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IEEE Transactions on Energy Conversion, Vol. 14, No.

4, December 1999

909

Identification of Synchronous Machine Parameters Using a Multiple Input Multiple Output Approach
J. Verbeeck"
R. Pintelon" P. Lataire""

VriJe Universiteit Brussel, "Dept. ELEC, ""Dept. ETEC, Pleinlaan 2, 1050 Brussels (Belgium) email: Jef.Verbeeck@vub.ac.be / tel: +32 (0)2 629 29 42 /fax: +32 (0)2 629 28 50

Abstract: This paper presents an alternative method for the identificationof the d-axis parameters of a synchronous machine. The first part of the paper describes a Multiple Input Multiple Output (MIMO) hroadband excitation and measurement method which is more time efficient than the standard Standstill Frequency Response
(SSFR) method. The second part describes a MIMO frequency domain identification procedure which estimates the d-axis parameters in 3 steps. The proposed identificationprocedure is self starting. It does not require starting values or other prior information. The measurement method and the identification procedure are tested on a 20 kVA salient pole synchronous machine.

Keywords: synchronous machines, identification, SSFR test, circuit

synthesis I. INTRODUCTION Synchronous machine models have found nowadays important applications. Power system stability studies as well as high power motion control systems fully depend on accurate synchronous machine models. The use of SSFR tests to obtain equivalent circuit models for synchronous machines h i s extensively been discussed in the literature. Compared with short circuit tests, SSFR tests provide accurate d-axis and q-axis equivalent circuits with low risk for the machine under test. To achieve satisfactory results however, 111 recommends measurements over a frequency range of 0.001 H to 200 Hz z with at least 10 frequencies per decade. In the low frequency region, the signal-to-noiseratio of the measured voltages is bad due to the very low armature and field input impedance. To allow some averaging it is necessary to measure several periods of every sinewave. Further, at least 2 independent Single Input Single Output (SISO) experiments are required to
PE-059-EC-0-04-1998 A paper recommended and approved by the iEEE Electric Machineiy Committee of the iEEE Power Engineering Society for publication in the iEEE Transactions on Energy Conversion. Manuscript submitted October 13, 1997; made available for printing April 24. 1998.

perform a complete d-axis identification. Typically the measurements are repeated once with the field open and once with the field shorted. With standard SSFR tests, a complete broadband d-axis identification requires an overall effective measuTement time of more than 13 hours if an average of just 5 periods will do. During the identification, the measurement data of 2 independent SISO measurements must be combined. There is no guarantee, however, that the measurements are performed under the same circumstances (magnetisation level, temperature). In [2] it is shown that an important time reduction is achieved by using broadband excitation signals, but the method in [Z] also requires at least 2 SISO experiments to perform a complete d-axis identification. In the first part of this paper a MIMO broadband excitation and measurement method is presented. The armature as well as the field winding are excited simultaneously with 2 different broadband signals. Due to the double excitation, just one MIMO experiment suffices for the complete d-axis identification. This guarantees that all measurement dam used for the identification is obtained under the sane circumstances (magnetisation level, temperature). This approach also lends to an important reduction in effective ineasurement time. Covering a frequency range of 0.001 Hz to 200 Hz, 10 frequencies per decade and measuring 5 periods per sinewave, the MIMO broadband excitation method needs less than 1.5 hours of effective measurement time where the stanckvd SSFR method requires more than 13 hours. In the second part of the paper a newly developed identification procedure is presented. The procedure consists of 3 steps. The final step is a frequency domain maximum likelihood estimator which estimates the d-xxis equivalent circuit parameters starting from the MIMO measurement drikl. As all other estimators of d-axis parameters discussed in literature, this estimator requires good starting values. The 2 initial stages are added to provide the final estimator with good starting values. In the first step a 2-matrix description of the d a i s equivalent circuit is estimated. For this estimator, good starting values are readily obtained [3J. From this Zmatrix an approximate d-axis equivalent circuit is determined in the second step with the use of network synthesis techniques. Also in the q-axis a similar time reduction can be achieved with the use of a multisine. Due to the fact that the q-axis is just a simple one-port, the measurement and identification

