Proceedings ofthe 2009 IEEE

International Conference onMechatronics and Automation

August 9 - 12, Changchun, China
Simulation and Implementation of Marine Generator
Excitation System with PSS
Sun Caiqin, Li Chengqiu and Shi Chengjun
School ofMarine Engineering
Dalian Maritime University
Dalian 116026, China
scq@newmail.dlmu.edu.cn lichqi @newmail.dlmu.edu.cn
Abstract - Small signal stability is the ability of the
marine power system to maintain synchronism when
subjected to small disturbance. To improve the stability
performance of marine power system, a power system
stabilizer (PSS) is introduced into the traditional marine
generator excitation system with automatic voltage
regulator (AVR). Load compensation is used to control a
voltage which is representative of the voltage at a point
either within or external to the generator. The PSS uses
auxiliary stabilizing signals to control the excitation system
so as to more improve marine power system dynamic
performance. Marine power system dynamic performance
is improved by the damping of system oscillations. This is
a very effective method of enhancing small signal stability
performance. By simulating of marine generator excitation
system with PSS is presented and better stability
performance are acquired.
small perturbation, such as gradual changes in loads. This
form of stability can be effectively studied with steady-state
approaches that use linearization of the system dynamic
equations at a given operating point.
In this paper, power system stability performance is
improved by introducing power system stabilizer (PSS). The
basic function of the PSS is to add damping to the generator
rotor oscillations by controlling its excitation using auxiliary
stabilizing signal(s).
II. OUTLINEOFPOWER STATIONSYSTEM
Power Station System consists of generators, excitation
control system and bus. The dynamic process of the
synchronous generator is complicated.
r---------------
CT
S
- T
--
\ I I
( I
I \ I

