Exciters PDF

Excitation System Models
in
MatNetEig
Copyright Graham Rogers 1997-2008 All Rights Reserved
Contents
1
2
Introduction............................................................................................................................... 4
DC Excitation Systems............................................................................................................. 5
2.1
DC1a and DC2a Excitation Systems ............................................................................................. 5
2.1.1
Data Format DC1a Excitation System, Type 1 and DC2a Excitation System, Type 2:.......... 6
2.1.2
Example.................................................................................................................................. 7
2.2
DC3a Excitation System................................................................................................................. 7
Data Format DC3a Excitation System, Type 3: ......................................................................................... 8
2.2.1
Example.................................................................................................................................. 8
3 AC Excitation Systems ............................................................................................................. 9
3.1
AC1a Excitation System................................................................................................................. 9
3.1.1
Data Format AC1a Excitation System, Type 4:.................................................................... 10
3.1.2
Example................................................................................................................................ 11
3.2
AC2a Excitation System............................................................................................................... 11
3.2.1
Data Format type 5 AC2a Excitation System:...................................................................... 12
3.2.2
Example:............................................................................................................................... 12
3.3
3.3.1
3.3.2
Example:............................................................................................................................... 14
3.4
3.4.1
3.4.2
Example:............................................................................................................................... 16
3.5
3.5.1
3.5.2
Example:............................................................................................................................... 17
3.6
3.6.1
3.6.2
Example:............................................................................................................................... 19
3.7
AC7b Excitation System .............................................................................................................. 20
3.7.1
Data Format type 13 AC7b Excitation System:.................................................................... 20
3.7.2
Example:............................................................................................................................... 22
3.8
AC8b Excitation System .............................................................................................................. 22
3.8.1
Example:............................................................................................................................... 23
4 Static Excitation Systems ....................................................................................................... 24
4.1
ST1a Excitation System................................................................................................................ 24
4.1.1
Data Format type 10 ST1a Excitation System...................................................................... 25
4.1.2
Example................................................................................................................................ 25
4.2
4.2.1
Data Format type 11 ST2a Excitation System:..................................................................... 27
4.2.2
Example:............................................................................................................................... 28
4.3
4.3.1
Data Format type 12 ST3a Excitation System:..................................................................... 29
4.3.2
Example:............................................................................................................................... 30
4.4
ST4b Excitation System ............................................................................................................... 30
4.4.1
Data Format type 14 ST4b Excitation System:..................................................................... 31
4.4.2
Example................................................................................................................................ 32
4.5
ST5b Excitation System ............................................................................................................... 32
4.5.1
Data Format type 15 ST5b Excitation System:..................................................................... 32
4.5.2
Example................................................................................................................................ 33
5
6
7
Power System Stabilizer ........................................................................................................ 34

References ............................................................................................................................. 36
Appendix................................................................................................................................. 37
7.1
Per Unit System............................................................................................................................ 37
7.2
Rotating Exciter Saturation........................................................................................................... 37
7.3
Rectifier Regulation...................................................................................................................... 38
7.4
Compound Source ........................................................................................................................ 39
7.5
Transducer with Load Compensation ........................................................................................... 39
7.6
Limit Models ................................................................................................................................ 40
7.6.1
Non-wind-up limit for lag element ....................................................................................... 41
7.6.2
Non-wind-up limit for lead-lag element ............................................................................... 42
7.6.3
Non-wind-up limit for proportional plus integral controls ................................................... 43
Introduction
1 Introduction
Synchronous generators in power systems must be provided with the capability to control the voltage at the
generators terminals. The generators exciters and their associated automatic voltage regulators, i.e. the
generators excitation systems, perform this fubction. There are a number of types of excitation system. All
have the same aim, but the equipment varies depending on the exciters manufacturers. The Institute of
Electrical and Electronic Engineers (IEEE), has a standard which describes the different types of exciters,
and the simulation models necessary to represent them accurately. The exciter models considered here are
based on the IEEE standard.
A generators exciter has a considerable effect on its stabilty within an interconnected power system. Fast
acting exciters will improve the systems recovery from a fault. However, they tend to detract from the
damping of the electromechanical oscillations between generators, which are inherrent in a synchronously
connected power system. This has led to the development of supplimentary controls, power system
stabilizers, which ensure that the oscillatory modes are stable. Stable system oscillations are not easy to
observe on a power system. After a fault they may be seen in a recording of the speeds of the systems
generators, but if the system is stable the oscillations die away. If the oscillations are unstable, their
amplitude will grow, and could become sufficiently large to be noticeable in a number of locations in an
interconnected system. In some cases a small amplitude continuous oscillation may occur, in other cases
the oscillation amplitude will increase to such a level that protection will cause lines or generators to trip. In
some cases this has lead to total or partial system collapse.
DC Exciters
2 DC Excitation Systems
All dc exciters use a direct current generator to supply the field current of the generator. The dc generator's
field may be shunt or series connected. The same model structure is used for both types of generator, but
different data is used to represent the two types of field connection. For a shunt connected field winding Ke
is positive. For a series connected field winding Ke may be a small negative number, or zero. If the value of
Ke is zero, it is reset by the program so that initially Vr is zero. This simulates a rheostat which is adjusted
to reduce the automatic voltage regulator output to zero. The function Se(Efd) represents the saturation of
the exciteris and is defined in the appendix.
Vr
Efd
1/sTe
+
Vx
Vx=Efd Se(Efd )
+
+
Ke
Figure 1 DC Exciter Model
2.1 DC1a and DC2a Excitation Systems

