EE742

Chap.5:ElectromechanicalDynamics
Y. Baghzouz
Fall2011
introduction
Inthischapter,alongertimescaleisconsideredduring
whichtherotorspeedwillvary(orderofseconds 10s
ofseconds transientperiod).
Thechangeinrotorspeedinteractswiththeelectro
magneticchangestoproduceelectromechanical
dynamiceffects.
Someimportantstabilityconceptswillbeintroduced
mathematicallywithphysicalimplications.
Swingequation
Rotordynamicequation(NewtonsLawonmotion):
Atsteadystate,
m
=
sm
,and
Rotorspeed:
SwingEquation
Aftersubstitution,
SwingEquation
Inertiaconstant:
SwingEquation
DampingPower
Assumptions:
Generatorequivalentcircuitresemblesthatofaninductionmotor:
Whenignoringrotorsaliency,
where
and
Dampingpower
Withrotorsaliency,thefollowingformulaisderivedwhenusing dqaxis
decomposition notedependencyonrotorangle.
Forsmallspeeddeviations,theaboveexpressioncanbeapproximatedby
Dampingpower
Forlargespeeddeviationvalues,itisconvenienttorewriteP
D
as
Criticalspeeddeviationineachaxis:
Criticaldampingpowerineachaxis:
Equilibriumpoints
Recallthegeneratorpoweranglecharacteristicatsteadystate(chap.
3):
Forsalientpole:
Forroundrotor:
Theswingequationcanberewrittenas:
Atequilibrium,
Hence,
Usingpoweranglecurveforsimplicity:
NoequilibriumpointwhenP
m
>criticalpower
oneequilibriumpointwhenP
m
=criticalpower
twoequilibriumpointswhenP
m
<criticalpower
Steadystatestabilityofunregulatedgenerator
Wefirstignorethecontrolsofthegeneratorandturbine(i.e., the
mechanicalpowerandexcitationvoltageareconstant).
Smalldisturbanceorsmallsignalstability:issystemissaidtobe
steadystatestableforaspecificoperatingconditionif,followinga
smalldisturbance,itreachesasteadystateoperatingpointator
closetothepredisturbancecondition.
Herein,thepowersystemmaybelinearizedneartheoperatingpoint
foranalyticalpurposes.
Thegeneratorinfinitebusbarsystemisstableonlyinthelefthand
sideofthepoweranglecurve
Steadystatestabilityofunregulatedgenerator
Transientpoweranglecharacteristic
Rotoroscillationsoccurinthesametimescaleasthetransient
period generatormodelduringtransientstate:
Forgeneratormodelwithconstantfluxlinkage,seeFig.below(Chap.4)
Round
rotor
Salient-pole
rotor
Transientpoweranglecharacteristic
Constantfluxlinkagemodel:
Forageneratorwithasalientpolerotor,
theabovetransientpowerexpressionsimplifiesto
Transientpoweranglecharacteristic
Classicalgeneratormodel:theconstantfluxlinkagemodelcanbe
simplifiedfurtherbyignoringthetransientsaliency,i.e.,assuming
thatThetransientpowerequationbecomesequalto
Notethat
Examples5.1
Examples5.2
Impactofincreaseinload
Theincreaseinloadmodifiesthetransientcharacteristicasshown
below(resultsinsmallertransientemfE,hencesmallerpeakvalue
ofthetransientpowercurve).
Thetransientsynchronizingpowercoefficient
issteeperthanitssteadystatecounterpart
RotorSwingandequalareacriterion
Considertheeffectofdisturbingtherotorangle fromitsequilibrium
pointtoanewvalue
Thedisturbanceperformsworkontherotor.Itincreasesthesystem
potentialenergyby
Atpoint2,P
m
<
PE
themachinedecelerates.
Atpoint1,theabovepotential
energyisconvertedtokinetic
energy,pushingtherotorpastthe
equilibriumpoint,butstartsto
accelerate.
Atpoint3,area124=area135.
Theprocessrepeatsw/odamping.
Effectofdamperwinding
Forsmalldeviationsinspeed,thedamperwindingproducesdamping
powerthatisproportionaltospeeddeviationandaddsuptothe airgap
power.ThesignofP
D
dependsonthesignof.
Therotorwillthereforemovealongamodifiedpowerangletrajectory.
Startingfrompoint2,therotor
beginstodecelerateandreaches
minimumspeedatpoint6.
Pastpoint6,therotoraccelerates
andreachessychronousspeed
whenarea246=area635
Therotoroscillationsaredamped
andthesystemquicklyreaches
theequilibriumpoint1.
Effectofrotorfluxlinkagevariation
Inreality,E isnotconstant(asthearmaturefluxenterstherotor
winding,therotorfluxlinkagechangeswithtime).