CCT
AVR
RT
................. R
Fig.I Power station system ofcontainer ship
'----+--t';o-iH 24v
'------t...!....o--< DC
1- I
We will derive a dynamic model derived from the d, q
coordinate system for the synchronous generator. In certain
special cases, a simplified model can be obtained from the
I. INTRODUCTION
Power system stability may be broadly defined as the
property of a power system that enables it to remain in a state
of operating equilibrium under normal operating conditions
and to regain an acceptable state of equilibrium after being
subjected to a disturbance. Instability in a power system may
be manifested in many different ways depending on the
system configuration and operating mode. The stability
problem can affect synchronous operation of all synchronous
machines. Since power systems rely on synchronous machines
for generation of electrical power, a necessary condition for
satisfactory system operation is that all synchronous machines
remain in synchronism. This aspect of stability is influenced
by the dynamics of generator rotor angles and power-angle
relationships. Instability may also be encountered without loss
of synchronism.
Instability that may result can be of two forms (I) steady
increase in generator rotor angle due to lack of synchronizing
torque , or (2) rotor oscillations of increasing amplitude due to
lack of sufficient damp ing torque. In today's practical power
systems, the small-signal stability problem is usually one of
insufficient damping of system oscillations.
Small-disturbance (or small-signal) voltage stability is
concerned with a system's ability to control voltages following
Index Terms - Simulation; Marine generator; Excitation;
Power systemstabilizer(PSS).
978-1-4244-2693-5/09/$25.00 2009 IEEE 839
complete dynamic model. With little disturbance, the
complete non-linear model can be changed into a linear one at
the condition point. In some special cases, a simple linear
model can be got.
Electrical schematic diagram is a real power station
system in advanced large container ship (Fig. I), and it is a
block diagram of the power station system (Fig.2). The main
generator is revolving-magnetic pole type. Armature winging
of the main generator is on stator, and excitation winging is on
rotor. The AC exciter is revolving-armature type. Armature
winging of the AC exciter is on rotor, and excitation winging
is on stator. The output current of the revolving-armature type
AC exciter installed on the shaft of the rotating machine of the
main generator excites the field system of the main generator
through the rotary rectifier on the shaft[I-3].
The current signals transmitted from the current
transformer CT and the voltage signals transmitted from the
reactor RT are then put together to be rectified to DC by using
three-phase rectifier (Si2) so that the excitation of the AC
exciter needs can be achieved. Since the alternating exciter is
revolving-armature type, three-phase AC will be generated on
the rotating armature of the AC exciter, and the three-phase
AC is rectified to DC by using the coaxial rotat ing three-phase
rectifier (Si I) so that the excitation of the coaxial rotating
main generator can be achieved.
main generator;
AC exciter ;
rotary rectifier;
silicon rectifier;
main generator field winding;
Ex field winging;
reactor;
rheostat for voltage setting;
automatic voltage regulator.
current transformer;
transformer for cross-current compensation;
III. MODEL OF MARINE POWER STATION SYSTEM
A mathematical model is set up based on the marine
power station system. Marine power station computer
simulation can be realized through operation on digital
computers. The most important task is to set up a
mathematical model that describes the marine power station
simulation system. The marine power station system consists
of two main parts: part one is the generator set the diesel
engine, the generator and accessories; part two includes
monitoring, protection, alarm, operation devices as well as
devices that regulate the operation of the generator. Therefore,
the mathematical model has two parts: one is a dynamic
mathematical model used to simulate diesel engines,
generators, accessories and a mathematical model for system
status; the other is a logical and monitoring mathematical
model used to simulate marine power station protection, alarm
operation and monitoring. On this, the power system stability
may be analyzed after being subjected to disturbance. The
generator set model and the excitation control system model
will be set up.
reactance, between the generator terminals and the point at
which the voltage is being effectively controlled. The
compensator regulates the voltage at a point within the
generator and thus provides voltage drop. With rotating
rectifier, the need for slip rings and brushes is eliminated, and
the DC output is directly fed to the main generator field. the
voltage regulator controls the AC exciter field, which in tum
controls the field of the main generator. Brushless excitation
systems do not allow direct measurement of generator field
current or voltage. After adjusting the variable resistor VR, the
output of generator terminal voltage can be manually
controlled.
G:
Ex:
s.,
Si2:
F
1
:
F
2
:
RT:
VR:
AVR:
CT:
CCT:
U
r
current
limiter
W
Prime
Pm
Rotor
wref
mover and equation
-.
governor
id ,iq
Stator
current
P
e
limiter
Uref hj r--
U
- ,'--- - ..... I G
-. Excitation Generator U d, Uq ,.-....;....---,
U t system excitation
Fig.2 Power station system skeleton diagram
Therefore, the current signals transmitted from the
current transformer CT and the voltage signals transmitted
from the reactor RT keeps the voltage at the main generator
terminal at a normal level. The AVR normally controls the
generator stator terminal voltage. Load compensation is used
to control a voltage which is representative of the voltage at a
point either within or external to the generator. This is
achieved by building additional circuitry into the AVR loop.
The compensator has adjustable resistance and inductive
A. The Marine Generator Sets Model
The block diagram representation of the small-signal
performance of the system is shown in Fig.3.
In this representation, the dynamic characteristics of the
system are expressed in terms of the so-called K constants.
840
.-------------1
K4
1+- - - - -+- - - --,
s,