0885-8969/99/$10.00 0 199R IEEE

910

procedure will be simplified Single Input Single Output (SISO) versions of the techniques discussed in this paper. 11. EXPERIMENTAL SETUP To achieve an accurate description of the d-axis of a synchronous machine, it is g e n e d y accepted that 3 transfer functions must be measured. The classic measurement setups described in [l] however, just allow the simultaneous measurement of 2 transfer functions. In a classic approach it is necessary to combine the measurements of 2 different SISO experiments to obtain a complete description of the d-axis of a synchronous machine. By simultaneous excitation of the armawe and the field winding, there is no need for 2 independent experiments. The main advantages of this approach are the measurement time reduction and the guarantee that all measurements are performed under the same experimental conditions (magnetisation level, temperature). Further reduction of the measurement time is achieved by the use of 2 broadband excitation signals. In [4] it is shown that, compared with many other excitation signals, the properties of the multisine are superior for FFT (fast Fourier tr'msform) based signal processing. In [2], the use of the multisine for the identification of synchronous machine parameters has been already applied successfully. Fig.1 shows the measurement setup. The 2 rnultisines are generated with 2 arbitrary waveform generators ("1445). Also different, compared to the classic measurement setup, is the use of a thyristor rectifier bridge as power amplifier. In [2] it is shown that a thyristor rectifier bridge or a cycloconvertor are appropriate power amplifiers in the frequency range of 0-

150 Hz. A similar approach with pulse width modulated excitation signals has been used in [51. The currents 1, and I, are measured with Hall-effect sensors and the voltages E, and E, with differential amplifiers. These devices reduce the amplitude of the signals and provide a galvanic isolation between the rectifier bridge and the signal processing unit. All time signals pass through an anti-alias filter before they are digitized by four 16-bit "1430 analog-to-digital convertors (ADC).This sampled data is compensated with the measured transfer functions of the differential amplifiers, current sensors and anti-diis filters before it is used in the identification procedure. The sampling moments of the arbitrary waveform generators as well as the ADC's are conlrolled by the sane external 800 Hz clock. This 800 Hz clock is synchronized on the 16th multiple of the mains frequency. This approach avoids the presence of leakage at 50 Hz and harmonics in the FFT spectrum. 111. MEASUREMENT EXAMPLE The measurement setup of Fig.1 is used to measure the daxis behaviour of a 20 kVA salient pole machine. Since the power of the machine is limited, 0.01 Hz is sufficient as lowest frequency. The frequency response of the machine is measured for 100 frequencies, almost logarithmically spaced between 0.01 Hz and 113 Hz. To avoid leakage in the FFT, all frequency components must be multiples of the lowest frequency component. This causes a deviation of the perfect logarithmic frequency spacing, especially in the low fTequency region. The armature and field windings are both excited with 2 different multisines containing SO different frequency

Fig. 1. Measurement setup.

Pig. 2. Uncompensated unplitude specwa of the ineasured armature current I,, field current 12, armature voltage E, and field voltage E , .

