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Synchronous Machine
A. W. RANKIN
ASSOCIATE AIEE
HE E Q U I V A L E N T - C I R C U I T
method of analysis is a tool of unquestioned competence in the solution of
machine and system problems involving a
number of simultaneous equations. Its
efficacy in obtaining practical results has
been demonstrated in many diverse applications. In particular, the complete
equivalent circuit of the synchronous
machinecomplete in the sense that the
field-winding circuit and the multiple
damper-winding circuits are individually
includedis used whenever a detailed
knowledge is needed of the operation of
all the rotor circuits. Specific examples
of its use are in the design of the damperwinding circuits, in problems involving
single-phase and asynchronous operation,
in the determination of damping and
synchronizing torque, and in the determination of the transient and subtransient
impedances; these few by no means exhaust the list.
When we consider the many practical
applications of the complete equivalent
circuit of the synchronous machine, it is
somewhat surprising to note that it has
been analyzed only somewhat superficially in the technical literature and has
been the subject of very few technical
papers, the most important of these being
the papers of Linville 1 and Liwschitz.2
Linville presented an equivalent circuit
which was complete within the limits of
certain well-defined approximations and
also derived formulas for all the machine
Paper 45-167, recommended by the AIEE committee on electric machinery for publication in
AIEE TRANSACTIONS. Manuscript submitted June
11, 1945; made available for printing August 29,
1945.
A. W. RANKIN is in the turbine-generator engineering division of General Electric Company, Schenectady, N. Y.
The author acknowledges the co-operation and
contributions of his associates in the General
Electric Company in the study presented in this
paper: S. B. Crary, who first brought to the
author's attention the practical importance of a
satisfactory and general solution of this problem
and who contributed valuable suggestions and constructive criticism throughout the entire study;
C. E. Kilbourne for his encouragement and for
placing at the author's disposal several of his unpublished reports on machine impedances; C.
Concordia for his suggestions regarding the equivalent circuit and for his contribution to the analytical
work; and Gabriel Kron who developed the equivalent circuit. The gap-reluctance expressions on
which the permeance integrals are based were developed by M. B. Sledd on the basis of a suggestion
by C. E. Kilbourne. C. Gosney and M. Grems
conducted the numerical integrations on which
Tables I and II are based.
D E C E M B E R 1945,
VOLUME
64
Circuits
861
Efd=pYfd+RffdIfd+RfidIid+
R/id^2d^
Eld=p*ld+RlfdIfd+RlldIld+
Ri2dhd+-..
E2d=p*2d+R2fdIfd+R2ldIld+
R22dhd+...
862
TRANSACTIONS
(2b)
(2c)
T h e
Analysis
DEVELOPMENT OF EQUIVALENT CIRCUITS
(3b)
(3c)
d~l ~X2ad^d
)hd-\
(3d)
Xffdlfd+X/idlid+Xf2dhd+
Xfadid
<&id
(la)
(lb)
XifdI/d+XudIid-\-Xi2dI2d-\ XiadU
( ^22<H
(lc)
(Id)
-i-Tdn
o-
[Rffdl-L
U m v J ~T~
[x<r*afd]
+ ( X ^d- x afd)l L
-(Xf3d-Xa3d)J<C
3dm
Hl-v-
|"Rb33d
L J"
r R e33d~ R e22dl
L J
b33d
J"T"
+ ( x g 3 3 d + x e 3 3 d " x f 3d)
- ( x g 2 2 d 4 x e22d - * F 2 d )
[xa3d~xa2d] < C
+ (xf3d-xa3d)
-(x-f2d""xa2d)
(2a)
2dm
-Figure 1 . Directaxis
complete
equivalent