Kl
U
g
0.-
KS
Fig.3 The Block diagram representation of the small-signal
performance of the system
brushes. Motor structures, excitation models, parts and circuits
may vary, but there are mainly three types of excitation
regulation principles for marine synchronous generators: AVR
on disturbance principle, AVR on feedback principle and
AVR on compound regulation principle.
Excitation system comprised of elements with significant
time delays have poor inherent dynamic performance. This is
particularly true of DC and AC type excitation systems.
Unless a very low steady-state regulator gain is used, the
excitation control(through feedback of generator stator
voltage) is unstable when the generator is on open circuit.
Therefore, excitation control system stabilization, comprising
either series or feedback compensation, is used to improve the
dynamic performance of the control system. The most
commonly used form of compensation is a derivative feedback
as shown in Fig. 4.
KFS
I + STF
B. The excitation control system model
The advances in excitation control system over the last 20
years have been influenced by developments in solid-state
electronics. Developments in analog integrated circuitry have
made it possible to easily implement complex control
strategies. The latest development in excitation systems has
been the introduction of digital technology. Thyristors
continue to be used for the power stage. The control,
protection, and logic function s have been implements
digitally, essentially duplicating the functions previously
provided by analog circuitry. The digital controls are likely to
be used extensively in the future as they provide a cheaper and
possibly more reliably alternative to circuitry. They have
added advantage of being more flexible, allowing easy
implementation of more compl ex control strategies, and
interfacing with other generator control and protective
functions.
The quality of a marine electricity network is determined
by performance of the marine synchronous generator, factors
such as voltage output precision, range of voltage regulation,
the stabil ization of the voltage when the load varies and the
speed for dynamic reaction will affect the power stability, and
all these factors are related to the AYR. There are mainly two
types of excitation models for the marine synchronous
generator: one is with brushes and the other is without
Fig.4 Derivative feedback excitation control system
stabilization model
The effect of the compensation is to minimize the phase
shift introduced by the time delays over a selected frequency
range. This results is a stable off-line performance of the
generator, such as that existing just prior to synchronization or
following a load rejection. The feedback parameters can also
be adjusted to improve the on-line performance of the
generating unit. Depending on the type of excitation system,
there may be many levels of excitation control system
stabilization involving the major outer loop and minor inner
loops. Static excitation systems have negligible inherent time
delays and do not require excitation control-system
stabilization to ensure stable operation with the generator off-
line.
Although most of the data related to excitation system
models can be obtained from factory tests, such as data can
only be considered as typical. The actual settings are usually
determined on site during installation and commissioning of
the equipment. It is therefore desirable to determine the model
parameters by performing tests on the actual equipment on
site[4].
Under is AVR on compound regulation principle in the
large container ship. Its block diagram is as follows, Fig.5.
(00:

H:
K
D
:


K
1
-K
6
:
T
3
:
'I'm:
S:
rotor angle deviation
rated speed
speed deviation
inertia constant
damp ing torque
air-gap torque
mechanical torque
coefficient
time constant
the field circuit d-axis flux linkage
Laplace operator
84\
u u,

