Basics of Electric Machines (Rotating field)

Rotating field
fundamental space mmf established by a single phase
winding with a current, i=I
a
cost, is F
a1
=F
m1
cost cos
a
,
where F
m1
is the peak value of fundamental mmf F
m1
=
(4/)k
w
(N
ph
/P)I
a
F
a1
is the combination of two counter-revolving mmf
waves F
a1
=F
m1
0.5cos(
a
-t) +F
m1
0.5cos(
a
+t)
F
b
F
f
Rotating field
In a three phase machine, the axes of the three phase
windings are 120
o
apart, assume the phase current
i
a
=i
m
cost
i
b
=i
m
cos(t-120
o
)
i
c
=i
m
cos(t+120
o
)
fundamental air gap mmf of three phases
F
a1
=(1/2)F
m1
{cos(
a
-t) +cos(
a
+t)}
F
b1
=(1/2)F
m1
{cos(
a
-t) +cos(
a
+t-240
o
)}
F
c1
=(1/2)F
m1
{cos(
a
-t) +cos(
a
+t+240
o
)}
F
a1
+ F
b1
+ F
c1
=(3/2)F
m1
cos(
a
-t)
the resultant airgap mmf is a constant amplitude,
sinusoidal shape, revolving wave with a speed of in a
direction corresponding to the sequence of the phase
current
it is related to the synchronous machine voltage and
mechanical speed:
e
=(P/2)
m
Developed torque of a uniform
airgap machine
The torque and coenergy relation
T=W

fld
/
m
where W

fld
=i- W
fld
i=L
SS
i
S
2
+L
rr
i
r
2
+2L
sr
i
r
cos
sr
W
fld
= (1/2)L
SS
i
S
2
+(1/2)L
rr
i
r
2
+L
sr
i
s
i
r
cos
sr
W
fld
= i- W
fld
=(1/2)L
SS
i
S
2
+(1/2)L
rr
i
r
2
+L
sr
i
r
cos
sr
J
Developed
torque:
the negative sign indicates the developed torque is in the direction opposite
to that of increasing
sr
m N sin
2
2
;
' '
=
=

=
sr r s sr
srm sr
srm
sr
sr
fld
srm
fld
i i L
P
T
P
W W
T

FLUX LINKAGE RELATIONS
mmfs of rotor windings are along d-q axis. Axis of north
pole is in d-axis, stator internal voltage is in q-axis
Field winding is mainly in d-axis, damper winding are in
d,q axis
FLUX LINKAGE RELATIONS
For a phase current flowing into the stator, the a
phase mmf F
a
produces flux components
d
,
q
along the d- and q- axes
The inductance representation has
r
variable
MATH MODEL OF SYNCHRONOUS MACHINE (abc frame)
Voltage equation of the stator and rotor windings
Flux linkage equation of the stator and rotor windings
L
ss
, L
sr
, L
rr
are shown in Eq.7.7 to Eq.7.9 (pp.264)
Computational difficulty in abc frame
The inductances in L
ss
and L
sr
are time dependent variables
present computational difficulty when voltage equations are being
solved
To obtain the phase current quantities, the inverse of the time-
varying inductance matrix will have to be computed at each time
step, this would be time consuming and could produce numerical
instability
(

+
(

=
(

r
s
r
s
r
s
r
s
dt
d
i
i
r
r
v
v
0
0
| |
r rr s
t
sr r
r sr s ss s
i L i L
i L i L
+ =
+ =
TRANSFORMATION TO ROTOR REFERENCE FRAME
Transform the stator quantities to rotor qd0 reference
frame, then the voltage equation has time-invariant
coefficient
Rotor voltage equation already attached to q- and d- axes,
qd0 transformation only need be applied to the stator
winding
For transformation, we denote

where T
qd0
(
r
) is as Eq. (7.11)
Apply transformation T
qd0
(
r
) into stator voltage equation,
the stator voltage equation becomes

) ( 0 0
) ( 0 0
) ( 0 0
) (
) (
) (
abc s r qd qd
abc s r qd qd
abc s r qd qd
T
i T i
v T v
=
=
=

( ) ( ) ( )
0
1
0 0 0
1
0 0 ) ( 0 ) ( 0 0 qd qd qd qd qd s qd abc s qd abc s s qd qd
T
dt
d
T i T r T
dt
d
T i r T v + =
|
.
|

