Beruflich Dokumente
Kultur Dokumente
6 June 1982
1 342
"FAI")
1. INTRODUCTION
ROTATING
PROGRAM
1343
2. THE
UNIVERSAL MACHINE
MODEL
THE
UM
INTERFACE
MECHAN ICAL
SYSTEM
Wur4; TTUM
I
k-
UNIVERSAL
MACHINE
_-
CONTROL
SYSTEM
TRANSFORMATION
f .Mt
IUMLs
tum
L
ELECTRIC
NETWORK
Fig. 1.
---
---__j
1344
The composition of the UM with the EN and MS modules is however not merely a matter of signal flow.
It involves the synchronization of the dual variables
voltage and current at each electrical terminal seperating the UM from the EN; for the mechanical side the
dual variables are the electromagnetic torque T.,, and
the mechanical speed of the rotor mass Ws1
Therefore,
a choice of the information flow with respect to these
dual variables is required. This choice is of course
completely arbitrary, but due to the solution set up of
the EN in the EMTP, here the information flow is chosen
as indicated in Fig. 1. The EN expects a current injection from the UM, and the terminal voltage is to be
an input to the UM.
In the network representation (analog) of the mechanical system, the torque can be taken to correspond
to current and the mechanical speed to correspond to
voltage. Since, as mentioned earlier, the MS module is
set up exactly similar to the EN module, the information with respect to the mechanical dual variables is
here chosen as indicated in Fig. 1.
In accordance with the chosen information flow,
the decoupled solution of the decomposed system can now
be easily performed. To the UN module, all terminal
voltages and the speed of its rotor mass can be considered as given input driving functions at each instant
of time.
Output variables to be solved by the UM are
the electromagnetic torque and all coil currents.
Although obviously decomposition is realized rather easily, composition of the modules to provide synchronized solutions requires a valid special procedure.
Use is made here of the compensation method r11,71 which
can be applied to decouple and compose nonlinear elements from the linear part of an electic network. This
is basically an application of Thevenin's theorem for
multiports at each discrete time-step of the computation.. The electrical network as well as the mechanical
network are required to contain linear or piecewise linear elements. The UM is the nonlinear set of elements
which should be connected to these linear networks. It
can be remarked that if the electrical and mechanical
networks contain other nonlinear elements, then a reasonable approach is to segregate these elements in a
subnetwork, which seperate them from the linear subnetwork to which the UN is connected. By representing the
connecting lines of the subnetworks with distributed
lines, the subnetworks only interact through history
functions r1l. The procedure for composition of the UM
module with the EN and MS modules will now be shown.
Application of the Trapezoidal Rule gives the following general formulation of the EN:
Fy 1Ev(t)
FY
1 is
if
v
is
i
is
h
is
-E
i(t)
(I)
-E
ry 1
M
w(t)
T(t)
(2)
-M
M(t)
rzTH(t)1
(t)
(t)
(3)
F ETI
and vTHcan be called respectively the Thevenin
E
impedance -matrix and the Thevenin voltage vector. From
the formulation of (3) it is easily seen that they are
the impedences and voltage sources of the EN as "seen"
from the terminals of the UM, which have the terminal
voltages v .
Furthermore, inspection of (4) immediately showsuEat these Thevenin variables can be solved
form the EN equations in (1) as follows:
UM(t)
TH
ZT
(t) *
TUM(t) +uTH(t)
(4)
TH
1345
Step 1: Solve as outlines at time t all electrical and mechanical Thevenin variables from (1) and (2)
of the EN and MS modules.