The DC1a and DC2a models are intended to represent field controlled dc commutator excitation systems.
The difference between the two excitation systems is that in the case of the DC2a exciter, the automatic
voltage regulator is supplied from a system bus. Consequently, the maximum output of the DC2a regulator
depends on the system voltage , whereas, that of the DC1a exciter is constant. Thus during a major system
disturbance, the DC2a output may be restricted by low system voltage.
While is is possible to have a power system stabilizer with a DC1a or DC2a exciters, normally these types
of excitation systems are too slow for a power system stabilizer to be able to operate effectively.
Vref
+
Vt
It
Automatic Voltage
Regulator
Transducer
Exciter
+
speed
power
Power System
Stabilizer
Figure 2 DC1a and DC2a Excitation Systems
DC Exciters
Vref
Vrmax
+
Vtd
Vr
(1+sTc)/(1+sTb )
Ka/(1+sTa)
Vrmin
Efd
sKf/(1+sTf)
Figure 3 DC1a Automatic Voltage Regulator

Vref
Vrmaxvt
+
Vtd
Vr
(1+sTc)/(1+sTb )
Ka/(1+sTa)
Vrmin vt
Efd
sKf/(1+sTf)
2.1.1 Data Format DC1a Excitation System, Type 1 and DC2a Excitation
System, Type 2:
The data format for IEEE DC1a and IEEE DC2a exciters is given in Table 1.
Note: 31 data columns are required to specify all IEEE exciters. Enter zero for data not required in any
exciter model. In the data tables, the background is coloured to indicate the data pertaining to different parts
of the excitation system. The variables associated with the transducer, the automatic voltage regulator and
the exciter are kept together to ease data checking.
Table 1 Data format for model DC1a and DC2a exciters
column
1
2
3
4
5
6
7
8
9
10
11
18
data
exciter type
machine number
Rc compensation resistance
Xc compensation reactance
input filter time constant Tr
voltage regulator gain Ka
voltage regulator time constant Ta
Tb
Tc
Kf rate feedback gain
Tf rate feedback time constant
maximum voltage regulator output Vrmx
unit
1 for DC1a, 2 for DC2a
Pu on generator base
sec
sec
sec
sec
sec
pu
DC Exciters
19
21
22
23
24
25
26
minimum voltage regulator output Vrmn

Ke
Te
SE1
SE2
VE1
VE2
pu
saturation coefficient at Ve = VE1

saturation coefficient at Ve = VE2
2.1.2 Example
A typical data set for a DC1a exciter is
Type GenNum
0
0
0
0
exc_con = [ ...
1
1
0
0
0
0
Rc
0
0
0
0
0
Xc
Tr
Vrmx Vrmn
0
1
];
0
-1
Ka
0
Ta
Ke
46
0
0.06
0
Tb
Te
0
0.46
Tc
SE1
Kf
SE2
Tf
VE1
0
0.1
0.1
0.33
1.0
2.3
0
VE2
0
0
0
3.1
0
0
0
0
0
0
In this data set Ke is entered as zero. It is calculated internally to make the steady state value of Vr zero.
Type GenNum
0
0
0
0
Rc
0
0
Xc
Tr
Vrmx Vrmn
Ka
0
0
0
0
0
4.95
];
300
0
Ta
Ke
Tb
Te
Tc
SE1
Kf
SE2
Tf
VE1
0
VE2
0
0
0
1.33
0
0.117
0.1
0.279
0.675
2.29
0
3.05
0
0
0
0
exc_con = [ ...
2
0
0
1
0
0
0
-4.9
0.01
1.0
0
0
2.2 DC3a Excitation System

The DC3a model represents excitation systems in which the field of the dc generator is controlled
discontinuously. For small changes in voltage, control is obtained by a motor driven rheostat. However, for
large changes in voltage, the rheostat is bypassed to give either the maximum, or the minimum available
field voltage immediately. Power system stabilizers are not effective with this type of excitation system.
Vref
+
Vt
It
Automatic
Voltage Regulator
Transducer
Exciter
Figure 5 DC3a Excitation System

Vref
+
-
Kv
Vrh
Verr
(Vrmx-Vrmn )/sKv Trh
Vtd
-Kv
If Verr>Kv ; Vr=Vrmx
if |Verr|<Kv; Vr=Vrh
ifVerr<-Kv ;Vr=Vrmn
Vr
DC Exciters
Data Format DC3a Excitation System, Type 3:

The data format for IEEE DC3a is given in Table 2.
exciter model.
Table 2 Data format for model DC3a exciters
column
1
2
3
4
5
6
7
18
21
22
23
data
exciter type
machine number
rheostat limit Kv
rheostat travel time TRH
maximum voltage regulator
output Vrmax
minimum voltage regulator
output Vrmin
Ke
Te
SE1
24
SE2
25
26
VE1
VE2
19
unit
3 for DC3a
sec
sec
pu
pu
saturation coefficient at
Ve = VE1
saturation coefficient at
Ve = VE2
2.2.1 Example
Type
GenNum
0
0
0
0
exc_con = [ ...
3
1
0
0
0
0
Rc
0
0
0
0
0
Xc
Vrmx
0
1
];
Tr
Vrmn
0
0
Kv
0
0.05
0
TRH 0
Ke
Te
20
0
0
0.5
0
SE1
0
0.068
0
SE2
0
0.267
0
VE1
0
VE2
0
3.15
0
3.375
0
0
0
0
0
0
0
0
AC Exciters
3 AC Excitation Systems
Vref
Vfe
+
Vt
It
Vr
Efd
Automatic Voltage
Regulator
Transducer
Exciter
ifd
speed
power
Power System
Stabilizer
Figure 7 AC Excitation System
3.1 AC1a Excitation System

The AC1a exciter system model represents a field controlled alternator rectifier excitation system. The
power required to supply the generator field is provided by a rotating alternator with uncontrolled rectifiers
converting the alternating current to direct current. The alternator is separately excited from a source
independent of system transients.
The exciter model of Figure 8 has a time constant which represents the time constant of the alternator field
winding. The exciter alternator field current Vfe is fed back to the rate feedback input of the automatic
voltage regulator. The avr output multiplier is 1. There is a zero minimum limit on Ve, but no maximum
limit.
Vr
Ve
+
1/sTe
-
Efd
0
Fex
Vx=VeSe(Ve)
IN=KcIfd /Ve
+
+
Ke
Vfe
Ifd
+
Kd
Figure 8 AC1a Exciter Model

The automatic voltage regulator model has a forward-loop lead/lag compensation block, and a rate
feedback block, either of which may be used to stabilize the exciter under generator open-circuit
conditions. This type of exciter normally has a fast acting high gain amplifier, which is represented by a lag
block. A block diagram of the automatic voltage regulator is shown in Figure 9.
10
AC Exciters
Vamx
Vref
Vrmx
+
Vtd
1+sTc
Ka
1+sTb
1+sTa
Vamn
Vr
Vrmn
sKf
Vfe
1+sTf
Figure 9 AC1a Automatic Voltage Regulator
3.1.1 Data Format AC1a Excitation System, Type 4:

The data format for IEEE AC1a is given in Table 3.
exciter model.
Table 3 Data format for model AC1a exciter

column
1
2
3
4
5
6
7
8
9
10
11
16
17
18
19
20
21
22
23
24
25
26
29
data
exciter type
machine number
Tb
Tc
Kf
Tf
Vamx
Vamn
maximum voltage regulator output
Vrmx
minimum voltage regulator output
Vrmn
Kc
Ke
Te
alternator saturation coefficient at
Ve = VE1
SE1
alternator saturation coefficient at
Ve = VE2
SE2
VE1
VE2
Kd
unit
4 for AC1a
sec
sec
sec
sec
sec
pu
pu
pu
pu
AC Exciters
11
3.1.2 Example
A typical data set for an AC1a exciter is
Type GenNum
0
Vamx
Kd 0
Rc
Vamn
0
Xc
Vrmx
Tr
Vrmn
Ka
Kc
exc_con = [ ...
4
1
0
14.5
0.38
0
0
-14.5
0
0
6.03
];
0
-5.43
Ta
Ke
400
0.2
Tb
Te
0.02
1.0
Tc
SE1
0
0.8
0
0.03
Kf
SE2
Tf
VE1
0
VE2
0
0
1.0
3.14
0
4.18
0
0
0.03
0.1
0
0
0
0

The AC2a excitation system model represents a high initial response field controlled alternator-rectifier
excitation system. The AC2a exciter has a variable limit on the limit on the alternator output.
Vfemx-Kd Ifd
Ke+Se(Ve)
Vr
Ve
+
-
Efd
1/sTe
0
Fex
Vx=VeSe(Ve)
IN=KcIfd /Ve
+
+
Ke
Vfe
Ifd
+
Kd

The automatic voltage regulator is shown in figure 11. It consists of a high gain, fast forward-loop control
modelled by a lag element. Rate feedback of the exciter field current (Vfe) is provided to stabilize the open
circuit generator if necessary.
Vamx
Vref
Vrmx
Vtd
Ka
1+sTa
1+sTc
-
1+sTb
+
Kb
-
Vamn
Vr
Vrmn
Kh
sKf
1+sTf
Vfe
12
AC Exciters
3.2.1 Data Format type 5 AC2a Excitation System:

exciter model.
Table 4 Data format for model AC2a Excitation System

column
1
2
3
4
5
data
exciter type
machine number
voltage transducer time constant
Tr
Tb
Tc
Kf
Tf
Kh
Kb
Vamx
Vamn
output Vrmx
output Vrmn
Kc
Ke
Te
SE1
SE2
Ve1
Ve2
Kd
Vfemx
6
7
8
9
10
11
12
13
16
17
18
19
20
21
22
23
24
25
26
29
30
unit
5 for AC2a
sec
sec
sec
sec
sec
pu
pu
sec
3.2.2 Example:
A typical data set for AC2a exciters is
Type
0
Kd
GenNum Rc
Vamx
Vamn
Vfemx
0
exc_con = [
5
1
0
8.0
0.35
4.4
0
-8.0
0
Xc
Vrmx
0
105
];
Tr
Vrmn
Ka
Kc
Ta
Ke
0
-95
400
0.28
0.01
1.0
Tb
Te
10
0.6
Tc
SE1
Kf
SE2
Tf
VE1
Kh
VE2
Kb
0
1
0.012
0.03
0.037
1.0
3.3
1.0
4.4
25.0
0
0
0
0
0
AC Exciters
13