\
|
+ =

| |
(
(
(
(
(
(
(

|
.
|

\
|
+
|
.
|

\
|

|
.
|

\
|
+
|
.
|

\
|

=
2
1

2
1

2
1

3
2
in
3
2
in sin
3
2
cos
3
2
cos cos
3
2
) (
0

r r r
r r r
r qd
s s T
TRANSFORMATION TO ROTOR REFERENCE FRAME
The first term of the transforming equation on
flux linkage (pp.266)
The second term of the transforming equation on
flux linkage (pp.266)
The stator voltage equation of qd0 rotor
reference frame
0 0
1
0 0
0 0 0
0 0 1
0 1 0
qd r qd qd qd


T
dt
d
T
(
(
(

=
(

0 0
1
0 0 qd qd qd qd
dt
d
dt
d
T T =

0 0 0 0
0 0 0
0 0 1 -
0 1 0
qd qd r qd s qd
dt
d
i r v +
(
(
(

+ =
FLUX LINKAGE IN TERMS OF WINDING CURRENTS
Flux linkage
qd0
and qd0 current can be obtained from
stator quantities
The stator qd0 flux linkage equations
The rotor qd0 flux linkage equations
( ) ( )
r qd sr qd s qd qd ss qd qd s
i L T i T L T
0 0 0
1
0 0 0 ,
+ =

0 0
0
0
) (
2
3
) (
2
3
i L
i L i L i L L L
i L i L i L L L
ls s
skd skd sfd sfd d ms ls ds
skq skq sfq sfq q ms ls qs
=
+ +
)
`

+ =
+ +
)
`

+ =

kq kqkq fq fqkq q skq kq

kq fqkq fq fqfq q sfq fq
kd kdkd f fkd d skd kd
kd fkd f ff d sfd fd
i L i L i L
i L i L i L
i L i L i L
i L i L i L
+ + =
+ + =
+ + =
+ + =
2
3
2
3
2
3
2
3

VOLTAGE EQUATIONS IN ROTOR REFERENCE FRAME

Voltage equations of
synchronous machine
dt
d
i r v
dt
d
i r v
dt
d
i r v
dt
d
i r v
dt
d
i r v
dt
d
dt
d
i r v
dt
d
dt
d
i r v
kq
kq kq kq
fq
fq fq fq
kd
kd kd kd
fd
fd fd fd
s
r
q
d
d s d
r
d
q
q s q
'
' ' '
'
' ' '
'
' ' '
'
' ' '
0
0 0

+ =
+ =
+ =
+ =
+ =
+ =
+ + =
Flux linkage equations
in terms of L and i
where
' ' ' '
' ' ' '
' ' ' '
' ' ' '
0 0
' '
' '
kq kqkq fq mq q mq kq
kq mq fq fqfq q mq fq
kd kdkd fd md d md kd
fd fdfd kd md d md fd
ls
kd md fd md d d d
kq mq fq mq q q q
i L i L i L
i L i L i L
i L i L i L
i L i L i L
i L
i L i L i L
i L i L i L
+ + =
+ + =
+ + =
+ + =
=
+ + =
+ + =

md ls d
mq ls q
L L L
L L L
+ =
+ =
EQUIVALENT qd0 CIRCUIT IN ROTOR REF. FRAME
CURRENT EQUATIONS IN ROTOR REFERENCE FRAME
Current equations in
terms of s, q-axis
(from Fig.7.4)
mq lkq lfq ls MQ
kq
lkq
MQ
fq
lfq
MQ
q
ls
MQ
mq
kq fq q mq mq
mq kq
lkq
kq
mq fq
lfq
fq
mq q
ls
q
L L L L L
L
L
L
L
L
L
i i i L where
L
i
L
i
L
i
1 1 1 1 1
) (
) (
1
) (
1
) (
1
' '
'
'
'
'
' '
'
'
'
'
'
'
+ + + =
+ + =
+ + =
=
=
=

Current equations in
terms of s, d-axis
(from Fig.7.4)
md lkd lfd ls MD
kd
lkd
MD
f
lfd
MD
d
ls
MD
md
kd fd d md md
md kd
lkd
kd
md fd
lfd
fd
md d
ls
d
L L L L L
L
L
L
L
L
L
i i i L where
L
i
L
i
L
i
1 1 1 1 1
) (
) (
1
) (
1
) (
1
' '
'
'
'
'
' '
'
'
'
'
'
'
+ + + =
+ + =
+ + =
=
=
=