911

components each. These multisines are used as current setpoints for the 2 thyristor rectifier bridges. Fig.2 shows the amplitude spectra of the measured quantities. Especially in the low frequency region, it is easily seen that the frequency components are alternating dominant in the armature and in the field current (I, contains 10,30,50,70, ... mHz and I, contains 20,40,60,80 mHz) ,... because the multisines are designed that way. In this low frequency region, the thyristor bridges are able to generate the required spectrum. Stating from approximately 0.1 Hz, the cannature and field spectra are influencing each other. This effect is caused by the non ideal output impedance of the thyristor rectifier bridges. The effect is limited at low frequencies because the thyristor rectifier bridges compensate actively for this effect. At high frequencies the compensation decreases because the bandwidth of the rectifier bridges is limited. This does not influence the quality of the identification, because all 100 frequencies of the armature and field are used during the identification. To allow some averaging and the calculation of a sample covariance matrix, 10 periods of both multisines were measured. This just took a b u t 17 minutes of overall measurement time, where the classic method would have needed about 137 minutes, to obtain the same information. Thc ,amplitude spectra shown in Fig.2 are derived from an FFT performed on the full time record of 10 periods. This gives an idea of the spectral contents of the measured quantities between the excited frequencies. The amplitude spectra in Fig2 are not compensated with the transfer functions of the differential amplifiers and anti alias filters because compensation data was not available for the non excited frequencies. Further, it is seen in Fig.2 that the thyristor bridges are introducing very important spectral components at 50 Hz and its multiples. The identification procedure, described in section IV however, only uses the 100 spectral components present in the multisines. The disturbing influence of 50 Hz and its harmonics during the identification is easily avoided by designing multisines not containing 50 Hz and harmonics. After FFT, the measurement data at the excited frequency lines can he used immediately in the identification procedure described in section IV. However, it is not possible to calculate a non parametric Z-matrix representation because a 2x1 matrix is not invertible.

IV. IDENTIFICATION PROCEDURE


A . Introduction Standard identification methods [6,7,8] can he used to estimate the d-axis equivalent circuit parameters starting from MIMO measurement data in the case that a non parmetric Zmatrix representation is calculated. The hest possible way to process MIMO measurement data however, is the use of it MIMO estimator because all correlations between the measured quantities can be used to improve the quality of the identification. This estimator will he discussed in section B. Further, attention is paid to the starting value problem. As well in the estimator discussed in this paper as in other estimators for d-axis equivalent circuit parameters, a cost function with many local and global minima must he minimised, which requires good starting values. The need for good starting values is avoided with the self Skuting identification procedure, discussed in section C.
B . The M l M O Maximum Likelihood Estimator

As a final estimator, a frequency domain maximum likelihood estimator is used which has the following advantages: 1. The noise on all measured quantities is taken in account. 2. The contribution of a measured quantity in the cost function is weighted with its uncertainty. 3. Confidence intervals on the estimated parameters are provided. Due to the first advantage, the maximum likelihood approach can cope better with the presence of noise in the very low frequency region than the least squares estimator. The estimator estimates the unknown d-axis equivalent circuit parameters (see Fig.3), represented by the parameter vector e
0 = I L l , L ~ d , L...,L d , L ~...,Lfd.Lfd,R~,Rld R,,,,RfdIT (2) l~, l~, ,...,

immediately from the complex Fourier coefficients. Notice that all network elements, including the armature resistance and leakage inductance, are present in the parameter vector. To obtain a maximum likelihood estimate, the following cost function must he minimised

c,(e) =

c e ( e , ~ i ) Hc,(e,wi)- .
i=l

. e(e,wi)

(3)

A non-parametric Z-matrix representation is easily achieved with (1) when 2 linear independent sets of measurements (I, ,I, ,E,.E, and il ,iz ,ez) per frequency are canied out. One way to obtain 2 linear independent sets of measurements is switching the multisines of armatureand field winding.

,a1

Ed

m.m
Ra
LI
Lfld
LpM

Lhd

Lfd

Rfd

R2d

Rnd

Ef

..

Fig. 3. Generalised d-axis equivalent circuil.

