC PART CONTD PHASOR

DIAGRAM FOR STEADY STATE OPERATION
INorton = YNorton V + I
YNorton = 1 /(Ra + jXs)
YNorton = Eq<i /(Ra + jXs)
Eq<i
jIXs
I
VIR
a
a
m
a
R
.
R
j
nu
am
PHASOR DGM OF A S.P SM FOR STEADYSTATE

FOR STEADY STATE
Vq + j Vd = - Ra (Iq + j Id) + XdId j XqIq + Eq + j Ed ; Ed =0
WHERE qd =Eq+j0 ; THE SUBSCRIPT qd DENOTES

PHASOR IN THE qd COORDINATES. WE HAVE ADDED
AND SUBTRACTED Xq Id.
REPLACING qd PHASOR BY PHASO R IN NETWORK
COORDINATES USING PHASOR FORM OF PARKS
TRANSFORMATION AND REARRANGING WE GET THE
FOLLOWING EQUATION IN PHASOR (NETWORK) ujam
an
COORDINATES:
m
a
R
.
R
PHASOR DGM OF A S.P SM FOR STEADYSTATE

IN THE ABOVE THE FIRST THREE TERMS ON THE RHS
LOCATES THE q AXIS AND THE LHS AND THE LAST
TERM ON THE RHS ARE ALONG THE q AXIS. USING
THESE FACTS WE CAN DRAW THE FOLL. PHASOR DGM.
Note: BOLDFACE DENOTES PHASORS
qn
Iq
Id
\d
j Xq
(Xd Xq )Id
an
am
R
R.
am
j
u
POWER-ANGLE CHARACTERISTICS
(HADI SADAT)
a
m
a
R
.
R
j
nu
am
(HADI SADAT)
a
m
a
R
.
R
j
nu
am
(HADI SADAT)
a
m
a
R
.
R
j
nu
am
(HADI SADAT)
a
m
a
R
.
R
j
nu
am
POWER-ANGLE CHARACTERISTICS OF A
SALIENT-POLE MACHINE
EXPRESSION FOR POWER IN PER UNIT IN TERMS OF dq
QUANTITIES
For a synchronous machine, with base power in MVA
Sbase = rated three-phase MVA Srated-3 and base voltage
(kV)base = line-to-line voltage in kV (which implies base current in
kA = Srated-3 / [(3) (kV)base]
power in per unit is given by S(p.u) = V I*
Using inverse of phasor form of Parks tranformation
S(p.u) = P + j Q = Vqd Iqd* = (Vq + j Vd) (Iq j Id)
P = VdId + VqIq;
Q = VdIq - VqId
POWER-ANGLE CHARACTERISTICS OF A SALIENT-POLE

MACHINE
(KIMBARK)
FOR STEADY-STATE CONDITIONS THE

VOLTAGE EQNS ARE:
FOR STEADY-STATE CONDITIONS THE

VOLTAGE EQNS ARE:
a
m
a
R
.
R
j
nu
am
OF A
;
(KIMBARK)
TAKING THE INVERSE AND WRITING IN TERMS OF
CURRENTS
WHERE
THEREFORE,
R. Ramanujam
;
(KIMBARK)
WRITING POWER IN QD CORDS AND USING THE
EXPRESSIONS FOR dq CURRENTS
TAKING TERMINAL VOLTAGE PHASOR AS REFERENCE
AND
an
am
R
R.
am
j
u
(KIMBARK)
THEREFORE, POWER OUTPUT IS GIVEN BY
SETTING
,
AND
a
m
a
R
.
R
j
nu
am
(KIMBARK)
HENCE, THE EXPRESSION FOR POWER BECOMES
FOR SMIB THROUGH Re AND Xe ,

Ra Ra + Re; Xd Xd + Xe ; Xq Xq + Xe
IF Re<< Xe AND Ra << Xd, Xq
a
m
a
R
.
R
j
nu
am
MODELLING OF MECHANICAL PART FOR

STABILITY ANALYSIS
The units adopted in Kundur for the acceleration and swing equations are
as follows:
(i) Speed in p.u with B = s
(ii) Time in seconds. Hence, tB = 1
(iii) Angle in radians
Torque in p.u with base torque computed from base power and base speed.
With this choice the acceleration equation becomes
2H(dpu /dt) + (Dpurating Srating / SB) (pu) = Tpu
The swing equation is in physical units and is given by
d/ dt = pu s
where pu= (r s)/B; Tpu= (Tmech Telec)/Base torque; Dpurating= damping
coefficient on machine rating and Srating= machine rating
am
j
u
an
am
R
R.
ANALYSIS OF DYNAMICS DIRECTIONS