CURRENT EQUATIONS IN ROTOR REFERENCE FRAME
Matrix current equations in terms of flux linkage
the above matrix can be substituted into voltage and torque
equation to obtain the math model of synchronous machine
the synchronous machine model derived from above use flux
linkages of rotor windings as state variables
(
(
(

(
(
(
(
(
(
(
(

=
(
(
(

'
'
' ' ' ' '
' ' ' ' '
' '
'
'
1
) 1 ( - -
-
1
) 1 (
- -
1
) 1 (
kd
fd
d
lfd lfd
MD
lkd lfd
MD
lkd ls
MD
lkd lfd
MD
lfd lfd
MD
lfd ls
MD
lkd ls
MD
lfd ls
MD
ls ls
MD
kd
fd
d
L L
L
L L
L
L L
L
L L
L
L L
L
L L
L
L L
L
L L
L
L L
L
i
i
i

ELECTROMAGNETIC TORQUE
Electromagnetic torque is obtained from the component
of input power that transferred across airgap
Stating from the input power into the machine:
P
in
=v
a
i
a
+ v
b
i
b
+v
c
i
c
+ v
fd
i
fd
+ v
fq
i
fq
Stator quantities transformed into qd0 reference frame
P
in
=(3/2)(v
q
i
q
+ v
d
i
d
)+3v
0
i
0
+ v
fd
i
fd
+ v
fq
i
fq
Eliminating ohmic losses and rate of change of magnetic
energy (Eq.7.33 in pp.271)
P
em
=(3/2)
r
(
d
i
q
-
q
i
d
) W
For a P-pole machine,
r
=(P/2)
rm
P
em
=(3/2)(P/2)
rm
(
d
i
q
-
q
i
d
) W
Dividing the P
em
by
rm
, the torque developed by P-pole
machine
T
em
=(3/2)(P/2)(
d
i
q
-
q
i
d
) N.m
SIMULATIONS OF 3 PHASE SYNCHRONOUS MACHINE
The winding equation of Syn. mach. model could use
terminal voltage as input and currents as output
Main inputs: stator abc phase voltage, excitation voltage to
field winding, applied mechanical torque (load)
Main outputs: stator abc phase current
Modeling procedure
Stator winding voltage must be transformed to qd0 reference
frame attached to rotor
) (
3
1
) 70 . 7 ( ) (
3
1
3
1
3
1
3
2
:
0 c b a
b c
s
d
c b a
s
q
v v v v
v v v
v v v v
Step First
+ + =
=
=
(7.72) rad. elect. ) 0 ( ) ( ) (
) ( cos ) ( sin
(7.71) ) ( sin ) ( cos

0

+ =
+ =
=
t
r r r
r
s
d r
s
a
r
d
r
s
d r
s
q
r
q
dt t t
where
t v t v v
t v t v v
Step Second



SIMULATION OF A SYNCHRONOUS MACHINE
Overall Diagram
SIMULATION OF A SYNCHRONOUS MACHINE
abc to rotor qd0 block
from oscillator block
SIMULATION OF A SYNCHRONOUS MACHINE
Variable-frequency oscillator
the equation of the oscillator
convert 2nd-order equation to 2 1st-order
equation:
rewrite the above equations into integral forms:
assume y
1
is sint, y
2
is cost
1
2
2
1
2
y
dt
y d
=

= = dt y y dt y y
2 1 1 2
,
1
2 1
2
,
1
y
dt
dy
dt
dy
y

= =
MODEL OF VARIABLE FREQUENCY OSCILLATOR
The cost, sint signals could be
obtained by integrating each other
Variable y
1
, y
2
could be obtained
by variable t
The variable oscillation block is
shown as below
( )
b r r
/ cos
b r
/
( )
b r r
/ sin
r r
sin
r
cos
r
sin
SIMULINK RESULT OF OSCILLATOR
plot result: y1 and y2 (from oscillator block), is
constant
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
-5
0
5
time in sec
y
1

a
n
d

y
2
y2
y1
starting reference
TERMINAL VOLTAGE AND FLUX LINKAGE EQUATIONS
Modeling procedure (relate input variables to state variables)
Stator: relate terminal voltages (input variables) with flux linkage of
stator and rotor windings (state variables) (Eq.7.74)
Rotor: In this case, only flux linkages of field winding in d-axis and a
pair of damper windings in d- and q- axes are related together
(Eq.7.74)
) 74 . 7 (

