ransient Analysis of Synchronous Machines

Synchronous Machines
Steady state modeling
rotor mmf and stator mmf are stationary with respect to each other flux linkage with the rotor are invariant with time no voltages are induced on the rotor circuits

Transient modeling
flux linkage changes with time differential equations have time-varying coefficients Parks transformation dynamic behavior

IG XS emf RA VT

sub-transient period, transient period, and steady-state period

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Transient Analysis
Transient analysis will be applied in the dynamic study of generators Generators experience dynamic behavior during
switching load faults

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Synchronous Machine Model

The synchronous machine consist of:
three ac stator windings mounted on the stator one field winding mounted on the rotor two fictitious windings which model short-circuited paths of the damper windings

When modeling, the following are assumed:

a synchronously rotating reference frame with a speed of the reference frame is along the axis of phase a at time zero

For transient analysis of an ideal synchronous machine

The machine is represented as a group of magnetically coupled rotating circuits with inductances which depend on the angular position of the rotor

Synchronous Machine Model

Reference Axis

m
Direct Axis

Quadrature Axis

b
Q

c
D F Q

m = t + +

a
F D

c
Physical Layout

Synchronous Machine Model

rF VF LF Laa Lcc r r ia ic

rD LD

Lbb

in

LQ

Schematic of mutually coupled circuits

ib

Synchronous Machine Model

The KVL equations for the model
r 0 va 0 r v b 0 0 vc = 0 0 vF 0 0 0 0 0 0 v abc R abc v = 0 FDQ 0 0 r 0 0 0 0 0 0 0 rD 0 0 ia a 0 ib b 0 ic d c 0 iF dt F D 0 iD rQ i Q Q FDQ
abc

0 rF 0 0 0 0

0 i abc d R FDQ i FDQ dt

Synchronous Machine Model

The magnetic inductance equations
a Laa Lab Lac LaF L Lbb Lbc LbF b ba c Lca Lcb Lcc LcF = F LFa LFb LFc LFF D LDa LDb LDc LDF Q LQa LQb LQc LQF abc L SS L SR i abc = L i L RR FDQ FDQ RS

LaD LbD LcD LFD LDD LQD

LaQ ia LbQ ib LcQ ic LFQ iF LDQ iD LQQ iQ

Salient Pole Machines

Rotors have two types of construction
Cylindrical Salient

The cylindrical rotor has an evenly spaced air gap and a constant self-inductance The Salient has a non-uniform air gap and a self-inductance that varies periodically
maximum inductance when the direct axis coincides with the stator coil magnetic axis minimum inductance when the quadrature axis coincides with the stator coil magnetic axis

Cylindrical

Salient

Salient Pole Machines

The salient pole machine can be represented by cosines of second harmonics
Stator quantities

Laa = LS + Lm cos 2

Lbb = LS + Lm cos 2( 2 3 ) Lcc = LS + Lm cos 2( + 2 3 )

Lca = Lac = M S Lm cos 2( + 5 6)

Lbc = Lcb = M S Lm cos 2( 1 2)

Lab = Lba = M S Lm cos 2( + 1 6)

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Salient Pole Machines

Rotor quantities - All the rotor self inductances are constant since the effects of the stator slots are negligible

LFF = LF LDD = LD LQQ = LQ LFD = LDF = M R LFQ = LQF = 0 LDQ = LQD = 0

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Salient Pole Machines

Mutual inductance between the stator and rotor circuits

LcF = M F cos 2( + 2 3) LaD = M D cos 2

LbF = M F cos 2( 2 3 )

LaF = M F cos 2

LcD = M D cos 2( + 2 LcQ = M Q sin 2( + 2 3) 3)

LbD = M D cos 2( 2 LbQ = M Q sin 2( 2 3) 3 )

LaQ = M Q sin 2

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Park Transformation
Changes the abc frame of reference to the dq0 frame of reference
Voltages and currents on the stator are changed to equivalent values based on the rotors frame of reference