912

In (3), N is the number of frequencies f , in both multisines, " is the hermitian conjugate, e(O,w,) is an error vector which c'an bechosen in different ways and C,(e,w,) is the covariance matrix of the error vector. Starting from the parameter vector 8, a chain pammeter matrix T(e,w,) (defined in Appendix) [91 for the d-axis circuit is calculated at evcry frequency f , .
(4) This chain parameter matrix is used t calculate the o errorvector e(8,wJ :

The Newton-Gauss procedure [l 11 is used to minimise the cost function C f . This procedure is very robust, but the

s calculation of a Jacobian malrix is generally seen a the major drawback of the procedure. However, the use of simple interconnected chain parameter matrices in the cost function as well as the use of the pseudo Jacobian, defined in [12], simplifies the calculation enormously without my loss of efficiency of the algorithm.
C. Idenrijicarionprocedure

e(e,wi)=

[WWJ]

- ~ ( O G B(e.wiy

-Ir(wi)

c(8,wi) D(e,W;)

.l;::ij

(5)

In (S), I,(wJ, I,(wi),Ed(wi) and Ef(wi) are thesamplemeans of the scaled versions of the complex Fourier coefficients I,(wi), Iz(wi),E,(wJ and E,(w,), calculated from the time domain data and wi is an angular frequency which is present in one of both tnultisines. The scaling is necessary to avoid the transformereffect between the armature and field winding [ 11. It is obvious that the error vector also can be constructed starting from an impedanceor admittancematrix, but the main advantage of using a chain parameter matrix is that the global chain parameter matrix of several interconnected 2-ports can be written as a product of partial chain parameter matrices which simplifies the implementation of the estimator (see Appendix). Further, the covariance matrix of the error vector is calculated as: C,(fJ,wJ = L-T(e,wi) L ~ l . C , ( w i ) [-T(e,wi) l ~ x ~ l ' " ~ (6) [2x21 [Zx 41 [4x41 14 x 21 with C,(w,) the covariance matrix of the measured quantities and I,,, the (2x21 identity matrix. Consequently, the diagonal of C,"(wi) consists of the variances of the Fourier coefficients of E, ,Id ,E, and -I, at frequency f i . The exact covariance malrix C,(w,) is unknown of course, but according to the ideas in [lo], it is replaced by the sample covari<mcem a t h To allow some averaging, it is necessary to measure several periods of the multisine. This allows the calculation of several Fourier coefficientsper frequency which can be used to calculate a sample covariance matrix. In Fig.4 the sample variances of the measured quantities in section I11 are shown as an example. It is readily seen that the variances of the measured voltages increases as the frequency decreases. It is important to note however, that the estimator is weighting with the covariance matrix and not with the variances only. This means that the influence of bad measurements (high variance) is not minimised in the cost function if there is an important correlation between the noise of the different quantities at the same frequency.

In Fig.5, a graphical representation of the complete identification procedure, is shown. Although the NewtonGauss minimisation algorithm is very robust, the choice of good starting values for the final estimator, discussed in section B, is very important. For that reason, the final estimator is preceded by two starting value generating steps. Starting from exactly the same data (scaled complex Fourier coefficients and covariance matrix) as the final estimator, a Z-matrix representation is estimated in a first step with a maximum likelihood estimator discussed in [3]. For this estimator, starting values can be generated automatically without any prior information [3]. In order to be the description of a d-axis equivalent circuit, the estimated Zmatrix must have the following properties:
1. Z,,(S) =
Z,,(S)

2. z,,(s)l,.o

= 0

3. Z , , ( s ) , Z,,(s) and Z,,(S) have common denominators. 4. Due to the limited degrees of freedom in a d-N(is equivalent circuit, there are some relations between the numerator coefficientsof Z,,(s) , Z,,(s) and Z,,(S) .

-20

samplemean

Fig. 4. Sample mean and sample variance of the measured quantities at different frequencies.

