222 IEEE Transactions on Power Systems, Vol. 12, No.

1, February 1997

A Phase-Domain Synchronous Generator Model Includin turation Effects

J. R. Marti, member, IEEE K. W. Louie, non-member, IEEE
The University of British Columbia
Department of Electrical Engineering
Vancouver, B.C., V6T 124, Canada

Abstract. This paper presents a synchronous machine model count the difference in reluctan
for transient system analysis derived directly in phase coordi- rahre paths, to decompose
nates. Working directly in the physical phase domain instead components: the
of the mathematical d40 domain simplifies the interfacing of nent. ~c~ is the basis
the machine model with the power system network, and allows
its associated parkls dqo
the more accurate representation of internal machine phenom-
ena, such as, variable reluctance and saturation effects. It also It is tacitly assumed in Blondel's m
permits the simulation of internal faults in the machine. The flux in the machine is the vector sum
paper presents the basic equations of the phase-domain model along the d and q axes.
and a technique to incorporate saturation effects along the ac- the value of the relu
tual direction of the resultant magnetomotive force in the ma- the resultant flux wer
chine air gap at each instant of the time-domain solution. tween the reluctanc
Keywords: Phase-domain synchronous machine modelling, this is not exactly the
saturation and saliency effects, transients analysis, E M m due to this assumpti0
solution. we have no data in this regard)
significant error occurs when sa
I. INTRODUCTION to the different air ga
From an elementary magnetic circuit point of view, a syn- pronounced along th
chronous generator can be described as a resultant magneto- fer& degrees inktween. Superp
motive force (the result of all stator and rotor currents) And q-axis solutions
forcing a magnetic flux along the direction of the resultant
"f in the air gap. The amount of flux produced depends
on the reluctance (geometry, material, and saturation) along
The picture of the
the flux's particular path. Due to practical design considera-
yet complicate
tions, the reluctance will vary along different paths. In
Here, there are no ,lfi
salient-pole designs, for example, the reluctance along the
netomotive forces, a
poles' axis (d-axis) with a short air gap is almost halfthe re-
changes from time
luctmce along a path peqendicular to the poles' axis (4-
complications, sophisticated transient machine models
Witha larger air gap' Saturation can af- based on the dqo transformation have been successfully for-
feet these with the path the shorter air gap mulated in the E M V program [2], The advantage of work-
saturating faster than the path along the larger air gap.
ing in dqo coordinates in the E m solution is that the
Phase vs. dqo Coordinates matrix of self and mutual inductances (and its inverse) does
not need to be recalculated at each time step of the solution,
When the synchronous machine is operating under steady- as the rotor changes position. The drawback of this ap-
state balanced-load conditions, the stator currents create a proach is that the prediction of a number of electrical vari-
constant-magnitude magnetomotive force that rotates at the ables is needed 121 in order to interface the d- and q-axis
same speed as the rotor (in synchronism). Since under these circuits of the machine model with the phase-domain repre-
conditions, the stator field is at a fixed angle with respect to sentation Of the rest of the power system network
the rotor field, it seems plausible, in order to take into ac- Our main motivation in developing a phase domain syn-
chronous machine model is our ongoing work in the design
of a real-time power system simulator [3]. Our main con-
96 W M 269-1 PWRS A paper recommended and approved by the IEEE
power System ~ i Power ~Engineering~ cern here
~ committee ~ ,,f the IEEE ~ is the ~absolute inumerical
~ stability~ of the solution
Society for presentation at the 1996 IEEEIPES Winter Meeting, J ~ U W 21- in a Sb"at0r that is continuously running. The issue of
25, 1996, Baltimore, MD. Manuscript submitted August 1, 1995; made speed (beyond the scope of this paper) is being addressed US-
available for printing November 30, 1995.
ing a very efficient Multiarea Thevenin Equivalent Tech-
nique (MATE). The additional advantages, of correct
simulation of saturation and saliency effects, are also impor-
tant in a general-purpose power system simulator.
0885-8950/97/$10.00 0 1996 IEEE
 223