circuit
for five or six bars
per pole, XdO'mv)
R
= capacitive rejmv
actance
x = resistance
The quadrature-axis
complete
equivalent circuit is o b tained from this circuit by substituting
fore/
RankinEquivalent
P^T
["Re22d~Relld1
+X
b22dj
Jmv
J~T~
+ (xg22d-xe22d"xf2d)
x
-(xglld~xelld ~x^ld)
**2d- ald]<r
(xf2d"xa2d)
-(x"Pld"xald)
^Idm
[Rbiid
[^]<
"I
i" R elld]
L jmvj
Circuits
ELECTRICAL
ENGINEERING
p-1.50
7nd, ynq
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
a = 0.70
T>doi%ynd
0
0.157
0.310
0.457
0.598
0.726
0.845
0.933
0.986
1.024
1.056
p p -ig=:0.03
T^qonYn
0
0.0316
0.0690
0.123
0.210
0.329
0.460
0.598
0.747
0.900
1.056
T>dln
"Dqin
0
...0
0.198. . .0.0394
0 . 3 8 8 . . .0.0858
0 . 5 6 2 . . .0.148
0 . 7 1 3 . . .0.243
0 . 8 3 9 . . .0.348
0 . 9 3 8 . . .0.466
0 . 9 9 6 . . .0.558
1.022. . .0.630
1.034.. .0.676
1.037.. .0.692
Consider the th additional rotor circuit in the direct axis. The reactrice"
3nnd is the sum of the reactance due to
the air-gap flux within the bars which
form the th additional rotor circuit, t h r
reactance due to the leakage flux in the
bar slots, and the reactance due to the
end-ring flux.
Xnnd
(7a)
Xgnnd~T~Xbnnd'TXennd
t+s.-Xd(P)id
(8b
Xdijmv) =
o-(x +^y*.+(*,+^
DECEMBER 1945, V O L U M E 64
RankinEquivalent
Circuits
TRANSACTIONS
86
IMPEDANCES OF D I R E C T - A X I S CIRCUITS
Experience in the use of these equivalent circuits has shown that the safest and
shortest method of calculating t h e perunit impedances is first t o determine the
ampere-inch-second values and convert
these t o per-unit values b y the conversion
factors
previously
published.* This
method is followed in this paper.
Unit field current as used hereinafter is
that field current which will induce in
each stator phase a voltage of xaaiao Ltf
this current be Ifd0, T h e corresponding
base-current ratio is given b y equation
10a. This base current has the advantage that it makes Xa/a numerically equai
to Xad and at once eliminates the necessity
for differentiating between these t w o
quantities. I n a previous paper 7 the
author has suggested the universal adoption of this current as a preferred base.
4
*fdo
(10a)
(3/2)
(3/2)
N
4 AA
TrDdlxKPKdPl
(10b)
'fund^S.W
Fdi
Rl
/-12.76FfFft
(He)
Pig
io /jsyr,
L>ao
1.5Pi\
(lla,b)
N
"
(Hd)
2 2rltf
dl
(12a)
T Pi
(12b)
ra
The quantity (xd-Xad) has been evaluated several times in the technical literature. T h e most accurate published expressions are probably equation 37 of
Alger 8 and equation 4a of Kilgore, 9 and
the reader is referred to these references.
I n both cases, this quantity has been
termed the armature "leakage" reactance.
Field-Winding Reactance, Xf/d.
With
a current of one ampere flowing in the
field winding, the flux per pole due t o airgap flux is given b y equation 14a. T h e
corresponding inductance in henrys for
-the entire field-winding circuit of P x poles
is given b y equation 14b.
Nfd 2 2irRl
, v
Flux per pole = 3 . 1 9 - Fdo - (14a)
g
Lmi
Pi
Rl
= 12.76 X 1 0 - - Nfd*Fao
(He)
(14c)
4PP/f
fig
10
A
g/KjJCqPi
19.14 F0Fdl Rl
(14b)
(14d)
Lm = 10-iWld[^+3-W<*+)]
(We)
= 1.5X4X0.4TTX2.54 (llf)
Stator
Synchronous
Reactance, ,
T h e stator synchronous reactance xd can"
be obtained most easily b y arbitrarily
separating it into t h e components xad and
(XcrXad) T h e former is the reactance of
armature reactance, and the latter, somewhat unfortunately, has been termed the
"leakage" reactance.
