A Visual Tool for Building Synchronous Generator Capability Curves

P. da Costa Jr., A. Nunes de Souza, P. S. da Silva, and J. E. do Cogo Castanho

Department of Electrical Engineering UNESP - Univ Estadual Paulista Bauru SP, CEP17033-360, Brazil, costajr@feb.unesp.br
Abstract Synchronous generators are essential components of electric power systems. They are present both in hydro and thermal power plants, performing the function of converting mechanical into electrical energy. This paper presents a visual approach to manipulate parameters that affect operation limits of synchronous generators, using a specifically designed software. The operating characteristics of synchronous generators, for all possible modes of operation, are revised in order to link the concepts to the graphic objects. The approach matches the distance learning tool requirements and also enriches the learning process by developing student trust and understanding of the concepts involved in building synchronous machine capability curves. Keywords- Electric machine, synchronous capability curve, distance learning, Java script. generator,

virtual machine can also be used to deploy remote laboratories [5]. Virtual education system SEI-VLab, which is based on the "Remote Lab" developed by Microsoft Corporation can be also a choice to set up virtual laboratory teaching systems [7]. Although many e-leaning solutions are based on commercial software, this brings undesirable constraints. An alternative approach is to use free tools or to develop custom solutions. This work follows the latter way by using free Java script libraries to develop a Web-based graphical application for building capability curves of salient-pole synchronous machines. A synchronous machine has its rotational speed proportional to the frequency of the armature current, which is responsible for the rotating magnetic field, creating a constant torque under these conditions. In other words, the electrical frequency present in the armor is synchronized with the angular velocity. Under the constructive point of view, a synchronous machine has a basic layout with three static windings connected in star (Y ) or delta ( ) enveloping a circular stator magnetic circuit or armor. On the other hand, a rotor, on the same axis as the armature circuit, has a field winding supplied with direct current, forming pairs of rotating magnetic poles. Depending on the excitation level of the magnetic field, the machine operates with inductive or capacitive nature. Synchronous machines can operate either as a motor or as a generator. As a generator, the rotor is driven by a prime mover attached to its axis, which can be a hydraulic or a thermal turbine. The relative motion between the rotor and the stator produces a magnetic flux, which varies in time and induces an electromotive force (emf) in the armature windings of the machine. The geometry of the rotor of these machines can be classified as being of round-rotor or nonsalient, for large angular velocities, or salient-pole for lower speeds. Due to the greater complexity of drawing of the operation diagram, the graphical approach is constrained to salient-pole generators.

I.

INTRODUCTION

The growing volume of knowledge being created has became a real challenge for teaching/learning. To keep up to date with this growth, e-learning can be used to integrate new technologies and knowledge to assist students in the learning process without constraints of time and space, and at their own pace [1], [2]. Also, the increasing globalization process brings tough challenges in design, construction and production of knowledge [3], [4]. Many schools have been investing on remote laboratory [5], [6], virtual education [7] and support systems for the mobile student [8]. Nowadays, the on-line teaching is a major issue for power engineering web-based learning programs [9]. The difficulties that slow down the teaching on some on-line electrical engineering courses are usually related to question formulations, design, students' evaluation and reliability of assessments [10]. In facing these issues, several authors have been contributing to the development of specially designed software to support teaching on dynamics of electric power systems [1113]. E-learning programs, providing the appropriate support, contributes to the customization of learning and motivates the students activity [14]. Several approaches have been used to create e-learning platforms. For instance, Labview has been used to develop a virtual platform for a Web-based remote applications [6]. The Java programming language running as an object of Matlab's Java

978-1-4673-1375-9/12/$31.00 2012 IEEE

In the next sections, the operating characteristics of synchronous generators, for all possible modes of operation, are reviewed in order to link the concepts to the graphic objects. After, the implementation and results are presented. II. SALIENT-POLE SYNCHRONOUS GENERATOR

V X d . On the other hand, the segment AB corresponds to the generated reactive power, if it is multiplied by the same proportionality constant V X d , according to (5). V E sin ( ) + I q ( X d X q ) cos ( ) Xd

The analysis of the operation of salient-pole generators is based on the theory of dual response or dual reactance. From the phasor diagram of salient-pole generator, we obtain the operating modes and the corresponding capability curve [15], [16]. The phasor diagram in Fig. 1 is built from the terminal voltage, the direct-axis reactance, the quadrature-axis reactance, the load current, and the load power factor.

P=

(4)

Figure 2. The supplied power derived from the phasor diagram.