) (
) (
0 0 0
dt
x
r
v
dt
x
r
v
dt
x
r
v
ls
s
b
d md
ls
s
q
b
r
d b d
q mq
ls
s
d
b
r
q b q

)
`

=
)
`

+ =
)
`

+ =

(7.74)
)} ( {
) (
) (
'
'
'
'
'
'
'
'
'
'
'
'
dt
x
x
E
x
r
dt
x
r
dt
x
r
fd md
lf
md
f
md
kq b
fd
kd md
lkd
kd b
kd
kq mq
lkq
kq b
kq

+ =
=
=

SIMULATION OF A SYNCHRONOUS MACHINE

qd0 stator and rotor block
SIMULATION OF A SYNCHRONOUS MACHINE
q-axis stator block
STATOR AND ROTOR FLUX LINKAGE
where
rotor flux linkage stator flux linkage
mq kq lkq kq
md kd lkd kd
md fd lf fd
f
f
md f
fd kq d md
kq q mq
i x
i x
i x
r
v
x E
i i i x
i i x
+ =
+ =
+ =
=
+ + =
+ =
' ' '
' ' '
' ' '
'
'
' '
md
'
mq
) (
) (
0 0
i x
i x
i x
ls
md d ls d
mq q ls q
=
+ =
+ =
WINDING CURRENTS
Modeling procedure (relate state variables to output
variables)
relate flux linkages (state variables) with winding
currents (output variables)
Stator winding current Rotor winding current
ls
md d
d
ls
mq q
q
x
i
x
i

=

=
'
'
'
'
'
'
'
'
'
lfd
md fd
fd
lkq
mq kq
kq
lkd
md kd
kd
x
i
x
i
x
i

=

=

=
WINDING CURRENTS
Modeling procedure (dq0 to abc transformation)
transform qd0 rotor frame currents to stationery frame
transform stationery qd0 currents to abc currents
) ( cos ) ( sin
) ( sin ) ( cos
t i t i i
t i t i i
r
r
d r
r
q
s
d
r
r
d r
r
q
s
q


+ =
+ =
0
0
0
3
1
2
1
3
1
2
1
i i i i
i i i i
i i i
s
d
s
q c
s
d
s
q b
s
q a
+ + =
+ =
+ =
TORQUE EXPRESSION
Electromechanical torque developed with P-poles
in motoring or generating
The net accelerating torque:
generating for (-) motoring, for ) ( : T here w
m N ) (
2 2
3

m N ) (
2 2
3
em
+
=
= =
d q q d
b
d q q d
rm
em
em
i i
P
i i
P P
T

( )
( )

+ =

= = = +
t
damp mech em e r
e r r rm
damp mech em
dt T T T
J
P
w t
dt
w t d
P
J
dt
t d
P
J
dt
t d
J T T T
0
2
) (
) ( 2 ) ( 2 ) (

SIMULATION OF A SYNCHRONOUS MACHINE
Rotor block
T
em

r
PER-UNIT EXPRESSION FOR TORQUE AND SPEED
Per-unit variables:
( ) { }
b bm
b e r
r
b
pu damp pu mech pu em
S J H
dt
w t d
H
dt
t d
P
J
T
T T T
2
) ( ) ( ) (
2
1
where pu,
/ ) (
2
pu
) ( 2 1

=
= +
P
S
T
I
V
Z
V
S
I V V
b bm
bm
b
b
b
b
b
b
b
b line to line b
2
, , ,
3
2
,
3
2