Tosimplifytheanalysis,onlythesalientpolemachineisconsidered
(i.e.,))
Linearizethetransientpowerequationattheinitialoperatingpoint:
where
E
q
canbeinphasewiththespeeddeviation inthiscase,it
inducesanadditionaldampingtorque,(seefirstfigurebelow).
Effectofrotorfluxlinkagevariation
Updatednecessaryconditionforsteadystatestability(i.e.,E
q
tobe
inphasewiththespeeddeviation):
Incaseoflargenetworkresistance,E
q
canbe180
o
outofphasewith
thespeeddeviation, generatorinstabilitycanoccurifthisnegative
dampingislargerthatthepositivedampingproducedbythedamper
winding(seesecondfigurebelow).
Rotorswingsaroundtheequilibriumpoint
Linearizedswingequation:
Rootsofcharacteristicequation:
Threepossiblesolutions:underdamped,criticallydampedandover
damped.
Mechanicalanaloguesofgeneratorinfinitebus
barsystem
Dynamicequationofmassspringdampersystem
Dynamicequationofpendulum(notincludingdamping)
Steadystatestabilityofregulatedsystem
(whenactionofAVRisincluded)
Studyrestrictedtogeneratorwithroundrotorandnegligible
resistance.
SolveforEqintermsofVs,Vg,and:
Substituteinthepowerequation:
The AVR increases the amplitude
of the power curve significantly
GeneratorpowerisproportionaltoE
qb
.
Maximumpoweroccurswhen
Dashed curves 1-6 represent
P
E
q
() for higher values of E
q
.
TheslowactingAVR(onewithalargetimeconstant)willnotbeable
torespondduringthetransientperiod,hencethestabilitylimit
correspondsto =/2.
ForafastactingAVR(withshorttimeconstant),thestabilitylimit
correspondsto >/2.ThisvaluedependsonthesystemandAVR
parameters(i.e.,conditionalstability).
Theinfluenceoffieldcurrentlimiterisillustratedinthefigurebelow.
ThefieldcurrentlimitisreachedbeforeP
VgMAX
ifXissmall.
Belowthelimitingpoint,thegeneratorsteadystatecharacteristicfollowsP
Vg
.
Abovethelimitingpoint,thegeneratorsteadystatecharacteristicfollowsP
Eq
.
Transientpoweranglecharacteristicsofregulated
generator
WeconsiderAVRwithlargetimeconstant.Inhere,thetransient
characteristicsisthesameastheunregulatedsystemexcept,
thevalueofE
q
ishigher(hencehigheramplitudeofP
E
())sincetheincreased
loadingintheregulatedsystemcausesanincreaseinthesteadystatefieldcurrent.
Inaddition,theangle reaches/2before reacheditscriticalvalue.
Notethatwhenthe reacheditscriticalvalue, >/2,henceK
E
is
negative.SoatwhichpointontheP
Vg
()curvewhenK
E
=0?
UsingclassicalmodelandphasordiagraminFig.20b,
RatioofpoweratwhichK
E
=0tothepoweratwhichK
Vg
=0:
isstronglydependentonthesystemreactanceX.
Refertothefiguresbelow:
AtoperatingpointA(lightload),0<K
Eq
<K
E
<K
Vg
AtoperatingpointB(mediumload),0=K
Eq
while0<K
E
<K
Vg
AtoperatingpointC(heavyload),0>K
Eq
,K
E
=0,and0<K
Vg
Effectorrotorfluxvariation
Determinethephaseshiftbetweenspeedchangeand (seeSection
5.5.3fordetails)
ThephasorsbelowshowrepresenttwotypesofAVRs:
ForstaticexciterE
f
isinphasewithV
Forrotatingmachineexciter,E
f
lagsVby10s ofdegrees.
theoutofphasecomponentrelativeto reducesdamping(i.e.,
increaseschancesofinstability).
EffectofAVRactionondamperwinding
Changeinspeedinducesavoltagee
D()
indamperwinding
proportionalto.Theinducedcurrenti
D()
lagsbyandangledueto
highwindingresistance.
Inphasecomponentofcurrentwith givesrisetothenaturaldampingtorque
Thequadraturecomponentofcurrentenhancesthesynchronizingpowercoefficient.
AchangeinfieldwindingvoltageE
f
,inducesanadditionalcurrenti
D(Ef)
lagsindamperwinding(transformeraction).
Thehorizontalcomponentofthiscurrentis180
o
ofofphasewithrespectto.
thevoltageregulatorweakensthenaturaldampingabove.
Thisdetrimentaleffectcanbecompensatedbyasupplementarycontrolloop(PSS).
t