The AC3a excitation system models field controlled alternator-rectifier systems. The rectifiers are
uncontrolled, and the exciter is self excited. The main power for the exciter is derived from the exciter
output. The effect is modelled by the multiplier KrEfd in Figure 12
Kr
Vfemx-KdIfd
Ke+Se(Ve)
Vr
Ve
Efd
1/sTe
-
Vem
Fex
Vx=VeSe(Ve)
Vx
IN=KcIfd/Ve
+
+
Ke
Ifd
+
Kd

The automatic voltage regulator model is shown in Figure 13. The gain of the rate feedback of field voltage
varies with field voltage. When Efd<=Efdn the gain is Kf and when Efd>Efdn the incremental gain is Kn and
the effective gain is (K f K n )E fdn / E fd + K n .
Vref
Vrmx
+
Vtd
1+sTc
-
1+sTb
Vr
Ka
1+sTa
Kn
Vn
Vrmn
s
1+sTf
Vn
Efd
Kf
Efdn
Efd

exciter model.
14
AC Exciters
Table 5 Data format for AC3a excitation system

column
1
2
3
4
5
6
7
data
exciter type
machine number
transducer time constant Tr
voltage regulator time constant
Ta
Tb
Tc
Kf
Tf
Efdn
Kn
output Vrmax
output Vrmin
Kc
Ke
Te
SE1
SE2
Ve1
Ve2
Kr
Kd
Vfemx
Vemn
8
9
10
11
12
13
18
19
20
21
22
23
24
25
26
27
29
30
31
unit
6 for AC3a
sec
sec
sec
sec
pu
pu
sec
3.3.2 Example:
A typical data set for AC3a exciters is
Type GenNum Rc
0
0
0
Kd
Vfemx Vemn
exc_con = [
6
1
0
0
0
0
0.449 16
0.790
Xc
Tr
Vrmx Vrmn
Ka
Kc
Ta
Ke
Tb
Te
Tc
SE1
Kf
SE2
Tf
VE1
Efdn Kn
VE2 Kr
0
0
0
12
];
45.62
0.104
0.013
1.0
0
1.17
0
0.1
0.143
1.143
1.0
4.68
2.36
6.24
0
0
0
-0.95
0.05
3.77
AC Exciters
15

The AC4a excitation system models a high initial response exciter with a full thyristor bridge rectifier
which supplies the generator field. The combined exciter and automatic voltage control model is shown in
Figure 14.
Vref
Vrmx-KcIfd
Vimx
+
Vtd
-
1+sTc
Ka
1+sTb
1+sTa
Vimn
Vr
Vrmn
Figure 14 AC4a Excitation System

exciter model.
column
1
2
3
4
5
6
7
8
9
14
15
18
19
20
data
exciter type
machine number
Ta
Tb
Tc
Vimx
Vimn
output Vrmax
output Vrmin
Kc
unit
7 for AC4a
sec
sec
sec
sec
pu
Pu
16
AC Exciters
3.4.2 Example:
A typical data sets for AC4a exciters is
Type
Vimn
0
GenNum Rc
0
0
0
0
exc_con = [
7
1
-10
0
0
0
0
0
0
Xc
Vrmx
Tr
Vrmn
0
5.64
];
Ka
Kc
0
-4.53
Ta
0
200
0.0
Tb
0
0.015
0
Tc
0
10.0
0
1.0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Vimx
0
0
0
10
0

The AC5a excitation system models a high initial response exciter with a full thyristor bridge rectifier
which supplies the generator field. The exciter model is similar to the dc exciter model but with a lower
limit of zero on Efd. The model is shown in Figure 15.
Vr
Efd
1
sTe
-
0
Vx
+
Ve=Efd Se(Efd )
Ke
Figure 15 AC5a Exciter

Vref
Vrmx
+
Vtd
Vr
Ka
1+sTa
Vrmn
sKf
1+sTf2
1+sTf
1+sTf1
AC Exciters
17

exciter model.

column
1
2
3
4
5
6
7
data
exciter type
machine number
Ta
Tb
Tc
Kf
Tf
Tf1
Tf2
output Vrmax
output Vrmin
Ke
Te
SE1
SE2
VE1
VE2
8
9
10
11
12
13
18
19
21
22
23
24
25
26
unit
8 for AC5a
sec
sec
sec
sec
sec
sec
sec
pu
pu
3.5.2 Example:
Type GenNum Rc
0
0
0
0
0
0
exc_con = [
8
1
0
0
0
0
0
0
0
Xc
Vrmx
Tr
Vrmn
0
73
];
0
-73
Ka
0
400
0
Ta
Ke
0.02
1.0
Tb
Te
0
0.8
Tc
SE1
0
0.5
Kf
SE2
0.03
0.86
Tf
VE1
Tf1
VE2
Tf2
0
1.0
4.2
0.0
5.6
0.0
0
0
0
0
0
18
AC Exciters