= = = = =

SIMULATION OF A SYNCHRONOUS MACHINE
qd0 rotor frame to abc block
SIMULATION OF A SYNCHRONOUS MACHINE
VIPQ block
( )( ) { }
( )( ) { }
q d d q d q d q
d d q q d q d q
i v i v ji i jv v Q
i v i v ji i jv v P
= =
+ = =
*
*
Im
Re
2 2
2 2
ds qs t
ds qs t
I I I
V V V
+ =
+ =
MINIMIZE STARTUP TRANSIENTS
Startup transient occurs whenever the state variables of
simulation (such as s) are not properly initialized
To wait for the startup transient is rather time consuming
especially when the time constants of field and machinery
are high
To minimize startup transients, we need to initialize the
corresponding states with good estimates
The initial values of integrators in the model should be set
close to the desired operating condition to minimize the
initial simulation transients
The desired operating condition for the variables
initialization could be obtained from steady-state analysis
Startup transients can also be minimized by setting high
damping coefficient D, until steady-state is established,
then D is reset to the previous value
Project. 6-1 Project homework
(Homework): With the same machine parameters given
in Table 7.2 (pp.317), you are asked to build up a
synchronous generator model has the following source:
v
1
=12sin(120t+0) pu
v
2
=12sin(120t-2/3) pu
v
3
=12sin(120t+2/3) pu
1) With source voltage connected in 1pu, excitation voltage E
f
=
1pu, change the mechanical torque from 1pu to 0 pu at t=10 sec,
and then change the mechanical torque again from 0pu to -1pu
at t=15 sec. Observe and plot the following responses from 0~20
sec
1) the P
gen
, T
em
, , , in one figure
2) Q
gen
, I
f
, i
d
, i
q
in one figure
3) i
a
, i
b
, i
c
in one figure
4) discuss what you see on the plots (ex. observe transient in
field current, 3 phase current, Q, , etc)
Project. 6-1 Project homework
2. With Excitation voltage = 1pu, T
mech
= 0.5 pu (mechanical
torque), short the 3-phase source terminal voltage to
ground from 1pu to 0 pu at t=10 sec, fault clear at
t=10.25 sec, observe and plot
1) v
q
, v
d
, i
q
, i
d
, in one figure
2) i
a
, i
b
, i
c
in one figure
3) P
gen
, T
em
, , in one figure
4) Q
gen
, I
f
, in one figure
5) discuss what you see on the plots (ex.observe transient in field
current and qd, abc current)
6) calculate the critical clearing time that machine could run out of
synchronism, observe your result
Suggestion:
In the case 2, the figure time scale can be shown starting from t=9 sec
through the time when system becomes stable after the fault cleared
MACHINE PARAMETER
Machine data from manufacturers are in form of
reactance
time constants
resistances
they are derived from measurement of stator windings
The parameters of the rotor winding from stator
measurements are taken from a method of short
circuited oscillogram
Short circuited oscillogram: stator is initially open-
circuited, keep field excitation constant, then apply
three phase short-circuit ground on stator and observe
3 phase stator current decay period
The rate of stator current decay could tell us
information of machines time constant, reactance, etc.
SYNCHRONOUS INDUCTANCES
Inductance is defined as L=/I
Peak of rotating mmf aligned with d-axis, then
L
d
=
d
/I, same manner as L
q
=
q
/I, L
d
and L
q
could be obtained in the synchronous operation.
SYNCHRONOUS INDUCTANCE AND TRANSIENT
INDUCTANCE
Balanced steady state operation
rotor and stator mmf are in synchronous speed, relative
speed of mmf=0, flux linkage does not vary with time,
no voltage is induced in rotor circuits
generator is represented with a constant emf behind
synchronous reactance X
s
=X
d
, as figure below
Transient operation
short circuit at the generator terminal will result in
varying flux linkages with rotor, induce rotor transient
current and in turn reacts on stator armature
transient analysis must use transient machine
parameters
transient parameters must be obtained by test of
oscillogram
E
fd
MACHINE PARAMETER
Short circuit oscillogram
the stators short-circuited transient current decay
exhibits two distinctly different decay period
sub-transient: the first few cycles of short circuit when
current decay is fast, mainly attribute from the changes
of currents in damper winding
transient: rate of current decay is slower and attribute
to the current changes in field winding
Oscillogram cause
sub-transient: change of current in the outer damper
winding limit the stator-induced flux from penetrating
the rotor
transient: change of current in the field winding react
the same manner
SYNCHRONOUS MACHINE TRANSIENT
ANALYSIS
Generator transient behavior
sub-transient analysis: lasting for only a few cycles right after the
disturbance
transient analysis: lasting longer time than sub-transient period
steady state analysis: transient phenomena die out
SYNCHRONOUS MACHINE TRANSIENT
ANALYSIS
Generator transient behavior
sub-transient,
transient,
steady state
TRANSIENT INDUCTANCES
Induced current in the damper decay is more rapid
the damper winding resistance >> field winding resistance
In the transient period,
we assume damper current decay is over
induced field current still changes to opposite the change in flux
linkage by stator current
Procedure for transient inductance estimation
stator initially opened, then short circuit is applied
keep rotor field excitation constant
Change of flux linkage in d-axis in Stator winding