Q=

V I d X d cos ( ) I q X d sin ( ) Xd

(5)

Figure 1. Phasor diagram of salient-pole generator.

To generalize, the diagram in Fig. 2 is modified and the salient-pole effect on both internal emf, I q ( X d X q ) , and
active power, I q ( X d X q ) cos( ) , can be seen in Fig. 3.

Equation (1) gives the voltage phasor across the armature.

=V + jI X +jI X E d d q q

(1)

The segment AF supports the direction of the vector E , providing the load angle . Equation (2) gives the voltage drop I q X q as a projection of the segment AF on . the perpendicular to E

Figure 3. Modified phasor diagram.

I q X q = I X q cos( + ) = AF cos( + )

(2)

origin takes the shape of a The loci of the every E semicircle of diameter HO = V ( X d X q 1) . From the

is given in The perpendicular segment to the vector I (3):

diagram in Fig. 3, we get the complete diagram of Fig. 4, which can be used to describe the operating conditions for any power angle.

AF = I X q

(3)

is found together with the The direction of the vector E . The amplitude of decomposition of the armature current I E is found from (1) and the phasor diagram can now be built, as shown in Figure 1.

According to (4), the segment CB , in Fig. 2, is proportional to the generated active power by the factor of

Figure 4. Saliency effect on the phasor diagram.

To derive the capability diagram of the salient-pole synchronous generator from the diagram in Fig. 4, it is necessary to examine the behavior of this diagram for various operating conditions, which are presented next.
A. Operation with constant active power and variable excitation The upper and lower operating limits of the prime mover can be obtained from the diagram in Fig. 5.

C. Operation with constant excitation and variable power The rotor heating limit and the residual magnetism can be established from the diagram in Fig. 7. The lengths G1C1 , G2 C2 , ... Gi Ci in the direction of the lines HCi have the same value.

Figure 7. Operation with constant excitation. Figure 5. Operation with Constant Active Power.

The lengths of the segments D1 B , D2 B , and D3 B correspond to the contribution from the saliency of poles on the active power, while CD1 , CD2 , and CD3 correspond to the active power due to the excitation. Similarly, AB1 , AB2 , and AB3 correlate to the reactive power.
B. Operation with fixed apparent power and variable excitation. The stator heating limit of the stator can be obtained from the diagram in Fig. 6.

D. Theoretical stability limit The theoretical stability limit can be drawn as in Fig. 8.

Figure 8. Obtaining the theoretical stability limit.

Figure 6. Operation with fixed apparent power.

The HT curve is obtained by building several circles, all with the same diameter as the saliency circle. All the circles are tangent to the line OR at the points O1, O2, On. The lines connecting the point H to the points O1, O2, On cross the circles in H1, H2, Hn. The curve that passes through H1, H2, Hn, defines the theoretical stability limit.
E. Full Operation Diagram All previous phasor diagrams are made in per unit figures and scaled in power by multiplying the voltage segments by V X d . The concatenation of these diagrams provides the complete capability diagram of salient-pole generator. The stable and secure operation region of the generator is outlined by the thicker closed line in Fig. 9.

To keep a fixed apparent power, the magnitude of the armature current must be constant too. As the excitation is varied, the locus of the point C (rays AC1 , AC2 , AC3 , and AC4 ), then the vector AC = X d I defines a semi-circle.

1.4

Theoretical stability limit Practical stability limit

Field current heating limit Armature Heating Limit Upper prime mover limit

1.2

1 per unit of MW

The points ( x, y ) on the theoretical stability limit are determined by the simultaneous solution of the equation of the circle (6) and the associated line (7). ( x xc ) 2 + ( y yc ) = r 2
2

0.8

0.6

(6)

0.4

0.2

Residual magnetism
-1 -0.5

Lower prime mover limit

0 per unit of Mvar 0.5 1

y yh yc y h = x xh ( xc + r ) xh

(7)

Figure 9. Full capability diagram of salient-pole generator.

The nonlinear system (8), formed by (6) and (7) is solved by the Newton's method.
2 2 2 ( x xc ) + ( y yc ) r = 0 y ( xc + r xh ) yc ( x xh ) = 0

III.

COMPUTER IMPLEMENTATION

The computer implementation can be split in numerical computations and graphical interface. The former deals with the problem of finding a curve formed by all the points satisfying all operating conditions. The latter refers to the graphical presentation of results and the user interface.
A. Numerical computation The construction of the loci of the theoretical and practical stability limits represents a major complexity in building the capability diagram for salient-pole generators.