The AC6a excitation system models field controlled alternator-rectifier systems with system supplied
electronic voltage regulators. There is a zero lower limit on Ve.
Vr
Ve
Efd
1/sTe
-
0
Fex
Vx=VeSe(Ve)
Vx
IN=KcIfd /Ve
+
+
Ke
Vfe
Ifd
+
Kd

The automatic voltage regulator output limit is a function of the generator terminal voltage. In addition this
regulator incorporates an over excitation current limit, which has no effect under normal operating
conditions: the limit Vfemx is sufficiently high to hold the limit output at its lower limit of zero. The
automatic voltage regulator model is shown in Figure 18.
Vref
Vamx
VtVrmx
Vtd
-
Ka(1+sTk)
1+sTc
1+sTa
1+sTb
Vr
+
VtVrmx
Vamn
Vhmx
Vfe
1+sTl
Kh
1+sTh
Vfemx
Figure 18 AC6a Automatic Voltage Regulator with Exciter Field Current Limiter

exciter model.
AC Exciters
19

column
1
2
3
4
5
6
7
data
exciter type
machine number
Ta
Tb
Tc
Tk
Tj
Kh
Th
Vhmx
Vamx
Vamn
output Vrmx
output Vrmn
Kc
Ke
Te
SE1
SE2
VE1
VE2
Kd
Vfemx
8
9
10
11
12
13
14
16
17
18
19
20
21
22
23
24
25
26
29
30
unit
9 for AC6a
sec
sec
sec
sec
sec
sec
sec
pu
pu
sec
3.6.2 Example:
Type
GenNum Rc
0
Vamx
Vamn
Kd
Vfemx
exc_con = [
9
1
0
0
75
-75
1.91
19
0
Xc
Vrmx
Tr
Vrmn
0
44.0
];
0.02
-36.0
Ka
Kc
Ta
Ke
Tb
Te
Tc
SE1
Tk
SE2
Tj
VE1
Kh
VE2
536
0.173
0.086
1.6
9.0
1.0
3.0
0.044
0.18
0.214
0.2
5.55
92
7.4
Th
0
Vhmx
0
0.08
0
75
0
20
AC Exciters
3.7 AC7b Excitation System

The AC7b excitation system models field controlled alternator-rectifier systems with systems supplied
digital voltage regulators.
Vfemx-Kd Ifd
Kp Vt
Vr
Ke+Se(Ve)
+
Ve
1/sTe
KLVfe
Efd
Vemn
Fex
Vx=VeSe(Ve)
Vx
IN=KcIfd/Ve
+
+
Ke
+
Vfe
Ifd
Kd
Figure 19 AC7b Exciter Model

The automatic voltage regulator output is multiplied by a constant times the generator terminal voltage
magnitude. The positive value of Ve is limited to a function of the exciter field current and the generator
field current, and its negative value is limited to Vemn. The digital automatic voltage regulator has two PI
controllers and, generator field voltage and exciter field current feedback. The output from the automatic
voltage regulator is multiplied by a constant times the generator terminal voltage magnitude and is limited
negatively to a constant times the exciter field current. The automatic voltage regulator model is shown in
Figure 20
Vamx
Kpa
Vref
Vrmx
+
Vc
Kia
+
Kpr+Kir/s
Vr
sKda
Vrmn
+
1+sTda
Kf1
Efd
+
Vamn
Kf2
Vfe
sKf3
1+sTf
Figure 20 AC7b Automatic Voltage Regulator
3.7.1 Data Format type 13 AC7b Excitation System:

The data format for IEEE AC7b is given in Table 9.
exciter model.
AC Exciters
21
Table 9 Data format for AC7b excitation system

column
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
data
exciter type
machine number
voltage regulator proportional
gain Kpr
voltage regulator integral gain
Kir
voltage amplifier proportional
gain Kpa
voltage amplifier integral gain
Kia
voltage amplifier derivative gain
Kda
voltage amplifier derivative time
constant Tda
field voltage feedback gain Kf1
alternator field current feedback
gain Kf2
Vfe rate feedback gain Kf3
Vfe rate feedback time constant
Tf
maximum voltage amplifier
output Vamx
minimum voltage amplifier
output Vamn
output Vrmax
output Vrmin
Kc
Ke
Te
SE1
SE2
VE1
VE2
Kl
Kp
Kd
Vfemx
Vemin
unit
13 for AC7b
sec
sec
pu
pu
pu
pu
sec
22
AC Exciters
3.7.2 Example:
A typical data set for AC7b exciters is
type
Tf
Kd
gennum Rc
Xc
VaMx
VaMn
VrMx
VfeMx
VeMn
exc_con = [
13
1
0
6
0.02
6.9
0
-6
0
0
1
];
Tr
VrMn
Kpr
Kc
Kir
Ke
0.0
-1
10
0.18
10
1.0
Kpa
Te
Kia
SE1
4.24
1.1
4.24
0.075
Kda
SE2
Tda
VE1
Kf1
VE2
Kf2
Kl
Kf3
Kp
0.0
0.44
0.0
3.02
0.212
6.3
0
10
0
5
3.8 AC8b Excitation System

The exciter is modelled as an alternator as shown in Figure 21.
Vfemx-Kd Ifd
Ke+Se(Ve)
Vr
Ve
1/sTe
Efd
Vemn
Fex
Vx=VeSe(Ve)
Vx
IN=KcIfd /Ve
+
+
Ke
+
+
Ifd
Kd
Figure 21 AC8b Exciter