Assume the stator windings sinusoidally
* See "Results", reference 3.
864
TRANSACTIONS
RankinEquivalent
Circuits
Al
(6+*,)
<t>f
Xffd-kad^xad+d.l9kad^
(14f)
Pi
,m %
(15a)
Laf^SAQXlO-^F^--- (15b)
Jiafd
E, , Radn Xad
* *di ?
rg
(15c)
i8avg
(16a)
Ddon
Lannd - 1 2 . 7 6 X
RL
10-*-Ddonynd
g
(16b)
lot
Lnkd ~ Lgnnd+Lennd
Xnkd^Xgnnd+Xennd
(18a)
(&>)
(18b)
_108/4^\
Rnnds I ~ ~ j Rnnd
(22(1)
\ir DdlxJ /
Mutual Reactance Between Field-Wind' (ld)
Mutual Resistance Between Additional
ing Circuit and nth Additional Rotor CirThe per-unit values of equations lbr^ cuit, Xnf .
Ratar Circuits, Rnkd (k>n).
The muThe mutual inductance
d
d, based upon the base-current ratio 10b, Lap between the field-winding circuit tual resistance between the nth additional
are given by equations 16e, f, g respec- and the nth additional rotor circuit is rotor circuit and any outer rotor circuit k
tively.
N/aLgnnd* since the flux which defines the is the end-ring resistance of the wth addilatter
inductance is mutual with the fielcT tional rotor circuit. Rnkd is given by
4
A
\*A
D
UA
dl
don
Y
(16< winding circuit. Lnfd is given by equa- equation 23a, and the corresponding per\T Vdiz/
Ails/ *g
Fg*di
Fdi '
tion 19a, and the corresponding per-unit unit value by equation 23b. The
value, based on the base-current ratios mutual resistance between the wth addiequations 10a and 10b is given by equa- tional rotor circuit and any inner rotor
\'DdlJ
FeFMR\wr
)
circuit is obtained from the latter, since
(16f) tion 19b.
in this article all the mutual impedances
are reciprocal.
TJJ
Rl
Fig h
Lm - NfdLgnnd 12.76 X10-8 DdonyndNfd
X
FFdlR I
Rnkd Rennd 3 . 3 3 X 1 0- 6 6
Pi
(23a)
Q>end
(9.2logl0~ + l \ (log)
(Adl\Ddon
Adl 2A
Ln/d
=
=
I
(19b)
ynd*ad
FdjDd
(23b)"
Rnkd
Rnkd
The per-unit reactance of the wth addi\ DdixJ
tional rotor circuit is given bv equation
Stator Resistance, ra.
The stator re16h.
sistance is a definitive impedance, and its IMPEDANCES OF QUADRATURE-AXIS
CIRCUITS
(16h) per-unit value is given by equation 20a.
Xnnd ~~ Xgnnd'T'Ji j>nnd~T X eniffi
The currents in the additional rotor
Mutual Reactance Between Stator and
(20a) circuits in the quadrature axis are exx
ao
pressed in per unit of IXd0 which is the
"nffT* Additional Rotor Circuit, Xnadbase current of the direct-axis additional
With one ampere flowing in the wth addiField-Winding Circuit Resistance, Rffd. rotor circuits. This base is adopted so
tional rotor circuit, the maximum value
of the fundamental component of Rffd is easily obtained from the design or that the per-unit currents in the directdensity is given by equation 17a, and the name-plate data. The corresponding and quadrature-axis additional rotor cirmutual inductance in henrys between the per-unit value, based on the base-current cuits may be added directly.
The concept of a field winding in the
stator and the nth additional rotor circuit ratio 10a, is given by equation 21a.
quadrature axis appears academic, but it
is given by equation 17b.