(t)
EZTH(t)1
E
FZTH(t)1
rT(t)1
rT(t)1
(t) +
_ UM*
for
VTH(t)
(5)
y = v , i
or vTH
- -UM-UM
EN
(6)
iu (t) = ET(t)] i (t)
It is well k-nown from synchroiious machine theory r81
that a power invariant transformation from real 3-phase
variables to o,d,- variables requires the transformation matrix FT(t)l to be:
1 /Y
=/2/3
FT(t)1
1/V
cos(0
sinL
sin(0
1/V
120)
cos(O
120)
120)
sin(o
120)
rotor
(7)
posi-
rT(t)l
EP(e)l
(8)
Us]
where:
rp(e)1
o
0
cose
sinO
01
-sine
cose
r SI
i/vT
1/3 //3
-1 //
(9)
_273 -1 /vg
L 0
+1/1fj
-
5. UM TYPE TRANSFORMATION
In this section the second important function of
the interface will be covered, i.e. to provide the
system with information as to which type of electric
machine is dealt with. The UM module is a generalized
machine model which needs a proper transformation of
its electric variables before it can be used as a model
representing the desired type of machine. This interface function is realized by controlling the information flow between the UM module and the EN module, as
indicated in Fig. 1 by the processor marked with TRANSFORMATION. The information flow concerns the voltages
from the EN to the UM and the currents from the UM to
the EN. Thus in Step 2 of the algorithm as discussed
in the previous section, the input to the UM module is
and the output of the UM module is
v --,rather than v
i UM rather than i um if v UM*and i UMdenote the
voltages
function
Of
Field
pole
(2a)
Fig. 2.
(2b)
1346
transformation
UM
(t)
(1
EP(OUM)i
c372/3
sineum
0
sineUM
C2
C3 /Y'3
c3//6
-c3 /12
(11)
cosOUM 4
c3 /y/3
.C 3/
Psi
cOseUM
(10)
ci) e(t)
E0
.
-C3/
cl
c2 + c3
rSlt
LP(o
)It
6. ILLUSTRATIVE
OF WIND
GENERATOR
Inverter
bridge
Rectifier
bridge
/2
MOD-22
Wind
Turbine
System
(13)
SIMULATION
(12)
rT(t) 1
TAGS
Electric
Fig. 3.
Inf ini te
controll
mass
dynamic
Excitation
-UMcapacitors
Power
system
Electricall, equivoalent
Network
(EN)
1347
significant in quantity, note that none of this TACS
modeling directly affects the UM (each coil of which
could be directly excited by a TACS variable). Thus
our example does not demonstrate at all the power and
flexibility of the TACS/UM interface, unfortunately.
Summary statistics of the TACS modeling are as follows:
3 function blocks, 22 summers, 26 TACS sources, and 60
supplemental variables.
VAX-11/780
Fig. 4.
1.1
2.2
the
Time (sec)
TUM (*1.E4)
h
4
0-
1348
2-
:n.
same
valve,
TUM (*1.E4)
4.
a.2
b) Current in
(*10 kV)
i+2 (*100 A)
5.333
b) Current in DC link,
5.05
iDC
5.617
(*100 A)
Time (sec)
6.300
6.2755
c) Torque of soft shaft connecting
blade 1 with hub, TBLH (*1.E6 N-m)
4.7500
4.6875
vab
(*10 kV)
4'-
Ad
e) Current in
Fig.
6.
dc
Steady-,state operation
at
rated
load.
testamonial
rni.
~~~~AAAAAhHih
1349
-nmP
IMi
UM
um
w=
and if
YUMP
YUM
+1
0o
-1
(
.col
>d
TUM
UM
X, then
(Y
=col
(yOE Yd I Yd2
,Y
,y
FR1
E
diag (R
diag (R OE
,R
dl
R
ql
Ydh
fAp, (t)1
R..
q2
X UMP
,rLP 1
are
UMP
dN
N
+ qz
Nq
+ (L 2d4
..
d h
Ii
idiq
(A4)
(t-At)
ht-E
-UME ( )
(t)1X (t)
rA
rFA_ lv
A; ()1-m
(A5)
(t)
(t)
(A6)
Ev UME
with:
rAp, (t)1
FApX(t)
rA ( )1
rFAE
GFE1FCE 1
-1
FGP1 = FRP
FFp1
2FFEIGEj/At
iApvi -1rFpFlGp1
Fa 1 = FR 1
IrFL,P 1/At
= ( Fu31 + 2rF
rFE1 = ( IU1
hE(t-At)
is
to
(t-At)
At)
A.v Z(t-
ME
(t-At)
+
+
rAEV-1X
1v(t-At)
Ev-E
mE(t-At)
where
1 = -
qk
m
iq
iX
dmXq
(t)
h (t-At) = r1
The currents
I qmd
qX
= n
p
hE(t-At) = FrH 1i
.....