The automatic voltage regulator consists of a proportional plus integral plus derivative control together
with a power amplifier.
Vref
Vc
-
Kpa
Vrmx
+
+
Kia
Ka
1+sTa
Vr
+
sKda
1+sTda
Vrmn
Figure 22 AC8b Automatic Voltage Regulator
AC Exciters
23
Table 10 Data format for AC8b excitation system

column
1
2
3
4
5
6
7
data
exciter type
machine number
Ta
voltage amplifier proportional
gain Kpa
voltage amplifier integral gain
Kia
voltage amplifier derivative gain
Kda
voltage amplifier derivative time
constant Tda
output Vrmax
output Vrmin
Kc
Ke
Te
SE1
SE2
VE1
VE2
Kd
Vfemx
Vemin
8
9
10
11
18
19
20
21
22
23
24
25
26
29
30
31
unit
16 for AC8b
sec
sec
sec
pu
pu
sec
3.8.1 Example:
A typical data set for AC8b exciters is
type
0
Kd
gennum Rc
0
0
VfeMx VeMn
exc_con = [
16
1
0
0
1
7.0
0
0
0
Xc
VrMx
Tr
VrMn
0
35
];
0.02
0
Ka
Kc
1
0.55
Ta
Ke
0
1.0
Kpa
Te
170
1.2
Kia
SE1
130
0.3
Kda
SE2
60
6.5
Tda
VE1
0.03
3.0
0
VE2
0
0
0
0
0
9.0
0
0
0
0
24
Static Exiters
4 Static Excitation Systems

4.1 ST1a Excitation System
The ST1a exciter system model represents systems in which the excitation power is obtained from the
generator terminal bus, or the station auxiliary bus, though a transformer. This limits the maximum and
minimum of the exciter output voltage. The maximum limit is a function of the generator terminal voltage
magnitude and the generator field current; the minimum limit is a function of the terminal voltage
magnitude.
Vref
+
Vt
Automatic
Voltage Regulator
Transducer
It
Efd
Exciter
speed
Power System
Stabilizer
power
Figure 23 ST1a Excitation System

The exciter model has no time constant. The exciter output may be fed back to the rate feedback input of
the automatic voltage regulator. However, it is normally unnecessary to use rate feedback with this type of
exciter. The exciter model is shown in more detail in Figure 24.
VtVmx-KcIfd
Efd
Vr
VtVmn
To rate feedback
Figure 24 ST1a Exciter

The automatic voltage regulator model has two forward-loop lead/lag compensation blocks, and a rate
feedback block, which may be used to stabilize the exciter under generator open-circuit conditions. This
type of exciter has a fast acting high gain amplifier, which is represented by a lag block. A block diagram
of the automatic voltage regulator is shown in Figure 25.
Vref
Vtd
Vimx
+
-
Vamx
Vr
1+sTc
1+sTc1
Ka
1+sTb
1+sTb1
1+sTa
Vimn
Vamn
sKf
1+sTf
Efd
Figure 25 ST1a Automatic Voltage Regulator
Static Exciters
25
4.1.1 Data Format type 10 ST1a Excitation System

The data format for IEEE ST1a is given in Table 10.
exciter model.
Table 10 Data format for model ST1a exciter
column
1
2
3
4
5
6
7
data
exciter type
machine number
Ta
Tb
Tc
Kf
Tf
Tb1
Tc1
Vimx
Vimn
Vamx
Vamn
output Vrmx
output Vrmn
Kc
8
9
10
11
12
13
14
15
16
17
18
19
20
unit
10 for ST1
sec
sec
sec
sec
sec
sec
sec
pu
pu
4.1.2 Example
Typical data sets for ST1 exciters are
1)
Type GenNum
Vimn
Vamx
exc_con = [ ...
10
1
-999
999
0
0
Rc
Vamn
Xc
Vrmx
Tr
Vrmn
Ka
Kc
Ta
Tb
Tc
Kf
Tf
Tb1
Tc1
Vimx
0
-999
0
0
6.43
];
0.02
-6.0
210
0.038
0
0
0
0
0
0
0
0
0
0
0
0
0
0
999
0
Rc
Vamn
Xc
Vrmx
Tr
Vrmn
Ka
Kc
Ta
Tb
Tc
Kf
Tf
Tb1
Tc1
Vimx
0
7.8
];
0.04
-6.3
190
0.08
0
0
10
0
1
0
0
0
0
0
0
0
0
0
999
0
2)
Type GenNum
Vimn
Vamx
exc_con = [...
10
1
-999
999
0
0
0
-999
0
26
Static Exiters

Vt
It
Ifd
Compound
Source
Automatic
Voltage Regulator
Vref
+
Vt
Transducer
Vtd
It
Vr
Exciter
Efd
speed
Power System
Stabilizer
power
Figure 26 ST2a Excitation System