GENERATOR 7 la(t)
'4
a
machine in phase coor- I
I
The electrical part of I
I
eb(t)
essentially of

d
[MI= -[Rl[i(Al- -$&)I, (1)
Figure 1 Equivalent circuit of a salient pole three-phase
synchronous generator in the discrete-time domain

the damping coefftcients of the fluid around the masses,

matrix of the coil inductances. The self and
ces across stator and rotor windings in the
K ]is the tridiagonal matrix of the stiffness coefficients of
the amortisseur springs between the different masses, and
Kx,is the resistance of the exciter winding.
III. DISCRETE-TIME MODEL OF THE
GENERATOR
To solve for the machine's electrical quantities in the time
domain, equation 1 is discretized with the trapezoidal rule
of integration [2],resulting in the following expression:

of &(e)] contain sinusoidal functions of 8 and 28, as

(3)

where subscripts refers to the stator coils and subscript r re-

fers to the rotor coils. The vector variables are
of this mechanical part [2,3] is given by [Vs(t)l = [ v a ( t ) v b ( t ) v c ( t ) ]',
d2 d
[Jml+eml+ [Dml;f;[@ml+ [ K m I [ e m l = [T(t)l,
dt

I
[T(t 1 =

i
Sub cript m stands for the mechanical side of the generator,
T, B-I is the torque exerted on the rotor shaft by turbine s,
[J,] is the diagonal matrix of the moment of inertia of the
maqses on the shaft, [e,] is the diagonal matrix of the posi-
tion1 angles of the masses, [D,] is the tridiagonal matrix of
[R2(t)l=
Laftt) L~DD(~) LaQ(t)
Lbf(t) ' b d t ) LbQ(t)
Lcf(t) L c D ( t ) LcQ(f) 1 '
 1
$Rj + Lfxt) L p (t) LfQ(t)
[R4(t)] = Lofit) ~ R +DL D D ( ~ ) L D Q ( ~ ) (4d)
Ldt)
~ LQD(t) $R Q LQQ(f)
By matrix reduction, the voltages [v,(t)] and currents [i(t)]
of the armature windings in equation 3 can be expressed in
terms of the voltages [v,(t)] and currents [<(t)] of the field
structure windings, as follows,
[vs(t)l = --[Rep(t)][is(t)1 + [e&)l (5)
where J
oaxis
[Re&)] = -&([R~(t)l- [R2(r)l[R4(r)l-'[R~(t)l), and
Figure 2 Main magnebc flux path in a salient pole generator
[es(t)]=[ R ~ ( ~ ) I [ R ~ ( ~ ) I - ~ - v ~ ( ~ ) I+ [e,h(t>I
( [[erh(t)l)
(4) Hysteresis and e
From equation 5, the equivalent circuit of a three-phase
synchronous generator in the discrete-time domain is ob-
tained as shown in Figure 1. have a sinusoidal dep
The differential equation of the generator's mechanical
part also has to be discretized so that it can be solved to-
gether with the electrical eq ons in the time domain. Ap-
plying the trapezoidal rule of integration to equation 2 and
solving for the generator's angular velocity gives accurate approximations
[om(t)l = EAl-'[C(t)l, (6)
with

gap direction, a set of m

tomotive forces) versus
[C(t)l= [B(t)l[om(t- AI)] + A.t[KmI [Om(t - At11 needed. The number of the data
to the degree of the cho
+-At2 [T(t- At)] .
tion 8, as follows,
Although the inductances in matrices 4 depend on the
rotor position Q(t), due to the large difference between the
time constants of the mechanical and electrical equations,
linear extrapolation can be used to calculate Wt), with negli-
gible error. Using the previous two points, one can have
Q(t)= e ( t - A t ) + ~At[ 3 ~ 0 m ( t - A t ) - w ~ ( t - 2 A t ) ] . (7)