Lkq k
( id
qk
*,Rd2
mqq
dh
rGEI
rotor angle
yq2
.....
Lmd
mq
.
.....
speed
=col
yq
Rp
inmd
mnd
d2
LPq 2.
(A2)
angular
rnq
Finally the following expression of the electromagnetic torque as produced by the UM completes the
electromagnetic system equations of the UM:
(Al)
,= n
or
X
wFNl.,-UMP
>. =I
d(e)/dt
v or
Ei
FNl
nmd
Liql
wi th
1 = diag (Lo, LQ , L )
kp op
kd
91c~~~~~,q
= col (
, A , X )
FL QE l diag
L d I ,L
d (L
OE
L(O
APPENDIX 1
FR
(A3b)
--WE
mq
-V-UME
CONCLUSIONS
7.
vUNP
-iUN
FL QE I -UME
i
-UME
with: FL
(A3a)
nh 1
FH 1
rH
Ex
rp 1
1 = fF 1FG 1
E
1350
REFERENCES
r,i H.
r13l A.
G.
Phadke, Organizer,
Electrical
Course
Transient
"Digital Simulation of
Phenomena."
No. 81 EH0173-5-PWR.
IEEE
Tutorial
r141 V. Brandwajn
Turbine
r151
W.
Scott Meyer (M'69) was
born in Madison, Minnesota in 1942.
He received the B.S., M.S.E.E., and
Ph.D.
degrees from the University
of Minnesota in 1964, 1966, and
1969, respectively.
spent almost
year
with
Bogor,
September 1978.
His field of interest is dynamics of electric machines, power electronics and stability analysis of
large-scale power systems.
Discussion
Jaime Avila-Rosales (National Polytechnic Institute of Mexico, and
Electric Power Research Institute of Mexico): The authors are to be
congratulated for developing a Universal Model for rotating electric
machinery in the BPA'S EMTP.
I would appreciate the authors clarification on the following:
a) Could the authors give results of a simulation in which the eddy
current losses in the excitation portion of the machine are shown
to be important?
b) Have the authors included in their model the effect that frequency
can have on the eddy current losses? If so, could they give an explanation of the way they have done it?
The last question if concerned with the effect that eddy currents in solid
iron and dampers may have when frequency varies.
Manuscript received August 18, 1981.
H. K. Lauw and W. S. Meyer: We wish to thank Dr. Avila-Rosales for
his interest in the paper. Taking into account of eddy current losses is
important to transient studies involving unbalanced loads, faults or
energization. The physical phenomenon is extremely complicated due
to the frequency effect. A common strategy is to determine by frequency response techniques the parameters of additional short-circuited coils
which are employed to approximate the result of the phenomenon.
Once that these parameters are established, then the coils can simply be
included in the basic machine model due to the variable dimensioned
coil structure of the UM. For a clear discussion on the application of
this approximation method to induction machines, we refer to
Reference 9 of the paper. For synchronous machines, Reference 16 is
appropriate.
1351
By using the EMTP, another approach is possible if the frequency
dependence of the relevant machine parameters (resistance, inductance)
due to the eddy currents is known. The frequency dependent parameter
is inserted in the Electric Network Module of the EMTP; interface with
the UM module is taken care of automatically. As a result the solution
feature with frequency dependent parameter as developed for the Electric Network Module is readily available to the user. Conceptionally the
method is based on applying convolution theory to obtain solutions in
the time domain from the frequency domain. Numerical realization involves the collection of multiple past history points of the solution
which are weighted with a convolution integral. For a detailed account
we refer to References 17, 18 and 19.
REFERENCES
[16] G. J. Rogers and J. R. Smith, "Synchronous Machine Model Including Eddy Currents", Proc. IEEE, Vol. 120, pp. 468, 1973
[17] W. S. Meyer and H. W. Dommel, "Numerical Modeling of
Frequency-Dependent Transmission Line Parameters in an Electromagnetic Transients Program", IEEE Trans. on Power App.
Syst., Vol. PAS-93, pp. 1401-1409, 1974