OF TORQUES AND SPEED
GENERATOR OPERATION
The electromagnetic torque acts

on the rotor pulling it towards the
resultant field
t f
Te
Tm ,
Tm
Te
MOTOR OPERATION
R
Te ,
Te
Tload
Tload
an
am
R
R.
am
j
u
ANALYSIS OF DYNAMICS
We will consider dynamics due to faults, balanced and
unbalanced. Following major steps are involved:
1. Rewrite the voltage equations in terms of the derivative of
the currents using the flux linkage equations because, the
fault conditions are easy to incorporate in this form.
2. Integrate the resulting equations for currents
3. Interpret the results.
a
m
a
R
.
R
j
nu
am
Voltage equations in terms of current derivatives
These are obtained by substituting for flux linkages in the voltage
equations, combining speed emf terms with resistive drops and
separating the current derivative terms.
We will illustrate the above for voltage equation for d winding.
The voltage equation for d winding in terms of flux linkages is
repeated below:
vd = - Ra id - pd - rq
The (unscaled) flux linkage equations for d and q windings are
repeated below:
d = Ld id + kMaf if + kMaD iD
j am
u
an
m
q = Lq iq + kMag ig + kMaQ iQ . Ra
R
Substituting for the flux linkages in the voltage equation and rearranging we get
vd = - Raid r Lq iq kr Mag iq kr MaQ iQ
- Ld p id - k Maf pif - k Maf piD
Similarly, other voltage equations become
vf = - Rf if - k Maf pid - Lff pif MfD piD
0 = - RDiD - k MaD pid - MfD pif LDD piD
vq = - Raiq + r Ld id + kr Maf if + kr Ma D iD
- Lq piq - k Mag pig - k MaQ piQ
0 = - Rgig - k Mag piq - Lgg pig MgQ piQ
j am
u
an
0 = - RQiQ - k MaQ piq - MgQ pig LQQ piQ
m
a
R
R.
The above equations can be put in the matrix form as
[v] = - [R] [i] [L] p[i]
where with R0 added
Ra
0
0
rLq krMag krMaQ 0
0
Rf
0
0
0
0
0
0
0
RD
0
0
0
0
[R]= -rLd -krMaf -krMaD Ra
0
0
0
0
0
0
0
Rg
0
0
0
0
0
0
0
RQ
0
0
0
0
0
0
0
R0
R. Ramanujam
and
[Ldd]
[0]
[0]
[Lqq]
[L] =
with
[Ldd] = Diag [ Ld
kMaf
kMaD]
[Lqq] = Diag [ Lq
kMag
kMaQ]
and
The zero sequence inductance can be added by expanding [L] with an

additional row and column of zeros except with diagonal element equals L0.
an
am
R
R.
am
j
u
The voltage equation can now be put in the form as
p[i] = -[L]-1[v] [L]-1[R][i]
Balanced three-phase fault
We will assume that the machine is initially unloaded which means
ia(0+) = ib(0+) = ic(0+) = 0
Therefore,
i0(0+) = id(0+) = iq(0+) = 0
(A)
For a balanced fault
va = vb = vc = 0
which implies that
v 0 = vd = vq = 0
(B)
Using conditions (A) and (B) in the current-derivative form of the voltage
equation we can obtain a numerical solution.
(Also refer document titled WHAT HAPPENS DURING SHORTCIRCUIT dated 20.10.03, file: SM SHORTCCT DYNAMICS.pdf)
R. Ramanujam
SM CURRENTS DURING THREE-PHASE

TERMINAL SHORT-CIRCUIT (KIMBARK)
a
m
a
R
.
R
j
nu
am
Unbalanced faults
The dq0 model is not well suited for unbalanced faults.
In the numerical solution the original equations can be used without any
transformation.
The machine equations are developed in direct phase quantities.
The basic idea is to replace the currents and their derivatives occurring in the voltage
equations in terms of the phase quantities using the fault constraints.
We will just illustrate the step wise approach for a line-to-line (LL) fault since the
method is complicated:
1. Write the voltage and current constraints for a L-L fault
vb= vc ; ib= -ic v; ia= 0 since phase a is not involved
(1) jam
u
an
2. Transform the above conditions for current to obtain
am
R
R.
id = k ( c1 ia +c2 ib +c3 ic ) with c1= cos etc.
= k (c2 - c3) ib = (2/3) 3 sin = 2 ib sin
Similarly,
iq = k ( s1 ia +s2 ib +s3 ic ) with s1= sin etc.
= k (s2 - s3) ib = -(2/3) 3 cos = -2 ib cos
3. The derivatives of the currents can be seen to be
pid= 2 ib cos + 2 pib sin
piq= 2 ib sin - 2 pib cos
4. The transformed dq voltages become
vd=(2/3) [c1 va+(2 cos cos 120) vb]
vq=(2/3)[s1 va+ (2 sin cos 120) vb]
(2)
(3)
(4)
(5)
(6)
(7)
R. Ramanujam
5. Using (1) we see that i0 =ia+ib+ic = 0 which gives , using the voltage
equation for zero sequence v0 = 0. Hence, the zero sequence voltage
equation drops out.
At this point if we substitute Eqs.(2) (7) in the voltage equation
p[i] = -[L]-1[v] [L]-1[R][i]
(8)
we will the derivatives of phase current ib and rotor currents in terms of
field voltage and phase voltages. But the phase voltages are unknown. We
can overcome this difficulty as follows:
6. It can be seen that
vd sin vq cos = 0
(9)
Carrying out the above operation and substituting for the dq voltages in
terms of dq currents and their derivatives and using equations (2)-(7)
R. Ramanujam
We can write the phase current derivatives in terms of phase
currents and field voltage since Eq.(9) eliminates the phase
voltages.
The resulting equations can be integrated to obtain the current
response.
a
m
a
R
.
R
j
nu
am
COMPUTER SIMULATION OF SYNCHRONOUS