Exciter
and AVR
Fig.S The excitation control system model
U
ref:
voltage regulator reference voltage
Upss: power system stabilizer output voltage
K
F
: excitation control-system feedback gain
TF: excitation control-system time constant
SL: brushless exciter saturation function
TL: brushless exciter time constant
K
u:
load compensator voltage gain
K,: load compensator current gain
UI: voltage-transducer output voltage
TR: voltage-transducer time constant
K
A
: amplifier gain
TA: amplifier time constant
S: Laplace operator
IV. POWER SYSTEM STABILIZER MODEL
Excitation systems comprised of elements with significant
time delays have poor inherent dynamic performance.
Excitation control system stabilization, comprising either
series or feedback compensation, is used to improve the
dynamic performance of the control system.
Field regulator's function is along with the generator
terminal voltage's change by adjusting the generator excitation
unceasingly. The excitation adjustment will affect the
electromagnetic torque and the
will be changed by Between the voltage and the torque
relational vector graph is as follows, Fig.6.
Electromagnetic torque Te2 will be produce when the
voltage deviation signal pass through the field regulator, the
exciter and the generator field. Some lag's phase lpl presence
between the and Two parter of the are and
is the synchronized torque. is the negative
damping torque. If the negative damping torque is bigger than
the natural damping action, the generator rotor will vibrate
continuously.
842
6
Fig.6 Generator voltage and torque relations
Power system stabilizer (PSS) provides an additional
input signal to the regulator to damp power system
oscillations. Some commonly used input signals of PSS are
rotor speed deviation, accelerating power, and frequency
deviation. This is a very effective method of enhancing small-
signal stability performance [5].
The basic function of the PSS is to add damping to the
generator rotor oscillations by controlling its excitation using
auxiliary stabilizing signal(s). To provide damping, the
stabilizer must produce a component of electrical torque in
phase with the rotor speed deviations. Since the purpose of a
PSS is to introduce a damping torque component, a logical
signal to use for controlling generator excitation is the speed
deviation If the exciter transfer function and the generator
transfer function between A'I', and (Fig.3) were pure
gains, a direct feedback of would result in damping torque
component. However, in practice both the generator and the
exciter exhibit frequency dependent gain and phase
characteristics. Therefore, the PSS transfer function, GPSS(S),
should have appropriate phase compensation circuits to
compensate for the phase lag between the exciter input and the
electrical torque. In an ideal case, with the phase characteristic
of Gpss(S) being an exact inverse of the exciter and generator
phase characteristics to be compensated, the PSS would result
in a pure damping torque at all oscillating frequencies.
The PSS representation consists of three blocks: a phase
compensation block, a signal washout block, a gain block, and
stabilizer limits. The power system stabilizer is shown in
Fig.?
[
' +7
i
SJ
P
'+7i
S
Fig.7 power system stabilizer
K
sr:
gain
Tw: time constant
TI: time constant
T
2:
time constant
p: constant (I or 2)
The phase compensation block provides an appropriate
phase-lead characteristic to compensate for the phase lag
between the exciter input and the generator electrical torque.
The phase characteristic to be compensated changes with
system conditions, therefore, a compromise is made and a
characteristic acceptable for different system conditions is
selected. Some under-compensation is desirable so that the
PSS, in addition to significantly increasing the damping
torque, results in a slight increase in the synchronizing torque.
The signal washout block serves as a high-pass filter,
with the time constant Tw high enough to allow signals
associated with oscillations 0) to pass unchanged. Without it,
steady changes in speed would modify the terminal voltage. It
allows the PSS to respond only to changes in speed. From the
viewpoint of the washout function, the valve of Tw is not
critical. The main consideration is that it is long enough to
pass stabilizing signals at the frequencies of unchanged
interest, but not so long that it leads to undesirable generator
voltage excursions during system-islanding conditions.
The stabilizer gain K
sr
determines the amount of
damping introduced by the PSS. Ideally, the gain should be set
at a value corresponding to maximum damping; however, it is
often limited by other considerations in application. The
stabilizer gain is normally set to a value that results in as high
a damping of the critical system modes as practical without
compromising the stability of other system modes or causing
excessive amplification of signal noise.
The positive output limit of the stabilizer is set at a
relatively large value in the range of 0.1 to 0.2 pu. This allows
a high level of contribution from the PSS during large swings.
With such a high value of stabilizer output limit, it is essential
to have a means of limiting the generator terminal voltage to
its maximum allowable value. The terminal voltage signal ,
however, contains small components of torsional components.
Hence, feedback of this signal to the excitation system through
a high gain may cause torsional mode instability.
V. SIMULATION OF POWER STATION DYNAMIC RESPONSE AND
ANALYSIS
Several simulation calculations for power station dynamic
responses are completed based on the following parameters
given.
The marine generator sets model parameters:
K]=1.59I ;K
2
=1.5;K
3
=0.333;K
4
=1.8;K
5
=0. I2;K
6
=0.3;T
3
=1.91;
K
R
=0.003;O)o=377;
The excitation control system model parameters:
KF=O.OI;TF=0.52;SL=I .0;TL=15;TR=0.003.
Power system stabilizer model parameters:
K
sr
=9.5;T:1.4;T]=0.154;T2=0.033 ;p=1.
The stability of the system has the following alternative forms
of excitation control:
(1) real marine generator excitation system, no PSS:
response with 10% pulse excitation disturbance, disturbance
time equal to I second. As shown in Figure 8.
843
response with 10% torque disturbance, disturbance time equal
to 1 second. As shown in Figure 9.
3
0:r'10 . .......... .. .. .... ......... .. .. .......... .. .1 1
0- : , : --...,. .. :.- - - -
. . . .
. . . .
-0.5 ; , , , ; .
. . . .
. . . .
. . . .
1
::: r h i\' A k = .. 1
::: ............ .... 1 .
4
f..
I ..... .. .