During the estimation of the Z-matrix, properties 1,2 and 3 are easily achieved, hut due to the very complicated non-linear relations between the numerator coefficients, property 4 can not be imposed. In a second step, network synthesis techniques are used to generate a LR ladder network with the same topology as a d axis equivalent circuit. The extraction of LC ladder networks given a 2-matrix is a well known procedure in the domain of filter design, hut every LC network synthesis rule can be translated into an LR equivalent with a simple mathematical transformation [13]. It is important to notice, however, that classic network synthesis techniques just realize the transfer impedance Z,, and just one impedance Z,, or ZZ2. the In praticd implementation of the identification procedure, a network is realised with the estimated Z,, and Z,, in the first step. The input impedance of this network 2;: differs from the estimated Z,, because property 4 is not included in the Zmatrix estimation. For this reason, the realised network is not necessarily the best d-axis equivalent circuit estimate, hut probably very close to it and consequently, the corresponding paraneter vector e,, is well suited as starting p'meter vector for the final estimator. In [6], the use of network synthesis techniques already has been introduced for the determination of d-axis equivalent circuit pameters, hut as a final step instead of a starting value generating step. It is important to notice, however, that the use network synthesis techniques as a final step is only possible if only 2 transfer functions are used i the n identification procedure, hut as generally accepted, this leads to an incomplete identification.

Table 1:Rase quantities used For per unit system

2.827

V. ESTIMATION RESULTS
The measurement data collected with the setup in Fig.] is used to illustrate the proposed identification procedure. To eliminate the transformer effect between the stator and rotor, the mature-to-field turns ratio N,, is required as prior information. The only source of prior information for the machine under test was the machine nameplate, which only includes the rated three-phase power S , , line-to-neuual voltage E, and frequency f, . These values are important for the calculation of the per unit quantities, hut are not sufficient to calculate N,, . In [I], a method is proposed to determine N,, from the SSPR test data, hut this method requires an estimate for the amature leakage inductance L, which is also unknown. For that reason, the open circuit saturation curve and the zeropower-factor overexcited saturation curve iue used to determine the Potier inductance L, which is supposed to be very close to the real amature leakage inductance. Table 1 shows the base quantities used for the exact scaling. In Fig.6 the estimation results :#e compared with the nonparametric Z-matrix representation, calculated with (1) for each period separately. The difference between the estimated parameter vector Qcs, and the estimated 2-matrix is only visible in the 'amplitude of Z,, and Z, at very low , frequencies. In Fig.7 the corresponding estimated operational inductance Ld is shown. More detailed estimation results for different model orders are found in Table 2. The model orders in Table 2 are indicated with n/n- 1 , where n is the order of the estimated polynomials of the Z-matrix numerators. Especially the negative differential leakage inductances are remarkable. This is in agreement with the experiences in 1141 for salient pole machines. It is also importint lo note that the number of equivalent solutions o l the minimisation prohlem increases as the order of the model increases. In [IS1 is shown that the number of equivalent solutions equals n factorial (n!), where n is the number of virtual damper windings. In Table 2, the final estimated parameters me also compared with the starting values, generated with network synthesis techniques. For low order models, the estimated and starting values are very close to each other. As the model order increases, however, the difference increases especially for the differential leakage inductances and the elements of the virtual damper windings. The large differences are explained by the small influence of the high order damper windings and

irnpedniicv

Fig. 5. Graphical representation of the identification procedure.

914

z1 1

0.01

01 .

io

100

frequency (Hz)

frequency (Hz)

0.01

0.1 1 10 frequency (Hz)

100

0.01

0.1

1 10 frequency (Hz)

100

__

estimated parameters

--..--..--estimated

2-matrix

........

frequency (Hz) measurement data

Fig. 6. Comparison between the measurement data and the estimated 312 model.
Table 2: Pinal estimated parameters
211

e..,

with conEdence bounds for different model orders compared with the starting values

-3/2
%t

- 413
514

e,,

211

3/2
Oesl

3/2

413
8.1

4B

5/4

514

%,
0.1543 1.3793
0.0138

lki
4 s c

%,,

1 x 1

AfLC

ea,
(P.U.1

L,
( u) p . 0.1171 1.4298
0.00~5

0.1232

1.3525 0.0136

( . . PU) 0.1214 1.4078 0.0103 1.0101

(.. P") n.115~

(%)