MACHINE IN ROTOR REFERENCE FRAME
Introduction
For computer simulation, the terminal voltages of the stator and
stator-referred rotor voltages are taken as the input.
The computed quantities are currents, flux linkages, torque
developed by the motor and speed of the motor.
Required equations
1. Flux linkage equations:
a
m
a
R
.
R
j
nu
am
COMPUTER SIMULATION
With damper windings ignored the flux linkage equations are for windings
along d-axis are given by
d = Ld id + k Maf if
f = k Maf id + Lff if
q = Lq idq + k Maf ig
(CS-1)
f = k Maf iq + Lgg ig
Or in compact form
[dfqg] = [Ldfqg] [idfqg]
(CS-1)
where k= sqrt(3/2). Similar equations are obtained for flux linkages of

windings along q axis.
am
u
an
am
R
R.
COMPUTER SIMULATION
2. Voltage equations:
For the purpose of computer simulation the voltage equations
given are re-written as
pq = -vq - Ra iq + r d
pd = -vd - Ra id - r q
p0 = -v0 R0 i0
(CS-2)
pf = vf Rf if
pg = 0 Rg ig
3. Torque equation
Te = (P /2) (ds iqs - qs ids)
(CS-3)
R. Ramanujam
COMPUTER SIMULATION
4. Mechanical equations:
Acceleration equation:
2H(dpu /dt) + (Dpurating Srating / SB) (pu) = Tpu
which can be re-written as
dpu /dt = - [Dpurating Srating / (2HSB)] (pu) + Tpu (2.4)
Swing equation:
d/ dt = pu s
(2.5)
State variables
We will choose the flux linkages d ,qetc. and pu and as state
variables.
a
m
a
R
.
R
j
nu
am
COMPUTER SIMULATION
Knowns at t = 0
Apart from motor electrical and mechanical data of the generator
1. The state variables [dqfg(0)]
2. The currents [idqfg(0)], [idqfg(0)]
3. Assume initial steady state rotor speed pu(0) = s
4. Mechanical torque
Inputs
Stator (abc)and rotor (f)voltages . Note vg= 0)
Active power supplied by the generator from which torque can be
calculated as Te=Pe/s
am
u
an
am
R
R.
COMPUTER SIMULATION
Stepwise computations
1.Set t = 0
2. Evaluate the elements of transformation matrices [P] which is a
function of = rt + /2 + evaluated at time t.
3. Transform the stator (abc) voltages, currents and flux
linkages(dfqg) to rotor reference frame.
4. Compute the right-hand side of flux linkage equations Eq(CS-2)
j am
u
at time t.
an
m
a
R
R.
COMPUTER SIMULATION
5. Integrate the first-order differential equations (CS-2) using a
suitable numerical integration method (fourth order RungeKutta method or modified Euler method) to obtain the flux
linkages at time t+t: [dqfg]
6.Compute currents using Eqn (CS-1)
[idfqg] = [Ldfqg]-1 [dfqg]
and transform the dq0 currents to abc currents using inverse
Park transformation. The currents are at time t+t.
7. Compute the electrical torque developed by the motor Te using
Eq.(CS-3)with flux linkages computed in Step 5 and currents
j am
from Step 6.
u
n
8. Compute the mechanical torque .
a
m
a
R
.
R
COMPUTER SIMULATION
9.Using the value of the electrical torque T e computed in Step 7
and the mechanical torque computed in Step 8 compute the
right-hand side of Eq.(CS-4) and integrate the same using a
suitable numerical integration method (fourth order RungeKutta method or modified Euler method) to obtain the motor
speed pu.
10.Increment time: t = t + t.
11.Check whether maximum time is reached. If yes stop. Else
go to next step.
an
am
R
R.
am
j
u
COMPUTER SIMULATION
12. Using the speed computed in Step 9,
integrate Eq. (CS-5) using a suitable numerical
integration method to obtain (t)
13. Update
(t)= rt + /2 + (t)
14.Go to Step 2.
a
m
a
R
.
R
j
nu
am
COMPUTER SIMULATION
SIMULATION DIAGRAM
1
3
a
m
a
R
.
R
j
nu
am
COMPUTER SIMULATION
NOTES:
Block 1: [Ksr] = P; [Ksr]-1= P-1 ; Steps 2, 3 and 6
Block 2:
Flux linkages: Eq.(CS-2); Step 5
Current: Eq.(CS-1) ([idfqg] = [Ldfqg]-1 [dfqg]), Step 6
Torque: Eq. (CS-3), Step 7
Block 3: Eq.(CS-4), Steps 8 and 9
a
m
a
R
.
R
j
nu
am