23
0
Fig.8 The response with 10% pulse excitation disturbance,
time equal to I second, no PSS
3
.... -.-
;: i _
.. .................. ....... ......................... .. ...... ....... ..
0 2 : : : : : .
. . . .
. . . .
. . . .
o . ........................... ..... ..., : -..;.. .---
. . . .
. . . .
-02
.. } -
: ..:
SO f : : . _
40 ;. . . . . , : ; i .
. . . .
. . . .
. . . .
. . . .
30 : : : : : .
: : :
o , 2 3 4 5 6
Fig.9 The response with 10% torque disturbance,
time equal to 1 second, no PSS
(2) real marine generator excitation system, with PSS:
response with 10% pulse excitation disturbance, disturbance
time equal to I second. As shown in Figure 10.
response with 10% torque disturbance, disturbance time equal
to 1 second. As shown in Figure 11.
r :01F I 1-
o ...... .
. . . .
. . . .
2 i .. . . ............... ......... ... ............... ........; ; .
. . . .
. . . .
4 . . . . ':' ' :' : : .
. . . .
6
.....
o .
.
.
.
0.01 :........... ... ...... ... ... ....... ; : : .
. . . .
. . . .
. . . .

.,
r mmm immmm:
2 ....... .... . .. . .. ... .... . .... . .... ........ ... ..... ...... ... ... . ., , .
. .
. .
, ................ .. ... . . ... ... ..... .. ..;;
. .
o ............... ..............................
. . . .
.,
t.iSJE1mmmmmlmmmmmImmmmmj
2S ... .... ... ... ... .. .. . .. ... ... ... .. .. . ... ... ... ..... ... ... ... ... ... .: .. ... .... .. ......... ... ..........
. . . .
. . . .
. . . .
2' i . ' ; : : .
. . . .
. . . .
. . . .
23
0
, 2 3 , 5 6
Fig.IO The response with 10% pulse excitation
disturbance, time equal to I second, with PSS
3
........................................... .... ......... : ..................
0 - ; ... .. .. ... . . .. ... .. ... .... ... . .. -
.
. . . .
. . . .
2 : ; ; : : .
. . . .
. . . .
. . . .
., '-----__--'---__----'- L-__---'--- _
.................. $........................................................ : . .................
02 : : : .... ... ... ... ... .. .. .... ... ... ... ..
. . . .
. . . .
. . . .
o ; : . ; ;
. . . .
. . . .
. . .
0.2 - .3,---------'----------'----'---------'---------l---
:l 'O . .......... ...................... ..! . .................
0 - : ;. . .. . . . .... . .... .- _ -'-- . ----':----
. . . .
. . . .
. . . .
. . . .
.2 '-----__--'---__----'- L-__---'--- _
'or . :14; ;
35 .................... .... ........................................... : : .
: ==: 11 .
o 1 2 3 , 5 6
Fig.11 The response with 10% torque disturbance,
time equal to I second, with PSS
The result of time responses computed with the four
alternative excitation controls are shown in figure 8, figure 9,
figure 10 and figure 11 separately, which show time responses
of and (), respectively. These results are
844
calculated by using Matlab. The values of and
are per unit value. The value of () is actual rotor angle value. x-
axis unit is second.
From figure 8 and figure 9, no PSS, we can see that the
time responses of and () are stable within 2
seconds to real marine generator excitation system. The
amplitude of and are normal.
From figure 10 and figure 11, with PSS, the e and
and () during the time responses are stable, that is within 1
second. The amplitude of and are reduced half.
Therefore, it can be concluded from the four results above
that the use of a fast exciter with a high-ceiling voltage and
equipped with the PSS contributes to the enhancement of the
overall system stability performance.
REFERENCES
[I] Caiqin Sun, Chen Guo, Chengjun Shi. Modeling and Simulating to Large
Intelligent Marine Power Station SystcmjC] . Sixth World Congress on
Intelligent Control and Automation , 2006: 6128-6132 .
[2] Sun Caiqin, Guo Chen, Shi Chengjun etc. Power Station Simulation
Subsystem in Marine[J]. Journal of Dalian Maritime University. 2002.28
(Suppl.): 31-34
[3J Weifeng Shi, Tianhao Tang, Jianmin Yang. Simulation of A Large Marine
Container Ship Power SystemjC]. SICE Annual Conference in Sapporo,
August 4-6, 2004: 39-44.
[4] IEEE Tutorial Course Text, "Power System Stabilization via Excitation
Control - Chapter IV: Field Testing Techniques," Publication 81 EHO
175-0 PWR.
[5] Prabha Kundur, Power System Stability and Control[M]. Beijing: China
Electric Power Press, 2001.