1.3936
0.0102

0.9591

0.1324 0.0121 0.1321 0.2267

( . . PU) 0.1283 1.4392

o.own
0.5760

10.062

( . . PU) (%I 0.1182 0.2153 1.4258 0.0186 0.1980 0.0089 0.4531 0.5451 0.5683 9.6595
-0.0295 -0.0094 -0.0429 0.0691
n.032~

-0.0322

-0.0378

.n.n24i -0.nix4

-0.0275 -0.0145

0.5202

1.2829 0.5864 0.0293 0.0396


0.1524

-0.0260 -0.0135 -0.0326 0.0626 0.0321 0.0767 0.3583 0.4619 0.0097

0.8577 1.9284 5.1043 3.0622 0.0301 0.0633 0.3155 0.3426 0.0254

0.1271 1.4569 0.0377 0.2697 2.6998 23.934 -0.0189 -0.o052


-0.0283 0.1125

0.2560

5.1660 12.362
-0.0335

( ) % 0.2247 0.0203 0.3289 1.1528 4.7565


38.201

0.0182 0.0329 0.0656

0.0194 0.0312 0.0646

0.0352 0.0322

0.0314
0.0328

0.0735 0.3147

0.0738 0.3170

0.0772 0.3454 0.5570 0.0098 26996

n.ninn

__

0.0104 750883

0.0098

0.0100 67116

0.0423

-0.0623 0.0321 0.0846 0.3519 0.5804 0.3525 0.~96

0.0311 -0.198F 0.2617 -0.0658


0.0323

n.0910 0.2294 2.2766


0.5288

--

0.0097 13919

0.7447 1.0643 2.7489 2.7475 4.9765 0.0338 0.2595 0.4381 4.3743 0.3647 0.0276

915

-504 0.01

. . ......

0.1

. . . .....

. . . ...... . . . . . A io 100

frequency (Hz)

-60 ....

-704 0.01

. . . .....I
0.1

. . . . ....

1 frequency (Hz)

. . . .... 1

10

. . . ..... I

100

Pig. 9. C d d n cd stand rl deviation (-)on Z: mmparcd with thc ; residual \Zy: - Zyy for model arder 2/l(x) and 514 (0)

frequency (Hz) Pip. 7. Amplitude and phase of the estimated operational inductance L,, for order 3/2.

Fig.9 gives an idea of the model error on the estimated models for order 2/1 and S/4. Due to the availability of a sanple covariancc matrix on the measured quatities, a standard deviation of the non-parametric Z-matrix caul he calculated. Skitistically, for a good model, 68% of the calculated residuals must be smaller than the staindml deviation. In Fig.9 it is easily seen that the S/4 model better approaches the standard deviation than the 2/1 model, hut certainly does not reach the 68% limit, probably due to the presence of non-linearities. Further statistical analysis of the cost function [161 and a whiteness test on the rcsiduals U71 are neccesary to perfoim a proper model order selcction in the presence of non-linear distortions.
VI. CONCLUSIONS

.~~~~~~~

-50 0.01

. .

....:

0.1

1 frequency (Hz)

.....,

. ......., . . . . . io 100

Fig. 8. Nan-pammetricrepresentation Z;p together with the wmplex error IZ,, - Z;;l for different model orders. differential leakage inductances on the global Z-matrix as the order of the model increases. This is also confirmed by the increasing confidence bounds on this parameters, as the model order increases. Nevertheless, the overall quality of the starting values is very good. The proposed network synthesis technique leads to a Zyi and Z$ which perfectly matches the estimated Z,, and Z,, A difference between 2;: and Z,, can not he avoided, but in Fig.8 is easily seen that the difference is limited. The confidence bounds in Table 2 may not be interpreted as real confidence bounds on the physical parmeters. The confidence bounds give an idea between which margins the estimated parmeters can vary, when an identification of the same order is performed on measurements of the Same quality (same signal-to-noise ratio, the sane number of periods).

