2001 IEEE PES WINTER MEETING

January 28 - February 1, COLUMBUS

Panel Session on DATA FOR
MODELING SYSTEMS TRANSIENTS
Determination of Rotating Machine
Parameter for Transients Simulations
Juan A. MARTINEZ
Universitat Politcnica de Catalunya
Barcelona - SPAIN
BLOCK DIAGRAM
REPRESENTATION OF SYNCHRONOUS GENERATORS
GENERATORS GROUP I : 0.1 Hz 3 kHz GROUP II : 50/60 Hz 20 kHz GROUP III : 10 kHz 3 MHz GROUP IV : 100 kHz 50 MHz
Representation
Detailed representation of
electrical and mechanical
parts, including
representation of saturation
and control of excitation
Transition from
subtransient to transient
and to synchronous
impedance
Very important if close to
location of switching event
Important only for decay of
short circuit current, otherwise
negligible
Negligible Negligible
Voltage control Very important Negligible Negligible Negligible
Speed control Important Negligible Negligible Negligible
Frequency-dependent
parameters
Very important Important Negligible Negligible
Capacitance Negligible Important Very important Very important
L = inductance L" = subtransient inductance C
s
= surge capacitance
R = resistance E = electromotoric force Z = impedance measured at terminals
C = capacitance f = frequency
SCOPE
! ! Representation of rotating machines from terminals
! ! Determination of electrical parameters
! ! Group I ( 0.3 Hz - 3 kHz) transients
! ! Contents
* AC machines (synchronous, induction)
* Mathematical representation - Equivalent circuits
* Off-line test procedures (time/frequency domain)
SYNCHRONOUS MACHINE
DIAGRAM OF THE ELECTRICAL PART
[v] [R][i]
d
dt
[]
[] [L] [i]
Electrical part equations
[v] vector of voltages
[i] vector of currents
[] vector of fluxes
[R] diagonal matrix of winding resistances
[L] matrix of self and mutual inductances
Transformation of electrical
variables
(Add zero-sequence circuit)
Equivalent circuits
d-axis circuit
q-axis circuit
SYNCHRONOUS MACHINE MODELS (IEEE Std. 1110)
Q-AXIS
D-AXIS
NO DAMPER
CIRCUIT
ONE DAMPER
CIRCUIT
TWO DAMPER
CIRCUITS
THREE DAMPER
CIRCUITS
FIELD
CIRCUIT
ONLY
MODEL 1.0 MODEL 1.1
FIELD CIRCUIT+
ONE DAMPER
CIRCUIT
MODEL 2.1 MODEL 2.2 MODEL 2.3
FIELD CIRCUIT+
TWO DAMPER
CIRCUITS
MODEL 3.3
SM PARAMETER IDENTIFICATION PROCEDURES
! ! IEEE Std. 115 : Test procedures for SM
IEC 34-4
! ! Time-domain off-line tests (short-circuit test)
! ! Frequency-domain off-line tests (SSFR)
! ! Only two circuits per rotor axis
! ! For a more general procedure see I.M. Canay,
"Modelling of alternating-current machines having
multiple rotor circuits", IEEE Trans. on Energy
Conversion, vol. 8, no. 2, pp. 280-296, June 1993
! ! Saturation
Synchronous machine parameters
Parameters Measurements
L
d
, L
q
Synchronous inductances
L
f
, L
g
Field winding inductances
L
kd
, L
kq
Damper winding inductances
L
af
, L
akd
, L
fkd
d-axis mutual inductances
L
ag
, L
akq
, L
gkq
q-axis mutual inductances
R
a
Armature resistance
R
f
, R
g
Field winding resistances
R
kd
, R
kq
Damper winding resistances
L
0
Zero sequence inductance
L
d
, L
q
Synchronous inductances
L
d
, L
q
Transient inductances
L
d
, L
q
Subtransient inductances

d
,
q
Transient sc time constants

d
,
q
Subtransient sc time constants
R
a
Armature resistance
L
l
Armature leakage inductance
L
0
Zero sequence inductance
! If L
af
= L
akd
= L
fkd
and L
ag
= L
akq
= L
qkq
the above measurements
are enough
! If L
af
La
kd
a new measurement, L
c
(characteristic impedance),
is needed
1
L
d
(s)
1
L
d
1
L
d
1
L
d
s
d
1 s
d
1
L
d
1
L
d
s
d
1 s
d

d0

d0
L
d
L
d

d
1
L
d
L
d
L
d
L
d

d0

d0

d
L
d
L
d
L
c
L
l
L
md
L
fkdl
L
md
L
fkdl
Direct axis basic definitions
L
L L
L L
L
L
fl
dc dc
dc dc
md
dc