Figure 2 shows a s
IV. INCLUSION OF ~~~T~~ SATURATION
The general form of the coefficient matrices 4 permits the
direct inclusion of the saturation of the magnetic paths. The instant t is given by
following assumptions can be normally made in consider-
ing saturation in a synchronous generator[7]:
(1) The total flux linkages on each coil are the sum of those
due to the leakage and the common mutual flux.
(2) Saturation depends on the total air gap flux linkages.
(3) The leakage fluxes are not subjected to saturation.
 225

where N,,Nb,N,,NDN,,and NQare the number of turns of

the windings for phase-a, phase-b, phase-c, field, D-damper, 1.5
and Q-damper, respectively.

{
operating
E uation 10 gives the magnitude F and phase angle p of 1.0 point
the esultant magnetomotive force in the air gap. Once the In
posi ion of the rotor e(t) (equation 7) and the position of the (P.U) previous
operating
to mmf p(t) (equation 10) are known, the angle a(t) de- point
fini g the direction of the magnetic path with respect to the
poles’ axis can be calculated by
Fn(p.u)
a(t)= 0(t)- P(t). (1 1)

1j
Figure 4 A method to calculate the flux linkages
o include all possible flux-path directions in a salient-
pole machine, the magnetization curves along each path length of the air gap in the d-axis direction, I, is the length
wo Id have to be known. If, as is usually the case, only the of the main magnetic path through the stator core, and h is
ma netization curves along the d-axis and q-axis are pro- the width of the rotor on the q-axis.
vid d, the curves for the intermediate positions can be gen- After some manipulations, &(a) can be expressed, de-
erat d from approximate geometrical considerations. From
pending on the interval of a,as
Fi re 2, the reluctance of the main magnetic flux path for a
giv n angle a can be expressed as -a, s a I a,
l Rr(a) = Rr-roda) +Rr-air-gap(a) +Rr-stator(a), (12)
Rr(a) = RA- - RA
sin(a,) 7~-a,1a1n:+a,
9 (14)

&-r,,k(a) is the reluctance of the rotor path, &-m-p,,(a)

reluctance of the air gap path, and Kahbr(a) is the re-
of the stator path. Defining a,as In these formulas
a, = arcsin f2h\
GJ ,
the keluctances are obtained as follows

Knowing the reluctance of the magnetic path, the total

magnetic flux on a winding of N turns is given by

41
In t ese formulas, p, is the permeability of the air gap, pr is
the lrelative permeability of the material of the rotor and The total flux linkages and total magnetomotive force can
statir cores, 2a is the length of the rotor path, 2b is the total be normalized with respect to the number of turns of phase-
in the main magnetic flux path, A is the equivalent a winding and the field winding, respectively,
area of the main magnetic flux path, 1, is the
rotor core in the d-axis direction, 1, is the h,(e, a,i ) = a,i>
(17)
~
w,
Na ’

~ 1.4 I I

where subscript n means normalized.

Combining equations 14, 15 and 16 gives

Equations 19 and 20 can be referred to as magnetization

I
0.0 0.3 0.6 0.9 1.2 1.5 curve generating functions. Figure 3 shows some of the
I Fn @.u) curves generated by these functions using d-axis and q-axis

i
F gure 3 Generated magnetizing curves for various angular positions
with respect to the d-axis
data from [9].
226
1.5

1.o

0.5

0.0

-0.5

-1.0

-1.5
0.0 0.05 0.1 0.15 0.2 0.25 0.3
t see
Figure 5 Current in phase-a winding for a three-phase short-circuit

9.0 1
8.0 -
1.0 . 12 0
6.0 - 10.0
if(t) 5.0 8.0
=103~
4.0 -
ia(t) 6.0
3.0 -

2*o
1.0
0.0 I
0.0
u 0.05 0.1 0.15 0.2 0.25 0.3
xl O4 A4.0
2.0
00
-2.0
-4.0
t sec
Figure 6 Field current for a three-phase short-circuit
t sec
3.0 (I" I