d
=L
d
i
d
+L
md
i
f
(7.96)
No change of flux linkage in rotor winding

fd
= L
md
i
d
+L
ff

i
f
= 0 (7.97)
where L
ff

=L
md
+L
f
, L
kd

=L
md
+L
kd
,
Substitute i
f
in (7.96) into (7.97), we have

d
= (L
d
-L
md
2
/L
ff
) i
d
TRANSIENT INDUCTANCES
d-axis and q-axis transient inductance
L
d

=
d
/i
d
= (L
d
-L
md
2
/L
ff
) (7.99)
L
q

=
q
/i
q
= (L
q
-L
mq
2
/L
gg
) (7.100)
d,q axis transient inductance could be
considered as L
ls
in series with (L
md
//L
ff
) or
L
ls
in series with (L
mq
//L
gg
)
L
ls
L
md L
lf

L
d

SUB-TRANSIENT INDUCTANCES
Procedure for sub-transient inductance estimation
stator initially opened, then short circuit is applied
keep rotor field excitation constant
For the sub-transient period, rotor flux linkage
keeps initially constant, thus

f
=0,
kd
= 0

f
= L
md
i
d
+L
ff
i
f
+L
md
i
kd
= 0

kd
= L
md
i
d
+L
md
i
f
+L
kdkd
i
kd
= 0 (7.104)
Corresponding change in d-axis stator flux linkage

d
= L
d
i
d
+L
md
i
f
+L
md
i
kd
(7.106)
Rearrange i
f
= i
kd
in (7.104) and substitute into
(7.106), we obtain (7.107)
L
d
=
d
/ i
d
SUB-TRANSIENT INDUCTANCES
Equivalent circuit: L
ls
in series with (L
md
// L
ff

// L
lkd
)
L
ls
L
md L
lf
L
lkd

L
d

TRANSIENT TIME CONSTANT

Procedure for open circuit transient time constant
estimation
stator initially open circuited, then apply field excitation
voltage change
Transient time constant T
do

larger value
observe field winding current decay
Procedure for open circuit sub-transient time
constant estimation
stator initially open circuited, then short field winding
Sub-transient time constant T
do

smaller value
observe damper winding current decay
Open/Short Circuit Transient (Field) Time Constant
Open circuit transient (field) time constant T
do

observe change in field currents in response to a change in

excitation voltage when stator is open circuited
T
do
= L
ff
/ r
f

L
ff
equivalent circuit: L
lf

in series with L
md
T
qo
= L
gg
/ r
g

Typically, T
do
is of order of 2 to 11 secs.
Short circuit transient (field) time constant T
d

observe change in field currents in response to a change in

excitation voltage when stator is short circuited, T
d

ratio of T
d
and T
do
equals to ratio of L
d
and L
d
, that is
T
d
/ T
do
= L
d
/ L
d
The transient time constant can also be expressed as
(7.113)
|
|
.
|

\
|

=
'
2
'
'
) ( 1
d d
ls d
f
do
L L
L L
r
T
Open circuit Sub-transient Time Constants
Open circuit sub-transient time constant T
do

time constant of kd damper winding current when

stator windings are open circuited
field windings are then shorted
also defined as time in second required for d-axis
component of stator voltage decrease to (1/e) value
after a short circuited on the stator winding is suddenly
removed in rated speed
During the initial decay of the sudden open circuit
stator voltage, the effective inductance of kd
winding
L
kdo