1
]
1
'
'
2
L
L L
L L
L
L
kdl
dc dc
dc dc
md
dc

1
]
1
' "
' "
2
L L L
md d l
L L L
dc d c

L L L
dc d c
" "

R
L
f
fl
d

1
R
L
kd
kdl
d

2

do do
d
d
d
d
d
d
d
d
L
L
L
L
L
L
' "
'
'
' "
"
+ + +

1
]
1
1
1

do do d d
d
d
L
L
' " ' "
"

( ) ( )
d d d d
d
dc
do do
c
dc
L
L
L
L
1 2
+ + +
' " ' "

d d do do
dc
dc
L
L
1 2

' "
"
L L
L
L
dc dc
d d
do do
dc
dc
d
'
' "
"

+ +

1
]
1
1


1 2
2
1
( ) L L L
L
L
fkdl c l
md
dc

d-axis data conversion procedure
STANDSTILL FREQUENCY RESPONSE TESTING
! ! Aim : Accurate identification of SM parameters from
low-voltage frequency response tests at standstill
! ! IEEE Std. 115 : Test procedures for SM
! ! Measurable parameters
* d-axis operational impedance Z
d
(s)
* q-axis operational impedance Z
q
(s)
* standstill armature to field transfer function sG(s)
* standstill armature to field impedance Z
afo
(s)
I I V
d s d s

2
3
1
3
V
I
d d
0 0 V
I
q q
0 0 V
I I V
q s q s

2
3
1
3
V
I
0 0
0 0 V I
0 0
0 0 V
STANDSTILL FREQUENCY RESPONSE TESTING
Operating conditions I
s
= I
b
= - I
c
; I
a
= 0 ; V
s
= V
c
- V
b
d-axis q-axis
Z s
e s
i s
d
d
d
e
fd
( )
( )
( )

0
Z s Z s R sL s
d armd a d
( ) ( ) ( ) +
1
2
STANDSTILL FREQUENCY RESPONSE TESTING
Measurement of Z
d
(s)
Z s
e s
i s
q
q
q
( )
( )
( )

Z s Z s R sL s
q armq a q
( ) ( ) ( ) +
1
2
STANDSTILL FREQUENCY RESPONSE TESTING
Measurement of Z
q
(s)
sG s
i s
i s
fd
d
e
fd
( )
( )
( )

i s
i s
i s
i s
fd
d
fd
arm
( )
( )
( )
( )

3
2
STANDSTILL FREQUENCY RESPONSE TESTING
Measurement of sG(s)
Z s
e s
i s
afo
fd
d
i
fd
( )
( )
( )