The transformation is based on the two-axis theory

the electrical quantities are projections onto three new axes:
direct axis - along the direct axis of the rotor field winding quadrature axis - tangent to the direct axis of the rotor field winding zero axis - a stationary axis

1 2 2 P= cos 3 sin

cos( 2 3) sin ( 2 3 )

) cos( + 2 3 sin ( + 2 3 ) 1 2
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Park Transformation
The Park transformation for current

ia 2 ) ( ) cos( 2 cos + 3 3 ib ic sin ( 2 sin ( + 2 3) 3 ) Similarly applied to all electrical quantities i 0 dq = P i abc i0 id = iq 1 2 1 2 v 0 dq = P v abc
0 dq

1 2 2 cos 3 sin

in matrix notation

=P

abc

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Park Transformation
The Park transformation matix is orthogonal:

1 2 1 T 1 P =P = 3 1

2 2 2

cos sin 2 2 cos( 3 ) sin ( 3 ) 2 cos( + 2 3 ) sin ( + 3 )

Applying the Park transformation to the generator

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Park Transformation
Transforming the time-varying inductance to obtain a rotor frame of reference
P 0 = 0 I FDQ 33

0 dq

FDQ
abc

P 1 0 0 dq or = 0 I FDQ 33 FDQ P 1 0 0 dq L SS L SR P 1 0 i 0 dq i = L L 0 0 I I RR RS 33 FDQ 33 FDQ 0 dq P 0 L SS L SR P 1 0 i 0 dq i = 0 I L L 0 I 33 RS RR 33 FDQ FDQ

abc

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Park Transformation
Resulting inductance matrix
0 0 Ls 2 M s 3 0 Ls + M s + 2 Lm 0 3 0 0 Ls + M s 2 Lm 3 0 MF 0 2 3 0 0 2 MD 3 0 0 MQ 2 0
3 2

0
3 2

MF 0

MD 0

LF MR 0

MR LD 0

0 3 2 MQ 0 0 LQ 0

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Park Transformation
Applying the transformation to the machine model KVL
vabc Rabc 0 iabc d abc v = 0 R i dt FDQ FDQ FDQ FDQ P1 0 v0dq Rabc 0 P1 0 i0dq d P1 0 v = 0 R i dt 0 0 0 I I I FDQ 33 FDQ 33 FDQ 33

FDQ
0dq

v0dq P 0 Rabc 0 P1 0 i0dq P 0 d P1 0 i 0 I v = 0 I 0 R dt 0 0 I I FDQ 33 33 FDQ 33 FDQ 33 d v0dq Rabc 0 i0dq P dt P1 0 0dq d 0dq v = 0 R i dt 0 I FDQ FDQ 33 FDQ FDQ FDQ

FDQ
0dq

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Park Transformation
1 d P P Evaluate the expression dt
d P dt P 1

1 2 1 2 1 2 0 sin cos 2 2 2 ) ) = 3 cos cos( 3 ) cos( + 3 ) 0 sin ( 23 cos( 23 2 2 2 sin sin ( 23 ) ( ) ( ) ( sin + 0 sin + cos + 3 3 3 ) 0 0 0 = 0 0 1 0 1 0

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Park Transformation
Substituting the original terms into the transformation
0 0 r 0 v0 0 r Lq 0 vd 3 v 0 L r MF d q 2 = rF 0 0 0 vF 0 0 0 0 0 0 0 0 0 0 0 0 0 L0 3 0 Ld 0 2 MF Lq 0 0 0 3 MF LF 0 2 0 3 MD MR 0 0 2 3 0 0 0 2 MQ 0 0
3 2

MD

0 rD 0 0 3 2MD 0 MR LD 0

i0 M Q id i 0 q 0 iF 0 iD i rQ Q 0
3 2

0 i0 0 id 3 i 2 MQ d q i 0 dt F 0 iD iQ LQ
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Park Transformation
Observations
The transformation has constant coefficients provided that the speed is assumed to be constant The first equation (the zero sequence) is not coupled to the other equations, and it can be treated separately While the transformation technique is a mathematical process, it gives insight into the internal phenomena of the rotor and the effects of transients

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