=L
lkd

+(L
md
L
lf

)/(L
md
+ L
lf
)
L
kdo

equivalent circuit: L
lkd

in series with L
md
// L
lf

Therefore T
do
= L
kdo

/ r
kd

(7.118)
By symmetry T
qo
=> T
qo
= L
kqo

/ r
kq

Short Circuit Sub-transient Time Constants

Short circuit sub-transient time constant T
d

time constant of kd damper winding current

when
stator windings are short circuited
field windings are then applied shorted

Therefore T
d
= L
kd

/ r
kd

) (
) (
'
' ' '
md ls
md ls
ls
md ls
md ls
lf
lkd kd
L L
L L
L
L L
L L
L
L L
+
+
+
+ =
Calculating Machine Parameters
Procedure to calculate the parameters for the
developed model
Normally, the parameters given by the
manufacturers are the stator parameters
stator leakage reactance, x
ls
sometimes x
0
= x
ls
is given instead of x
ls
d,q axis reactance, x
d
, x
q
Rotor parameters needs to be determined
Procedure 1: Calculate x
md
, x
mq
x
mq
= x
q
x
ls
x
md
= x
d
x
ls
Procedure 2: Obtain transient and sub-transient
parameters
Determine transient reactance X
d
:
obtain rms steady short circuit current after
approximately the 10th cycle
use the equation: ( )
( ) t m c t I I i or
e I I i
d d d
t
d d
d
' ' / ln ' ln
'
' '
/ '
'
= =
=

Calculating Machine Parameters

Determine transient parameters
rms transient current
transient reactance
transient time constant
Determine sub-transient parameters
obtain rms short circuit current of the first 2 cycle
use the following equation
d
c
d
I e I + =
' '
'
0
'
d
d
I
E
X =
'
1
'
m
d
=
( )
( ) t m c t I I i or
e I I i
d d d
t
d d
d
' ' ' ' / ln ' ' ln
' '
' ' ' ' '
/ ' ' '
' '
= =
=

Calculating Machine Parameters

Determine sub-transient parameters
rms sub-transient current
sub-transient reactance
sub-transient time constant
' ' ' ' '
d
c
d
I e I + =
' '
0
' '
d
d
I
E
X =
' '
1
' '
m
d
=
Calculating Machine Parameters
Calculating Machine Parameters
Procedure 3: Calculate x
lf

when x
d
is obtained from Procedure 2
from (7.99), calculate x
lf

) (
) (
'
'
'
ls d md
ls d md
lf
x x x
x x x
x


=
Calculating Machine Parameters
Procedure 4: calculate x
lkd

when x
d
is obtained from Procedure 2, from Eq. (7.107) calculate

Procedure 5: calculate x
lkq

Use L
q
given in Eq. (7.108) by setting L
lg
->, no field
winding in q axis
if x
mq
>> x
lkq

x
lkq

x
q
-x
ls
) )( (
) (
' ' ' '
' ' '
'
lf md ls d md lf
lf md ls d
lkd
x x x x x x
x x x x
x
+

=
'
lf md
' ' '
' ' '
'
x x if
) (
) (
>>

=
ls d lf
lf ls d
lkd
x x x
x x x
x
) (
) (
' '
' '
'
ls q mq
mq ls q
lkq
x x x
x x x
x

=
Calculating Machine Parameters
Procedure 6: calculate r
f

Use T
d0
and Eq. (7.138)

Procedure 7: calculate r
kd

Use T
d0
and Eq. (7.141)

Procedure 8: calculate r
kq

use T
q0
and Eq. (7.143)

) (
1
' '
' '
'
ls d lkd
do b
kd
x x x
T
r + =

) (
1
'
'
'
md lf
do b
f
x x
T
r + =

) (
1
'
' '
'
mq lkq
qo b
kq
x x
T
r + =

Calculating Machine Parameters

Or using short-circuit time constants to calculate r
f

, r
kd

,
r
kq

) (
1
' '
'
'
' '
'
lf ls lf md ls md
lf ls md
lkd
d b
kd
x x x x x x
x x x
x r
+ +
+ =