The contribution of this paper consists of a coinbincd measurement and identification proceduie. for the determination of d-axis equivalent circuit pauauneters of synchronous machines. In a first part of the paper it is shown that a MIMO broadband excitation and measurement method can be used to measure the d a i s behaviour of a synchronous machine in a very time efficient way. Further, the measuiemcnt method collects all data required for a complete d-axis identification in just one setup. In opposition to the classic approach, where open and short circuit dab is combined, this guarantees lliat all measurement &ita is collected under the sanc circumstances. In a second part it is shown that the use of at Z-matrix estimator followed by network synthesis techniques leads to very accurate starting values for a final MIMO maximum likelihood estimator. In this final estimator, a chain pianeter matrix of the d-axis equivalent circuit is used to calculate the cost function. This simplifies significantly the calculation of all the derivatives required by the very efficient Newton-Gauss minimisation algorithm.

916

VII. ACKNOWLEDGEMENTS This research is supported by a grant from the Flemish Institute for the Improvement of the Scientific and Technological Research in Industry (IWT), the Belgian National Fund for Scientific Research (NFWO), the Flemish government (GOA-IMM12) and the Belgian government as a part of the Belgian program on Interuniversity Poles of Attraction (IUAP) initiated by the Belgian State, Prime Minister's Office, Science Policy Programming. VIII. APPENDIX In this appendix, the chain parameter matrix of a d-axis equivalent circuit is defined. Due to the fact that a high order d a i s equivalent circuit contains the cascade interconnection of several topologically identical 2-ports (see Fig.10) just 3 different partial chain parameter matrices must be defined :

IX. REFERENCES
[l] IEEE Standard 115-1995, "IEEE Guide: Test Procedures for Synchronous Machines", published by the IEEE. 345 Easf47th street. New York, NY 10017, USA, 1996. [21 K. Beya, R. Pintelon, J. Schoukens, P. Lataire, P. GuiUaume, R. Mpanda-Mabwe and M. Delhaye. "Identification of Synchronous Machine Parameters Using Rroadhnnd Excitations", IEEE Trans. Energ. Conv., Vol. EC-9, n" 2,pp. 270-280,1994, [31 P. Guillaume, R. Pintelon and J. Schoukens, "Parametric Identification of WO-Port Models in the Frequency Domain", IEEE Trans. Insfrum.Meas., Vol. 41, n' 2, pp, 233-239,1992. [41 J. Schoukens, R. Pintelon, E. Van Der Ouderaa and J. Rennehoog, "Survey of excitation Signals for FFT based Signal Analysers". IEEE Trans. Instrum. Mens., Vol. 37, n' 3, pp, 342352,1988. [5] I. Kamwa, P. Viarouge, E.J. Dickinson, "Ident@cution of

and fori = 1 ... n


1
TSW) = [-R,dt:wL,d -jWL,,, "R,,+jwL,, JWL,,,

With the equations (7), (8) and (9) the global chain parameter matrix of the d-axis equivalent circuit is easily calculated :
T(0.w) = T,.T,.

.... T z . T ,

T.

(10)

T,

; T 1 I T 2 l , T n j
, I

Tf

Fig. 10. d-axis equivalent circuit split up in simple interconnected 2ports.