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SYNCHRONOUS

UNIT IV MODELLING OF SYNCHRONOUS

M/C MODEL-ELEC PART: EQUATIONS

Flux linkage of a circuit produced by the current in the same circuit

M/C MODEL - ELEC PART CONTD

REFERRED TO THE STATOR SIDE SIMILAR TO WHAT

M/C MODEL ELEC PART CONTD(RAMANUJAM)

Variation of inductance matrix elements

Typical numerical expression for Laa based on measurements for a 4-pole, 15

M/C MODEL ELEC PART CONTD (RAMANUJAM)

Lab0 = Lbc0 = Lac0 -La0 / 2

M/C MODEL ELEC PART CONTD (RAMANUJAM)

M/C MODEL ELEC PART CONTD (RAMANUJAM)

Expressions For Inductances With Simplifications and New Notations

M/C MODEL ELEC PART CONTD

c1= cos r ; c3,2 = cos (r 120)

For SM: Laa= Ls + Lm cos 2 ; Lcc , Lbb : 120

M/C MODEL ELEC PART CONTD

M/C MODEL ELEC PART CONTD (RAMANUJAM)

VOLTAGE EQUATION IN TERMS OF CURRENT

VOLTAGE EQUATION IN TERMS OF CURRENT

Is there a way out? Yes Parks Transformation!

R, Park, Two reaction theory of synchronous

M/C MODEL ELEC PART CONTD

M/C MODEL ELEC PART CONTD

M/C MODEL ELEC PART CONTD

WINDING MODEL AFTER PARKS

M/C MODEL ELEC PART CONTD

Strictly speaking, there must be one more winding with

We now ask the question, what should be the currents id and iq

M/C MODEL ELEC PART CONTD

f = Maf [ia cos + ib cos ( - 120) + ic cos ( + 120)]+

M/C MODEL ELEC PART CONTD

iq = kq [ ia sin + ib sin ( -120) + ic sin ( +120)]

There is no uniformity among various authors on the choice of numerical

M/C MODEL ELEC PART CONTD

M/C MODEL ELEC PART CONTD

cos (-120) cos (+120)

M/C MODEL ELEC PART CONTD

sin (+120) 1/2

M/C MODEL ELEC PART CONTD EQUATIONS IN

M/C MODEL ELEC PART CONTD EQUATIONS IN

M/C MODEL ELEC PART CONTD TORQUE

THEOREM OF CONSTANT FLUX LINKAGE

THEOREM OF CONSTANT FLUX LINKAGE

IF R AND e ARE FINITE, AS t 0, THE DEFINITE

THEOREM OF CONSTANT FLUX LINKAGE

SM INDUCTANCES FLUX PICTURE

See visualization next slide

SM INDUCTANCES FLUX PICTURE

SM INDUCTANCES FLUX PICTURE

SM INDUCTANCES FLUX PICTURE

SM INDUCTANCES FLUX PICTURE (KIMBARK)

TIME VARIATION OF FLUX LINKAGE IS IN PHASE WITH TIME

ARM.VOLTAGE IN DUCED DUE TO CHANGE IN FLUX LINKAGE IS IN

SM INDUCTANCES CIRCUIT PICTURE

SM INDUCTANCES FLUX PICTURE Xd

SM INDUCTANCES FLUX PICTURE Xd and

SM INDUCTANCES FLUX PICTURE Xd

SM INDUCTANCES FLUX PICTURE Xd and

SM INDUCTANCES FLUX PICTURE Xd and

SM INDUCTANCES FLUX PICTURE Xd and

EQUIVALENT CIRCUIT INTERPRETATION GIVEN

SM INDUCTANCES ZERO SEQUENCE