) (
1
'
'
'
ls md
ls md
lf
d b
f
x x
x x
x r
+
+ =

) (
1
'
' '
'
ls mq
ls mq
lkq
q b
kq
x x
x x
x r
+
+ =

Project 6-2: Synchronous Machine Parameter Test
(Homework): You need to build up your
synchronous machine model according to
parameters given from table 7.2 and then apply
the short circuit test or open circuit test to obtain:
1) x
d
, x
d
, x
q
, x
q
, T
d
, T
d
, r
f
, r
kd
, r
kq
by short
circuit test assume only r
s
, x
d
, x
q
, x
ls
are
available from Table 7.2
2) assume T
do
, T
do
are available from Table 7.2
by open circuit test, and obtain r
f
, r
kd
, r
kq
,
3) verify your results with parameters in Table
7.2
4) you may need to calculate rotor parameters
that is similar to 7.7.1 to build up your model
Project 6-2: Synchronous Machine Parameter Test
Table 7.2
% parameters of three-phase synchronous machine Set 1
Perunit = 1 % parameters given in per unit of machine base
Frated = 60;
Poles = 4;
Pfrated= 0.9;
Vrated =18e3;
Prated=828315e3;
rs = 0.0048;
xd = 1.790;
xq = 1.660;
xls = 0.215;
xd = 0.355;
xq = 0.570;
xd = 0.275;
xq = 0.275;
Tdo = 7.9;
Tqo = 0.410;
Tdo = 0.032;
Tqo = 0.055;
H = 3.77;
Domega = 0; % mechanical damping coeff
Permanent Magnet Synchronous Motors
The dc excitation field winding can be replaced with
permanent magnet
Difference of replacing the dc excitation with permanent
magnet is the elimination of copper losses
Magnet arrangement:
Surface: high magnetic material, leakage of magnet is small, not
easy to demagnetize, smaller volume of permanent magnet
interior: need a longer length of magnet, flux focusing is needed
Permanent Magnet Synchronous Motors
PMSM advantage: simple construction,
lower weight and size for same
performance
PMSM disadvantage: high price, magnet
change with time
Motor start:
line-start: have a rotor cage to help start motor
on a fixed frequency supply
inverter-fed: variable frequency supply to start
motor to synchronous speed
Permanent Magnet Synchronous Motors
The circuit model used is similar to the
synchronous model we had before, the difference
is the rotor field winding
Rotor field winding is replaced by a permanent
magnet inductance L
rc
and equivalent
magnetizing current i
m
in d-axis only, no q-axis
field winding
Some difference of dq0 equations between
Synchronous and PM Synchronous motors
flux linkage:

d
= L
d
i
d
+L
md
i
kd

+L
md
i
m

kd
= L
md
i
d
+L
kdkd
i
kd

+L
md
i
m

md
= L
md
(i
d
+i
kd

+i
m

) = L
MD
(
d
/L
ls
+
kd
/L
kd
+ i
m

)
T
em
= (3/2)(P/2) (
d
i
q
-
q
i
d
)
Basics of Magnetics
Recoil line
H (magnetic field) vs. B (flux density)
F (mmf) vs. (flux)
i (current) vs. (flux linkage)
, F relationship of the Recoil line
B, ,
H, F, i
(-F
o
, 0)
(0,
r1
)
rc
o
o rc r
rc o
P
F F
F P
P F F

=
=
=
1
) (
DC
P
rc
F
Fo

+
-
Basics of Magnetics
Equivalent magnetic circuit
thevenins equivalent
nortons equivalent
F P
P
F F
F F P
rc r
rc
o
r o o rc r
=
=
=
1
1 1
get we , in
with replace to

DC
P
rc
F
Fo

+
-
rc
o
o rc r
rc o
P
F F
F P
P F F

=
=
=
1
) (
F P
rc
+
-

r1

Basics of Magnetics
Math dual between magnetic and electric circuit
norton equivalent
thevenin equivalent
DC
P
rc
F
Fo

+
-
V L
rc
+
-
i
o
i
F P
rc
+
-

r1

DC
L
rc
V
Vr
i
+
-
Permanent Magnet Synchronous Motors
Electric circuit on synchronous machine
the permanent magnetic part will be represented by a
fixed current source i
m
in parallel with inductor L
rc
DC
i
m

L
rc
L
md
equivalent electric
circuit for PM part
in rotor
stator part
Permanent Magnet Synchronous Motors
Electric circuit on synchronous machine
machine equations
Project 6-3: Simulation of Permanent Magnet
Synchronous Machine
(Homework): You need to build up the permanent
magnet synchronous generator (PMSG) model according
to parameters given in Table 7.6 (i
m

=1.6203pu) . The
PMSG is connected to a Y balanced resistive load
(=0.1pu). When a torque is applied at the generator,
obtain the following simulation result for the simulation
run time of 10 sec.
1) A constant torque 0.5pu is applied to the generator,
obtain d-q terminal voltages, stator currents,
electromagnetic torque, rotor speed, input power,
resistive loss, and real power output.
2) A series torque is applied as the following:
[0 0 1 1 0.5 0.5 1 1] for the corresponding time [5 5.4
5.4 5.8 5.8 6.2 6.2 6.5], obtain d-q terminal voltages,
stator currents, electromagnetic torque, rotor speed,
input power, resistive loss, and real power output.