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Dr. Kar
U of Windsor
Dr. Kar
271 Essex Hall
Email: nkar@uwindsor.ca
Office Hour: Thursday, 12:00-2:00 pm
http://www.uwindsor.ca/users/n/nkar/88-514.nsf
GA: TBA
B20 Essex Hall
Email: TBA & TBA
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Synchronous Machines
Construction
Working principles
Mathematical modeling
Operating characteristics
CONSTRUCTION
d-axis
Nonuniform airgap
D 10 m
q-axis
Turbin
e
Hydro (water)
Hydrogenerator
Stator
Sali
e ro
l
o
p
t
en
to r
Stator
Cylindrical rotor
Damper Windings
Operation Principle
The rotor of the generator is driven by a prime-mover
Electrical Frequency
Electrical frequency produced is locked or synchronized to
the mechanical speed of rotation of a synchronous
generator:
fe
nm P
120
d-axis
Stator winding
N
Uniform air-gap
Stator
q-axis
Rotor winding
Rotor
S
Turbogenerator
PU System
Per unit system, a system of dimensionless parameters, is used for
computational convenience and for readily comparing the performance
of a set of transformers or a set of electrical machines.
PU Value
Actual Quantity
Base Quantity
VA base
V base
PU
I base
V base
ohm
Z base
2
2
V base V base
V base
If saliency is neglected, Xd = Xq = Xs
jXs
jXl
Ra
+
+
E
Ia
Vt
0o
Phasor Diagram
q-axis
E
IaXs
IaRa
Ia
d-axis
Vt
IaXl
The following are the parameters in per unit on machine rating of a 555
MVA, 24 kV, 0.9 p.f., 60 Hz, 3600 RPM generator
Lad=1.66
Laq=1.61
Ll=0.15
Ra=0.003
(a)When the generator is delivering rated MVA at 0.9 p. f. (lag) and rated
terminal voltage, compute the following:
(i) Internal angle i in electrical degrees
(ii) Per unit values of ed, eq, id, iq, ifd
(iii) Air-gap torque Te in per unit and in Newton-meters
(b) Compute the internal angle i and field current ifd using the following
equivalent circuit
The direct (d) axis is centered magnetically in the center of the north
pole
The quadrature axis (q) axis is 90o ahead of the d-axis
: angle between the d-axis and the axis of phase a
Machine parameters in abc can then be converted into d/q frame using
Mathematical equations for synchronous machines can be obtained from
the d- and q-axis equivalent circuits
Advantage: machine parameters vary with rotor position w.r.t. stator, ,
thus making analysis harder in the abc axis frame. Whereas, in the d/q
reference frame, parameters are constant with time or .
Disadvantage: only balanced systems can be analyzed using d/q-axis
system
Rfd
pkd1
+
-
pfd
vfd
Xl
Xfd
Ifd
Ikd1
Ra
Id
Imd
Rkd1
Xmd
Vtd
pd
Xkd1
d-axis
Imd=-Id+Ifd+Ikd1
d
Xl
pkq1
Ikq1
Rkq1
Ra
Imq=-Iq+Ikq1
Iq
Imq
Xmq
pq
Xkq1
q-axis
Vtq
Related Terms
o
o
o
o
o
d X md X l id X md ikd1 X md i fd
fd X md id X md ikd 1 X md X fd i fd
q X mq X l iq X mq ikq1
d X md X l
X md
kd 1
fd
X md
kq1
X md
X md X kd1
X md
X md
X md
X md X fd
X mq X l
X mq
X mq
X mq X kq1
id
i
kd1
i fd
i
q
ikq1
1
p fd v fd R fd i fd
0
1
p q vtq Ra iq d
0
1
p kq1 Rkq1 ikq1
0
..(1)
d
0
dt
d 0
Tm Te
dt 2 H
where
Te d I q q I d
..(2)
0
0
1
kd 1 Rkd 1 ikd 1
0
1
fd
v fd R fd i fd
q vtq Ra iq d d 0
0
0
1
kq1 Rkq1 ikq1
0
0 Tm Te
2H
Te d 0 I q I q 0 d q 0 I d I d 0 q
..(3)
Terminal Voltage
The d- and q-axis components of the machine terminal voltage
can be described by the following equations:
vtd Vt sin
vtq Vt cos
.(4)
.(5)
0
0
1
kd 1 Rkd 1 ikd 1
0
1
fd
v fd R fd i fd
q Vt sin 0 Ra iq d d 0
0
0
1
kq1 Rkq1 ikq1
0
0
Tm Te
2H
Te d 0 I q I q 0 d q 0 I d I d 0 q
..(6)
.....(7)
S X R I B U
where,
d
kd 1
fd
X q
kq1
d
kd 1
fd
q
kq1
Id
I kd1
I I fd
I
q
I kq1
v fd
U
and
0
0
S 0
0
0
0
0
0
0
0
0
0
0
0
0
0 I d 0
2H
0
0
0 0 I q 0
2H
0
0
0
q0
0Vt cos 0
0
0 0Vt sin 0 d 0
0
0
0
0
0
1
0
0
0
0
0
B
0 R fd
0
0
0
0
0
0
0 Rkd 1
0
0
0
0
0
0
0 q 0
0 Ra
0
0
0 d 0
2H
0
0
0
0 Ra
2H
0 Rkq1
0
0
0
0
0
0
0
2H
0
q
kq1
0
X md
X md
X md
X md
X md X fd
0
0
X mq X l
X mq
X md X kd 1
id
i
0
kd 1
0
i fd
X mq
i
q
X mq X kq1 ikq1
0
X md
d
kd 1
fd
kq1
X md
X md X kd1
X md
0
X md
0
X md
X md
X md X fd
0
0
0
X mq X l
X mq
id
i
kd 1
0
i fd
X mq
i
q
X mq X kq1 ikq1
0
0
and thus,
X md X l
X md
id
i
kd 1
i fd
iq
ikq1
X md
X md X kd1
X md
X md
X md
X md X fd
X mq X l
X mq
X md X kd1
X md
X md
X md X fd
X mq X l
X mq
X md X l
X md
X md
X md
X mq
d
kd 1
X mq X kq1
fd
q
kq1
X md
X md
X mq
X mq X kq1 0
d
kd 1
fd
1
X reac q
kq1
...(8)
d
0 kd 1
0 fd
0 q
0 kq1
id
i
kd 1
d
kd 1
i fd
i
q
ikq1
fd
1
1
X reac q X reac X
kq1
: from (8)
S X R I B U
S X R X reac 1 X B U
S R X reac 1 X B U
A X B U
where,
A S R X reac 1
..(9)
System to be Studied
Vt
It
Generator
Infinite Bus
Eigen Values
A X B U
o
o
1 , 2 0.15 j 2.0
3 0.0005
Machine Parameters
Salient-pole synchronous generator
3kVA, 220V, 4-pole, 60 Hz and 1800 r/min
Machine parameters
1.189
0.7164
0.100
0.276
0.181
0.193
0.0186
0.0058
0.062
0.052