Generalised Models o Synchronous Machines from Time f domain Tests", IEE Proceedings-C, Vol. 138, n"6, pp. 485498, 1991. 161 I. Kamwa, P. Viarouge, H. Le-Huy and E.J. Dickinson, "Threetransfer-function approach for building phenomenological models of synchronous machines", IEE Proc.-Gener. Transm. Distrib., Vol. 141, n"2, pp. 89-98, 1994. 171 I. Kamwa. P. Viarouge, H. Le-Huy and E.J. Dickinson, "A Frequency-Domain Maximum Likelihood Estimation of Synchronous Machine High-Order Models Using SSFR Test Data", IEEE Trans. Energ. Conv., Vol. EC-7, n" 3, pp. 525-536, 1992. [SI A. Keyhani and H. Tsai, "Identification of High-Order Synchronous Generator Models from SSFR Test Data" , IEEE Trans. Energ. Conv., Vol. EC-9, n' 3, pp. 593-603, 1994. [91 G.C. Temes and J.W. LaPalsa, Infroduction10 Circuit Synthesis andDesign, McGraw-Hill, 1977. [lo] J. Schoukens, K. Pintelon, 0. Vandersteen and I? Guillaume, "Frequency-domain System Identification using Nonparametric Noise Models Estimated from a Small Number of Data Sets",AuomaIica,Vol. no 6, pp.1073-1086, 1997. 33, (111 R. Fletcher, Practical mefhods o oprimization, John Wiley, f 1981. [12] P. Guillaume and R. Pintelon, "A Gauss-Newton-Like Optimization Algorithm for Weighted Nonlinear Least-Squares Problems", IEEE Trans. Signal Processing, Vol. 44, no 9, pp.2222-2228,1996. [ 131 W. Cauer, Synlhesis of Linear CommunicationNetwnrks, Vol. I, McCraw-Hill, 1958. [141 H.C. Karmaker, D.Y. Park, G.E. Dawson and A.R. Eastham, "Standstill Frequency Response Testing and Modeling of Salient-Pole Synchronous Machines : Part I1 - Modeling and Parameter Identification", presented at the special session : ''Issues on SSFR Testing of Salient-pole Machines", IEEEiPES Winter Meeting, Feb. 2-4, 1997, New York. 1151 J. Verheeck, R. Pintelon and P. Guilraume, "Determination of Synchronous Machine Parameters Using Network Synthesis Techniques", Paper no. PE-075-EC-0-11-1997, presented at the 1998 IEEE PES Winter Meeting, Feb. 1-5, 1998, Tampa. E161 R. Pintelon, J. Schoukens and G. Vandersteen, "Model Selection through a Statistical Analysis of the Global Minunum of a Weighted Non-Linear Least Squares Cost Function", IEEE Trans. Sign. Prnc., Vol. SP-45, no 3, pp. 686-693, 1997. 1171 J. Schoukens, T. Dohrowiecki and R. Pintelon, "Parametric Identification of Linear Systems in the Presence of Nonlinear

Dist0rtions.A Frequency Domain Approach, IEEE Trans.


Aurum. Conrr., Vol. AC-43, no 2, 1998.

X. BIOGRAPHIES
Jef Verheeck was born in Turnhout, Belgium, on April 3, 1968. He received the degree of industrial electro-mechanical engineer (industricel ingenieur) in July 1990 from the Stedelijke Industriele Hogcschool Antwerpen and the degree of civil electrotechnicalmechanical engineer (burgerlijk ingenieur) in July 1993 from the Vrije Universiteit Brussel. He is oresentlv working towards his Ph.D. hegree the Electrical Measurement Department (ELEC) at the Vrije Universiteit Brussel, supported by a grant from Flemish Institute for the Iinprovcment of the Scientific and Technological Research in Industry (IWT). His research interest is in the field of control and system identification of electrical machines. Rik Pintelon was born in Gent, Belgium, on December 4, 1959. He received the degree of civil electrotechnical-mechanical engineer (burgerlijk ingenieur) in July 1982, the degree of doctor in applied science in January 1988. and the qualification to teach at university level (geaggregeerde voor het hoger onderwijs) in April 1994, all from the Vrije Universiteit Brussel (VUB), Brussels, Belgium. He is presently a Senior Research Associate of the National Fund for Scientific Research (NFWO) and part time lecturer at the VUB in the Electrical Measurement Department (ELEC). His main research interests are in the field of parameter estimation / system identification, and signal processing. Philippe Lataire received the degree of civil engineer in 1975 and the degree of doctor in applied science in 1982 from thc University of Brussels (VUB). He is present a full time lecturer at the VUB. The prime factors of his research are in the field of electric drives, power electronics and control.

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