.12!
is convenient to assume such a winding
R/fd
*ffd
3.19
(but of infinite resistance), with a base
"wP\\T Fdl) Nfd*<i>f
(17a)
0fund =
>diH
(no external resistance) (2TH; current defined analogously to I/do. By
i
this concept the stator flux which is leakRl N
age with respect to all the rotor circuits is
Lnad=12.76 X10"8
(17b)
Dd
Rig KpK*
Table II. Comparison of Pole-Shape Ca
be&-~xad) for both the direct and quadraIf the base-current ratio 10b is used, the efficients Obtained in This Paper by Numeri- ture axis. In addition, the assumption
per-unit mutual reactance corresponding cal Integration With Corresponding Values of the existence of a quadrature-axis field
Obtained by Wieseman
winding is convenient, since it maintains
to equation 17b is given by equation 17c.
l
symmetry between the direct- and quadp a 1.50 a = 0.70 pp~ 9 = 0.03
rature-axis equations.
X =(t \ Ddm^Ddinx
(17c)
The equations of the quadrature-axis
V* F>a\x)Fg Fdl Ddix
Aql
Arfi
Fdi
J!L(t
a u m e r i c a l l y e q u a l t o %ad f o r t h e # t h a d d i tional r o t o r c i r c u i t
Mutual
Reactance
Between
Additional
RankinEquivalent
Circuits
865
Xaa
,,
,, s
* Fdi Fg
Xad
XqXaq-XdXad
f I
,
(24a)
/4
lDqo
\*
^bnnq = 0.5
(25a)
dix) Fa Fd]
/ 4 Adl\*A
Pig/dr
\
)
[ + 0 . 6 2 5 )
\irDdlJ
FgFdlR\w/
)
(25b)
\ T Vdlx/
Fig hn
X
I
De
9.2 1 o g 1 0 + 1
tg FdlR
(25c)
(25d)
naq
n~ X a d
(26a)
\*vdlx/rg
rdl
vdlx
Mutual Reactance Between
Additional
Rotor Circuits, XnkQ (k>n).
In a manner similar to that used in the derivation
of Xnjcd it can be shown that Xnkq is given
by equation 27a.
L
nfcff : sXgnnq\Xe',
Resistance
cuit, Rnnq866
(*>)
(27a)
TRANSACTIONS
s'^y-j
(300
dsr
(30g)
=< 3.5ppp~1g
;30h)
Figure 3.
Rotor slots
28a is obtained from equation 22c by substituting q for d. T h e corresponding perunit value, based on the base-current
ratio 10b, is given b y equation 28b.
Evaluation of Ddon
n w i = 1.67X10-
\a>bn
(28a)
O'enq)
__JO8/4
irDdix/
(280)"
Additional
Rnkq
3-S
(24b)
nth Additional-Rotor-Circuit
Reactance,
Xnnq>
T h e components of Lnnq can b e
pbtained from the corresponding components of Lnnd by substituting q for d.
If the base-current ratio 10b is used, the
corresponding per-unit values are given by
equations 25a, b, c. The total reactance
Xnnq is given by equation 25d.
Xa\
w sr
/ 2! >
,-3.3310- -
*nkq Re-i
/ ,
sI
(29a)
^ 3 . 1 9
*- J.
Ddonynd
ggy
dyd = 2
rvnd
ir
3.19 2
g
, .