(8)

The associated Jacobian matrix (9) is build at every iteration k.

J x( ) , y (
k

k)

Here, the theoretical limit of stability is found through the intersection points ( x, y ) between the supporting circles, which are centered on the segment AB , and the segments HO , as suggested in Fig. 10.

)= y

2 x( k )
c

x( k ) + r xh

2 y(k )

(9)

The initial estimated values of the coordinates for the first support circle are given in (10).

x ( ) = xc +
0

Support circle

y( (xc , yc ) O (xc +r, yc )

0)

r 2 r = yc 2

(10)

(x, y )

For faster convergence, the points of intersection between the support circles and their respective lines, which are found using Newtons method, are used as initial guess of the subsequent pair of support circle and its respective line. This is true because of the proximity between neighbor support circles. The points of the practical stability limit are calculated from the coordinate pairs of the theoretical stability limit. The required safety margin on the y axis, namely, active power is discounted from the respective y coordinate on the theoretical limit. Then, the coordinate pair on the practical stability limit is found considering that field current is held fixed.

(xh , 0 )

A 2r

Figure 11 illustrates the process of obtaining equations from the geometry.

Figure 10. Finding the points of the theoritical stability limit.

Again, from the Pythagoras' theorem:

(x, y ) (xn , yn ) y
n+d = yn 2 + ( xn xh )
2

(17)

Substituting m on (14), we get (18) or (19):

d d

2r ( xn xh ) yn 2 + ( xn xh )
2

+d + (18)
2

yn 2 + ( xn xh ) = 0
m n

or

2r

2r ( xn xh ) + d yn 2 + ( xn xh ) +
2

Figure 11. Finding the points of the practical stability limit.

yn 2 ( xn xh ) = 0
2

(19)

for yn > 0 and xn > xh The value of yn in the expression (19) depends on the safety margin required by the user. Thus, for a safety margin of 10%, yn = y 0.1 . Generally : yn = y ( security margin in % 100 ) (20)

The circumscribed triangles to the semicircle are always right triangles. Then, the length of the segment m is: m = 2 r cos ( ) On the other hand, cos ( ) = Then, 2r ( x xh ) y 2 + ( x xh )
2

(11)

x xh y 2 + ( x xh )
2

(12)

The roots of the equation (19) are calculated numerically using the Newtons method. B. Graphical interface The graphic interface shown in Fig. 12 allows changing all the parameters that influence the boundaries of secure and stable operation of salient-pole synchronous generators. The innermost region of the diagram corresponds to a zone of stable and secure operation of the synchronous generator.

m=

(13)

From the Pythagoras' theorem:

m+d = y 2 + ( x xh )
2

(14)

Substituting m on equation (14), obtaining

y 2 + ( x xh )
2

d=

2r ( x xh )
y 2 + ( x xh )
2

(15)

Similarly, the length of the segment n is: 2r ( xn xh )

yn 2 + ( xn xh )
2

n=

(16)
Figure 12. Web page for building capability curves.

The y-axis corresponds to the active power (pu of MW) while the x-axis corresponds to the reactive power (pu of Mvar). The functions are implemented using jsDraw2D [17], a graphics library for JavaScript, which is available from http://jsdraw2d.jsfiction.com/. The Dojo Foundations Dojo toolkit [18] was chosen for the sliders and text boxes. The implemented application is available on the website: http://pessoas.feb.unesp.br/costajr/. The developed software allows users a prompt visualization of the effect of changing the values of machine parameters and the generator operation limits. To illustrate this feature, the value of direct-axis reactance is increased from 1.1 pu to 1.5 pu. The decreasing safety operating area can be perceived when comparing the diagram in Fig. 12 to the diagram in Fig. 13.

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Figure 13. Effect of increasing direct-axis reactance.

IV.

CONCLUSION

The visual tool for building synchronous generator capability curves described here is ready to be used on research, teaching and training. The developed graphical tool, available on the website: http://pessoas.feb.unesp.br/costajr/, has shown strong teaching appeal since it illustrates in a clear and consistent way how to assess the limits of synchronous generators under arbitrary conditions. The use of free software to implement a supporting tool for teaching electric machines concepts can improve the students understanding, given them the opportunity to rapidly make sense of the weight of each parameter over the overall steady state behavior of the synchronous generator. After learning how to build capability diagrams by hand, the students have the chance to concentrate their efforts on the effects of electrical parameters on the capability curves rather than waste their time on the graphical issues. The insertion of additional modules to display other characteristics such as the generator saturation curves and V curves should be performed in the sequence of this work.