The ST2a excitation system model has a power supply, which is a function of generator terminal voltage,
generator terminal current and generator field current. The power source acts to magnify the automatic
voltage regulator output. The exciter control windings are modelled by the time constant Te and the
feedback gain Ke. The maximum output limit (Efdmax) is 2.75*xd for the generator.
A block diagram of the ST2a exciter is shown in Figure 27. The power compound source is discussed in
detail in the description of the compound source class. For the SR2a model Kp and Ki are scalar quantities.
The inputs Vt and it are vector measures of the generator terminal voltage and terminal current
respectiively.
The automatic voltage regulator is shown in figure 28. It consists of a high gain, fast forward-loop control
modelled by a lag element. Rate output feedback is provided to stabilize the open circuit generator if
necessary.
Efdmx
Vr
Efd
1/sTe
-
Vb
Ke
to rate feedback
Static Exciters
27
Vrmx
Vref
+
Vtd
Vr
Ka
-
1+sTa
-
Vrmn
Efd
Kf
1+sTf
4.2.1 Data Format type 11 ST2a Excitation System:

The data format for IEEE ST2a is given in Table 11.
exciter model.
Table 11 Data format for model ST2a Excitation System
column
1
2
3
4
5
6
7
10
11
18
19
20
21
22
23
24
30
data
exciter type
machine number
voltage transducer time constant
Tr
Ta
Kf
Tf
output Vrmax
output Vrmin
Kc
Ke
Te
potential circuit gain coefficient
Kp
current circuit gain coefficient
Ki
Efdmax
unit
11 for ST2
sec
sec
sec
pu
pu
sec
2.75*xd
28
Static Exiters
4.2.2 Example:
A typical data set for ST2 exciters is
Type GenNum
0
0
0
Efdmx
exc_con =
11
1
0
0
0
6.57
Rc
0
0
Xc
Vrmx
Tr
Vrmn
0
0
0
0
1.0
];
0
0.0
Ka
Kc
120
1.82
Ta
Ke
0.15
1.0
0
Te
0
Kp
0
0.5
Kf
Ki
0
4.88
0.05
8.0
Tf
0
0
0
1
0
0
0
0
0
0
0
0
0
0
0
Note: Efdmx should be equal to 2.75 times the generators Xd.

Vt
It
Ifd
Compound
Source
Vref
+
Vt
Transducer
Vtd
It
Vr
Automatic
Voltage
Regulator
Efd
Exciter
speed
Power System
Stabilizer
power
Figure 29 EXC3a Excitation System

The ST3a excitation system models those systems that use a field voltage control loop to linearize the
exciter control loop characteristic. This largely eliminates the effect of power supply variations. Some
implementations use a compound source. Rate feedback is not generally used in this type of excitation
system. A forward-loop lead/lag block may be used to stabilize the open-circuit generator system if
necessary.
The exciter model is shown in Figure 23 and the automatic voltage regulator model in Figure 30.
Vgmx
Kg
Vg
Vemx
Vr
Ke
1+sTe
+
Vemn
Ve
Efd
Vb
Static Exciters
29
Vref
Vrmx
Vimx
+
Vtd
1+sTc
1+sTb
Vimn
Ka
1+sTa
Vr
Vrmn

The field voltage control loop is normally very fast. It is modelled in small signal analysis fully, but in
transient stability analysis the time constant is assumed to be negligible, and a singular perturbation
approximation is used. This avoids the necessity of very small integration time steps.
4.3.1 Data Format type 12 ST3a Excitation System:

The data format for IEEE ST3 is given in Table 12.
exciter model.
Table 12 Data format for ST3a excitation system

column
1
2
3
4
5
6
7
8
9
14
15
18
19
20
21
22
23
24
25
26
27
28
29
30
31
data
exciter type
machine number
Ta
Tb
Tc
maximum internal signal Vimax
minimum internal signal Vimin
output Vrmax
output Vrmin
Kc
Ke
Te
Kp
current circuit gain coefficient Ki
potential circuit phase angle p
potential source reactance Xl
Kg
Vbmax
Vgmax
Vemx
Vemn
unit
12 for ST3a
sec
sec
sec
sec
pu
pu
Sec
degrees
pu
Pu
30
Static Exiters
4.3.2 Example:
Typical data sets for ST3 exciters are
Type GenNum Rc
Xc
Vimn 0
0
Vrmx
Vgmx Vemx
Vemn
exc_con = [
12
1
-0.2
0
6.9
1
0
0
0
exc_con = [
12
1
-0.2
0
6.53
1
0
0
0
0
10.0
];
Tr
Vrmn
Ka
Kc
0
-10.0
0
10.0
];
0
-10.0
Ta
Ke
Tb
Te
Tc
Kp
0
Ki
0
p
0
Xl
0
0
0
0.081
0
0.4
0.2
8.63
0
0.09
0
0.4
0.2
8.63
200
0.2
0
5.8
6.67
7.93
1.0
6.15
0
0
200
1.1
0
7.04
6.67
7.04
1
4.37
4.83
0
20
0
Kg
4.4 ST4b Excitation System

The ST4b excitation system is similar to the ST3a sysem, but with digital PI controls replacing the
analogue controls.
Vt
It
Ifd
Compound
Source
Vref
+
Vt
Vtd
It
Vr
Automatic
Voltage
Regulator
Transducer
Efd
Exciter
speed
Power System
Stabilizer
power
Figure 32 ST4b Excitation System