Torque(t) If there were no sat

x106 Nm would be given by
-1.0

-2.0
where L is the unsaturat
Combining equations 2
-3.0 1 ,v
0.0 0.05 0.1 0.15 0.2 0.25 0.3 h,(t) = h,(t- At)
t sec
Figure 7 Torque on the rotor shaft for three-phase short-circuit Substituting the corresponding expressions of h,(t) for
each of the coils of the machine into the voltage-current-flux
Once the magnetizatio urve at a given angle a is relationship of equatio
known, the inductances in the coefficient matrices 4 can be
corrected for saturation. Figure 4 shows a procedure [10, 111 [v(t)l= -[R1[4t>l
to extrapolate the flux linkages at the present solution point
from history values of linkages and magnetomotive forces.
From Figure 4, the total flux linkages at time t can be ob-
tained as
Discretization of equation 24 (here h(t-At At) are
h,(t)= h,(t-At)+Ah,, (21) not variables but known expres-
where sions for equations 3 to 5 ded.
 227
V. SIMULATION RESULTS [4] P. Subramaniam, and O.P. Ma& "Digital simulation of a synchronous
generator in duect-phase quantities," Proc. IEE, Vol. 118, No. 1, pp.
the validity of the proposed synchronous genera- 153-160, January 1971.
the simulation of a three-phase short-circuit at [5] M. Rafian, and M A Laughton, "Determination of synchronous machine
phase-co-ordinate parameters," Proc. IEE, Vol. 123, No. 8, pp. 818-824,
terminals of a typical generator was performed August 1976.
model and MicroTran's synchronous ma- [6] B. Adkins, and R.G. Harley, The General Theory ofAlternating Current
The same test case was also simulated Machines, John Wiley & Sons, Inc., New York, 1975.
including saturation effects. The data of [7] M.S. Sanna, Synchronous Machines: Theory, Stability, and &citation
is given in Appendix 1. The machine System. Gordon And Breach Science Publishers, New York, 1979.
steady state and a three-phase short- [SI M.A Abdel-Halim, and C.D. Manning, "Modelling Saturation of
Lamenated Salient Pole Synchronous Machines," IEE, Proc, Vol. 134,
terminals at t = 50 ms. Figures 5, 6, NO. 4, pp.215-223, July 1987.
in phase-a winding, the field cur- [9] P. Kundur, Power System Stability And Control, McGraw-Hill, Inc., New
rotor shaft obtained with the pro- York, 1994.
model (both simulations [10]V. Brandwain, "Representation of Magnetic Saturation in the Synchro-
nous Machine in an Electromagnetic Transient Program,'' IEEE, Trans,
Vol. Pas-99, No. 5, pp.1990-2002, Sep/Oct, 1980.
8 and 9 show the terminal voltage and the current [ll]J.E. Brown, K.P. Kovacs, and P. Vas, "A Method Of Including Effects of
ined with the new model with and Main Flux Path Saturation In The Generalized Equations of AC Ma-
chines," IEEE, Trans, Vol. 102, No. l, pp.96-103, January 1983.
[121EMTP Development Co-ordination Group, EMTP Work Book IfI,Electric
be seen from the above plots, the results obtained Power Research Institute, Vol. 3, pp.7.1-7.6, July 1989.
new model and MicroTran's are very close when no [13]Microtran Power System Analysis Corporation, MicroTran Reference
d. Figure 9 shows that the current in Manual, Vancouver, Canada, September 1992.
saturation is slightly lower than
the short-circuit first occurs. As APPENDIX 1
apses, the transients are dampened out and the differ-
s with and without saturation be- Specifications of the three-phase synchronous generator
smaller and finally, as the machine settles at the used in the simulations [ 121.
rated short-circuit state, the currents become Machine ratings:
apparent power = 200.0 MVA,
voltage = 13800.0 V,
i VI. CONCLUSIONS no-load field current = 935.016 A.
paper has presented a synchronous machine model
Machine characteristic quantities:
directly on phase coordinates (abc frame). By avoid-
dqo transformation, the model retains the physical armature winding resistance (per phase) = 0.001096 P.u.,
picyre of the achnl machine. This greatly simplifies the in- X, = 1.4 P.u., X, = 0.15 PA.,
cluslon, for example, of the effects of magnetic saturation. A Xd= 1.7 P.u., X i = 0.238324 P.u., X,"=0.18469 P.u.,
pro edure to accurately include saturation along each in- X, = 1.64 P.u., X,' = 1.64 PA., X," = 0.185151 p.u.
sta&eous direction of the resultant mmf in the air gap is Tdo'= 6.19487 sec, Tdo"= 0.028716 sec,