Ddonynd(31&)
(31b)
dyd
Rnkq
10 /4^dl
<uP\irDdXx
j^Rnkq
(*>n)
(2Qh)*
(30a)
gy = gq in the region
(30b)
av<yd<l
^-i+(p-i)(^y
(30c)
(30d)
,=1+(p_x)(^
gy~ldyq = - I
I
Jo
gy-'dyd
Jl-Vnq
(32a, b)
Evaluation of Ddm
Dd\n is defined as the factor by which the
maximum flux density must be multiplied
to obtain the maximum of the fundamental
component of flux density with the machine
excited by the wth additional rotor circuit in
the direct axis. The flux density per ampere turn at any point along the gap can be
written as in equation 33a; the maximum
value of the fundamental component is
then given by equation 33b. By the
definition of Ddin, the maximum value of
the fundamental component can also be
written as in equation 33c, and Ddin can be
evaluated as in equation 33d by equating
expressions 33b and 33c.
3.19
(33a)
Py fund /
Jo
(30e)
RankinEquivalent Circuits
Evaluation of D q o n
y fund =
3.19
g
(33b)
(33c)
Dd\n
Vnd
cos - yddyd
(33d)
Evaluation of D q m
Dgln is analogous t o Ddin, b u t in the
quadrature axis. I t s value as given by
equation 34a is obtained by t h e same
derivation as was used for Ddln.
The integral value given by equation 34b is obtained from equation 34a by changing the
origin of integration by means of equation
30h.
3.19
J0
Ji-y
gy ^ o s -
gy
yqdyq
sm-yaiyd
(34b)
Evaluation of Ad,
Adi is denned as t h e factor by which the
maximum flux density must be multiplied to
obtain the maximum of t h e fundamental
component of flux density with the machine
excited by a sine-wave armature magnetomotive force in t h e direct axis. Assuming a
sine-wave magnetomotive force of one
ampere turn peak value in t h e direct axis,
the flux density a t any point in the gap is
given by equation 35a, and t h e maximum
value of t h e corresponding fundamental
component of flux density is given by equation 35b. Based on t h e definition of Adi,
the maximum value of t h e fundamental
component can also be written as in equation 35c, and Adi can be evaluated as in
VOLUME 64
>/ fund -
cos 2 - y^Jd
Jo SI
ggy
3:19
(37b)
(35b)
^
(35c)
d\
cos2-
Jo
yddyd.
(35d)
Evaluation of AQ
A Qi is analogous to A dl but in the quadrature axis. I t s value as given in equation
36a is obtained by the same derivation as
was used for Adl.
An alternative expression for Aqi in terms of yd measured from
the polar axis is given by equation 36b;
this was obtained by substituting equation
30h into equation 36a.
-2 gy^ c o s 2 Jo
= 2 /
gy~l
(34a)
DECEMBER 1945,
I3^a)
19
Py fund
Dqln=2
c o s - yd
ggy
2
3.19 2
(37a)
- Ddon
g
3.19 2
Fundamental flux per pole =
- Dd]n
Total flux per pole =
(36a)
ygdyq
sin*-yddyd
(36b)
Evaluation of Fdi*
Fdl is defined as the factor by which the
maximum flux density must be multiplied t o
obtain t h e maximum of t h e fundamental
component of flux density with t h e machine
excited by the direct-axis field winding.
The field winding links only t h e flux
which enters t h e pole, and its effective span
or pitch is accordingly somewhat less than
100 per cent. However, t h e effective span
is greater t h a n t h e physical-pole arc, because
the field winding links t h e flux which enters
the side of t h e pole tip. Hence, t h e effective span of t h e field winding approaches b u t
remains slightly less t h a n t h e full 100-percent value. A study of Table I, however,
shows t h a t Ddin is relatively constant (for
given values of p, a, a n d pp~xg) for values of
ynd in t h e neighborhood of 1.00. Relatively little error is introduced therefore by
assuming t h a t Fdl is given by Ddin for
ynd=1.00.
Wieseman's values of Fdi thus
may be compared directly with Ddm for
3 ^ = 1 . 0 as obtained in this paper by
numerical integration.
Evaluation of K^
is defined as the factor by which the
total fundamental flux per pole must be
multiplied t o obtain t h e total flux per pole,
with t h e machine excited b y t h e direct-axis
field winding. By means of t h e previously
justified assumption t h a t t h e field-winding
circuit is equivalent t o a damper-winding
circuit of 100-per-cent pitch (with negligible
error), can be evaluated in terms of
Ddon and Ddin, for ynd 1-00, as shown in the
following.