0
Z s
e s
i s
e s
i s
afo
fd
d
fd
arm
( )
( )
( )
( )
( )

3
2
STANDSTILL FREQUENCY RESPONSE TESTING
Measurement of Z
afo
(s)
STANDSTILL FREQUENCY RESPONSE TESTING
Procedure for identification of d-axis parameters
! Use the best available estimate for stator leakage inductance L
R
! L
d
(0) is the low-frequency limit of L
d
(s) [L
ad
= L
d
(0) - L
R
]
! Find the field to armature turns ratio N
fd
/N
a
! Calculate the field resistance
! Define an equivalent circuit structure for the direct axis
! Use a fitting technique to find values for the unknown parameters
that produce the best fit for L
d
(s) and sG(s)
! Adjust L
ad
to its unsaturated value L
adu
! Measure the field winding resistance, convert it to the desired
operating temperature, and refer it to the stator
! Normalize the equivalent circuit elements to per unit values
STANDSTILL FREQUENCY RESPONSE TESTING
Procedure for identification of q-axis parameters
! Use the best available estimate for stator leakage inductance L
R
! L
q
(0) is the low-frequency limit of L
q
(s) [L
aq
= L
q
(0) - L
R
]
! Define an equivalent circuit structure for the quadrature axis
! Use a fitting technique to find values for the unknown parameters
that produce the best fit for L
q
(s)
! Adjust L
aq
to its unsaturated value L
aqu
! Normalize the equivalent circuit elements to per unit values
STANDSTILL FREQUENCY RESPONSE TESTING
! ! SSFR testing limitations
* effect of eddy current losses on R
a
* standstill measurements made at low currents
* resistance in the contact points of damper windings
! ! Fitting techniques
* Maximum-likehood estimation
* Noniterative parameter identification
* Network synthesis technique
* Vector fitting
! ! Several procedures have been proposed to solve some
limitations, see for instance
* I.M. Canay, IEEE Trans. on EC, 1993
* A. Keyhani & H. Tsai, IEEE Trans. on EC, 1994
* D.Y. Park et al., IEEE Trans. on EC, 1998
! ! Differences between round rotor and salient pole
machines (IEEE PES WM 1997 Panel & IEEE Trans. on
EC, 1999)
ON-LINE TESTING
! ! Limitations of off-line testing
! ! Time-domain and frequency-domain methods
! ! On-line tests
* on-line frequency response test
* load rejection test
* large disturbance in the excitation voltage
* small disturbance
INDUCTION MACHINE
! ! Equivalent circuit
* eddy currents in rotor bars
* leakage inductance saturation
! ! IEEE Std 112 : Standard Test Procedure for Polyphase
Induction Motors and Generators
! ! Parameter estimation tests
* on/off line tests
* standstill time-domain test
* standstill frequency response
! ! Procedure based on standard specification data
* G.J. Rogers & D. Shirmohamadi, IEEE Trans. on EC,
1987
* EMTP Universal Machine Module
INDUCTION MACHINE EQUIVALENT CIRCUIT
! ! IM performance dominated by the stator and rotor total
leakage reactances and the rotor resistance
! ! These quantities are not constant but vary with slip
* rotor resistance variation is caused by eddy currents
* leakage inductance variation is caused by eddy currents
and by magnetic saturation of the leakage flux path
Equivalent circuit - Deep bar or double
cage rotor winding
EQUIVALENT CIRCUIT
SIMPLIFIED EQUIVALENT CIRCUIT
MODIFIED EQUIVALENT CIRCUIT
Standard Specification Data Equivalent circuit parameters
Rated voltage, V
red
Full load specification
* Efficiency,
* Power factor, cos
* Slip, s
Starting specification
* Current, I
st
* Torque, T
st
Maximum torque, T
max
Design ratio, m
Stator resistance, R
s
Stator leakage reactance, X
s
Magnetizing reactance, X
m
Rotor leakage reactance, X
r
Rotor primary resistance, R
1
Rotor secundary resistance, R
2
Rotor secondary leakage reactance, X
2
DATA CONVERSION PROCEDURE
( ) T r I
T
T
T
T s
s
m
r r
x
DF I I
DF I I
I
I
x x DF x
st st st
rat
st st s
sat
sat
sat
tl to ts

+
<
+

1
]
1
>

_
,

2
1 2
2
1
1
1
2 2
2

( )
cos
sin( )
sin


Full load specifications
r
s
r
s
s
x
s
s r
m

cos
( ) cos
( ) sin
' '
'

1
1 1
1

Starting specifications Basic relationships
r r T
I
I s
r r m r m r
r r
r r
x
r r
m
x
V
I
r r V pu
x
V
I
r r
x
x x
DF DF
x
x DF x DF
DF
st r rat
s
st
st r
r
r
tls
s
st
s st s
tl
red
red
s st
ts
tl tls
s
to
tls tl s

_
,

_
,
+

_
,
+

2
2
1
2 2
2
1
1
2
1 2
2
2
2
2
2
2
2
2 2
1
1
cos
( )
( )
( )

2
1
2
2
2 1
2

+

DF
x
x
x x r
r
r
m
m
x x
x
s
so
to
ro so r
ss rs
ts

CONCLUSIONS
! ! A significant activity has been made during the last 20
years to deduce rotating machine parameters from
test measurements
! ! Only machine models for low frequency and switching
transients have been analyzed, in all cases considering
a terminal machine model
! ! EMTP users can take advantage of different conversion
procedures to obtain the machine parameters for the
most adequate model
! ! However, very few data conversion procedures are
currently implemented in transients tools