desdribed. The proposed model is validated by comparisons TqO' = 0.0 sec, T," = 0.07496 sec.
w i d an existing EIvl" synchronous machine model. Work Other information:
is bleing continued in exploiting the advantages of direct
generator has a single mass,
phase domain modelling in the representation of internal
operating frequency = 60 Hz,
fad@and on the effects of a varying reluctance path during
number of poles = 2,
the hachine's transient response. moment of inertia = 7.632733e3 kg.m2 ,
damping coefficient of the mass = 0.0 "/(rads),
I Vn ACKNOWLEDGEMENT
exciter winding resistance = 0.0 p.u.
The authors wish to thank Dr. Hermann W. Dommel for
support and useful suggestions during the de- BIOGRAPHIES
presented synchronous generator model. J. R Marti was born in Urida, Spain. He received the degree of Electrical
Engineering from Central University of Venezuela in 1971, the degree of
~ VIII. REFERENCES M.E.E.P.E. from Rensselaer Polytechnic Institute in 1974 and the Ph.D. degree
from the University of British Columbia in 1981. At present he is an associate
E. Fitzgerald, C. Kingley Jr., and S.D. Umans, Elecfric Machinery, professor at the university of British Columbia, Canada. His main research in-
Editim, McGraw-Hill, New York 1990. terest is the computer simulation of power system transient phenomena
H.W. Dommel, EMTP Theory Book, Microtran Power System Analysis K. W. Louie was bom in China. He received the degree of B.Sc. in Physics
Frporation, Vancouver, Canada, May 1992. from Simon Fraser University in 1989, the degree of B.ASc. in Electrical En-
R Marti, and L.R. Linares, "Real-Time EMTP-based transients simula- gineering from the University of British Columbia in 1993, and the degree of
&m," IEEE trans. on Power Systems, Vol. 9, No. 3, pp. 1309-1317, M.ASc. in Electrical Engineering from the University of British Columbia in
&gust 1994. 1995.
228
Discussion I doubt that ev r is totally familiar
with such values Laa,Lab, Lfa, etc.
P.E. Dandeno (Department of Electrical and Computer Perhaps their explan e
Engineering, University of Toronto, Toronto, Canada M5S 3G4) :
This is an interesting paper and another of many articles paragraph preceding their eq
on of synchronous machines. The authors
have chosen the relatively simpler salient pole case, in order to time domain period of invest
work out their relationships in the a,b,c coordinates. They choose
a salient pole outline in their Figure 2 while using, however,
transient and subtransient data for a ( 2 pole) turboalternator short
circuit time domain analysis. different to comprehend from
They quote several reliable references (their 4, 5 and 6) to
establish the validity of their d-q-o reference frame translation to Manuscript received Febr
(or from) the phase domain or phase coordinate regime. The
development of the individual flux linkage equations va,vt, and
J. R. MART1 AND
vcis given in their Reference 9. In such a development from va, Columbia, Vancouver,
den0 for his consideratio
v b and ylc to d and q axis linkages, individual equations tions to machine modelling are we
always possess expression which are functions of rotor position Direct phase-domain m
sents some advantages
(0).
simulating a general ty
Thus .eaa, the self inductance of phase a is usually siders, for example, a three-phase fault, as in conventional
considered as .eaa = Laao + Laa2 cos20 . Laao is a non varying “single-phase” stability studies, then the 60-Hz rotating refer-
ence frame of dqo has the great advantage of converting 60-Hz
phase ‘a’ self inductance which is independent of rotor position, components into D
and Laa2 is a second harmonic self inductance term which & a Hz during the trans
This allows the use
function of rotor position. Mutual terms j a b , lacare similar in 3 to 7 ms) in the numerica
structure. Thus t a b = Labo + Lab2 cOS(20 + 60”). The tot& however, in the case of a
example, in the case of a sin
expression for yla becomes very cumbersome; after Park’s negative sequence compo
field that rotates at 60 Hz
transformation, the complete expression for tyd becomes
machine’s rotor, that is,
w d = (Laao + Labo % Laa2)id + Lafd ’ I f d + ‘%d ’ Ild
ence frame. A much sm