By t h e definition of Ddon and Ddin, the
total flux per pole and t h e total fundamental
flux per pole are given b y equations 37a, b ,
respectively, with ynd taken as unity. The
ratio of equation 37a t o equation 37b then
gives as in equation 37c, b y definition.
* Wieseman called this quantity Ax.
RankinEquivalent Circuits
(37c)
'Dd
Nomenclature
T h e quantities given below are per-unit
values unless in bold-face type in which case
they are in t h e physical ampere-inch-second
system (amperes, ohms, henrys, and so forth).
Quantities such as N, Pu R, I, for which it is
obviously unnecessary t o distinguish the
ampere-inch-second values by a special
script are in standard type only. Vector
values are indicated by a circumflex ( )
over the symbol.
All dimensions are in inches.
The subscript notation is as follows.
a, b, c = armature phases
/ = field-winding circuit
n, k, x = damper-winding circuits, n is the
general term; k refers t o a damperwinding circuit external t o n(k > n);
and x refers to the 100-per-cent-pitch
(most external) circuit which is used
as a base
d, q, 0 = direct, quadrature, and " z e r o " axes
o = base quantities
m order of harmonic
Only the direct-axis quantities are defined in the following, as t h e quadrature-axis
quantities are obtained from these by
merely substituting q for d.
a n = cross-sectional area of bar n
aend = average cross-sectional area of end
ring for bar n
A = flat-topped armature reaction a t base
stator current
_
l.5iaoN
KpKdP\
A di defined in Appendix I I
Ddon, Ddin defined in Appendix I
De = axial distance between end rings minus
axial length of pole, or twice t h e distance between one end ring and side of
pole
eao peak value of rated stator phase voltage
Efd> End^rotor-circuit applied voltages
Fdo = Ddon tor ynd = 1.0
Fdl = dened in B3
F0 field-winding ampere turns for rated
air-gap-line stator voltage
g = minimum gap, effective
gy = gap length a t any point ydt in per unit
of g
ho = P e ak value of rated stator line current
Ifdo> hdo = base-current; field winding, and
vth additional rotor circuit, respectively
id, Ifd Ind = direct-axis currents; stator,
field winding; and wth additional
rotor circuit, respectively
In = total current in wth physical bar
Adl
kad = ~ "
7
rdi
867
= defined in Appendix II
/ = machine stacked length
/&n = length of bar n
lendcircumferential length of end ring
measured from direct axis to center
of bar n
L ampere-inch-second inductance corresponding to per-unit reactance x
00 = base stator inductance
too
868
TRANSACTIONS
Motor Design
As in the past, the squirrel-cage induction motor for across-the-line starting
is the best selection for an auxiliary drive
wherever constant-speed operation is desired. The simplicity, reliability, and low
cost all enter to make it the number-one
choice. Its control is simple as well. The
higher power factor and efficiency of synchronous drives is offset by the increased
complication of synchronizing control
and a source of excitation. Also, since the
cost of both real and reactive power is a
minimum at the generator bus, higher
efficiency and power factor is not a large
incentive.
ROTOR DESIGN
5.
GRAPHICAL
DETERMINATION
OF
MAGNETIC
6.
7.
PER-UNIT
8.
9.
IMPEDANCES
OF
SYNCHRONOUS
MACHINESII, A. W. Rankin. AIEE TRANSACTIONS, volume 64, November section, pages 839-41.
SYNCHRONOUS MACHINES, P. L. Alger. AIEE
TRANSACTIONS, volume 47, 1928, pages 493-513.
STANTS, L. A. Kilgore. AIEE TRANSACTIONS,
volume 50, 1931, pages 1201-14.
ELECTRICAL ENGINEERING