Labo is the non varying mutual term similar to La,,, and

ence frame, such as abc
Lab2 is a second harmonic term similar to Lua2.

(Laao+ Labo + x/2aaa)

is usually defined as Ld, the direct axis

synchronous inductance.
Can the authors provide, for the combined inductance
We agree with Prof. D
(L,,, + Lab0 + %Laa2) (or Ld), any which would give a have direct data on the v
tances of the various ma
good concordance with their direct axis value of 1.7 pu in
Appendix I? It seems to me that the fundamental or basic values
of their coefficient matrices Rl(t), R2(t), Rj(t) and &(t) are
absolutely dependent on knowing all the phase to phase and phase Once the dqo matrix
to rotor circuit values. straightforward from
 229

self b d mutual phase inductances (L, Lab, L,, L d , L,, therefore, presents minimum saliency. We apologize for not
L@,ietc.). That is, [ L A = [T]L@[T- 13, where [TI is Park’s making t h s clear in the paper.
f
trans ormation. For example, for the test machine in the paper,
the dpta conversion process gave (using the discusser’s nota-
Finally, the statement in paragraph preceding equation (7) in
the paper refers to the fact that for typical EMTP integration
tion):’ Lm= 1.58 pu, L b = 0.09 pu, L& 0.02 pu, which steps of the order of tenths of millisecond or smaller in order to
result!.sinLd=Lm+Lb+(3/2)Ld= 1 . 7 ~ ~ . follow the fast electrical transients in the circuit, the machine’s
rotational time constants (in the order of seconds) are 104 to
Of c urse, the assumptions followed in the data conversion

i:
proc dure are the same assumptions followed when defining
dqo i ductances in the first place. These are, as reiterated by
the d scusser, that the components of the self and mutual phase
induotances that depend on the rotor position, i.e., L d , L a ,
etc., fary according to cos20, c0s(20-120°), etc., and also that
lo5 times larger than the integration step At. Under these con-
ditions, the variation of the machine’s veloci@ w (not of the
rotor position 0) within one At is very small and the error of
assuming w constant in estimating the rotor position 0 from
A 0 = wAt for the purpose of updating the discrete-time

T’
L d L&, etc. By manufacturing design, synchronous gener- inductance matrices of equations (4) is practically negligible.
ators ,normallyfollow these conditions quite well. On the other (Of course, the actual rotor position and velocity are correctly
hand1 the proposed abc machine model is not restricted to fol- calculated from the mechanical equation (2)).
lowidg these conditions and could be applied to a more general We once more thank Prof. Dandeno for his interest in our work
type bf machine design. and hope that these closing comments will help to clarify some
of the aspects presented in the paper.
As Piof. Dandeno correctly points out, the example machine
descqbed in Appendix I corresponds to a turbo altemator and, Manuscript received April 8,1996.