The exciter model is shown in Figure 33 and the automatic voltage regulator model in Figure 34.
Kg
Vg
Vr
+
Vemx
-
Ve
Kpe + Kie/s
Vemn
Efd
Vb
Figure 33 ST4b Exciter
Vimx
Vbmx
Static Exciters
31
Vref
Vrmx
+
Vtd
-
Kpr+Kir/s
Vr
1
1+sTa
Vrmn
Figure 34 ST4b Automatic Voltage Regulator
4.4.1 Data Format type 14 ST4b Excitation System:

The data format for IEEE ST4b is given in Table 13.
exciter model.
Table 13 Data format for ST4b excitation system

column
1
2
3
4
5
6
unit
14 for ST4b
24
data
exciter type
machine number
voltage regulator proportional
gain Kpr
voltage regulator integral gain
Kir
voltage amplifier time constant
Ta
output Vrmx
output Vrmn
Kc
proportional gain Kpe
integral gain Kie
Kp
current circuit gain coefficient Ki
25
26
27
28
30
31
potential circuit phase angle p

potential source reactance Xl
Kg
Vbmax
maximum exciter output Vemx
minimum exciter output Vemn
degrees
pu
7
8
18
19
20
21
22
23
sec
sec
pu
pu
32
Static Exiters
4.4.2 Example
Typical data sets for ST4b exciters are
Type GenNum
0
0
0
Vemx
exc_con = [
14
1
0
0
0
99.0
Rc
0
Vemn
Xc
Vrmx
Tr
Vrmn
0
0
-99.0
0
1.0
];
0
-0.87
Xc
Vrmx
Tr
Vrmn
Kpr
Kc
Kir
Kpe
Ta
Kie
0
Kp
0
Ki
0
1.0
];
0
-0.87
20
0.18
20
10.0
0.02
0.149
0
4.5
0
8.8
Type GenNum Rc
0
0
0
0
Vemx
Vemn
exc_con = [
14
1
0
0
0
0
0
99.0
-99.0
Kpr
Kc
Kir
Kpe
10.75
0.113
10.75
1.0
Ta
Kie
0.02
0.0
0
Kp
0
Ki
0
9.3
0
p
0
Xl
0
Kg
0
0.0
0
0.124
0
0
0
11.63
0
p
0
Xl
0
Kg
0
0.0
0
0
0
0
0
1
Vbmx
Vbmx
0
8.54
4.5 ST5b Excitation System

The exiciter system is similar to that of the ST3a exciter system.
The exciter model is shown in Figure 35, and the automatic voltage regulator in Figure 36.
Vr
Efd
+
-
Ifd
Kc
Figure 35 ST5b Exciter

Vref
Vmx
Vmx
Vmx
Ka
Ka
Ka
Vt Vrmx
Vtd
-
1+sTc
1+sTc1
1+sTb
1+sTb1
Ka
Vmn
Vmn
Vmn
Ka
Ka
Ka
1
1+sTa
Vr
Vt Vrmn
Figure 36 ST5b Automatic Voltage Regulator
4.5.1 Data Format type 15 ST5b Excitation System:

The data format for IEEE ST5b is given in Table 13.
exciter model.
Static Exciters
33
Table 13 Data format for ST5b excitation system

column
1
2
3
4
5
6
7
data
exciter type
machine number
Ta
lag time constant Tb
lead time constant Tc
lag time constant Tb1
lead time constant Tc1
output Vrmx
output Vrmn
Kc
8
9
12
13
18
19
20
unit
15 for ST5b
pu on generator base
pu on generator base
sec
sec
sec
sec
sec
sec
pu
pu
4.5.2 Example
Typical data sets for an ST5b exciter are
Type GenNum Rc
0
0
0
0
0
0
exc_con1 = [
15
1
0
0
0
0
0
0
0
exc_con2 = [
15
1
0
0
0
0
0
0
0
Xc
Vrmx
Tr
Vrmn
Ka
Kc
Ta
0
0
5.0
];
0
-4.0
200
0.004
0.004
0
0
5.0
];
0
-4.0
200
0.004
0.02
0
Tb
0
Tc
0
0
0
0
0
Tb1
0
Tc1
0
0
0
6.0
0
0.8
0
0
0
0
0
0.01
0
0.08
0
0
0
0
0
0
0
0
0
0
0
0.
0
0
0
0
0
The first data set would be satisfactory in a system which did not require power system stabilizers to
control inter-area modes, or fast excitation system response to aid transient stability. The second data set is
that of a fast response exciter. It would require a power system stabilizer to damp local and inter-area
oscillations in the system containing the controlled generator.
34
Power System Stabilizer
5 Power System Stabilizer

A power system stabilizer may be connected to any exciter model, other than the DC3 exciter. The
controlling element of a power system stabilizer consists of a phase compensator, the output of which is
fed into the reference summing juntion of the exciter. Inputs to a power system stabilizer may be g / o ,
normalized bus frequency, or generator power.
Most power system stabilizers, fitted to the exciters of generators driven by thermal turbines, have a
pre-compensator which takes a speed or frequency input and an electrical power input. The action of the
compensator is to filter out torsional oscillation frequencies in the speed or frequency input and so
eliminate the possibility of turbine shaft instability. This, of course, can be achieved using only an electrical
power input to the stabilizer. However, power input as the sole input to a power system stabilizer may
cause low generator voltage when the generator power is ramped from one setting to another.
A block diagram of the compensating filter is shown in Figure 37.
/
(1+sTnf)nnf
sTwd
1+sTwd
pe
sTwd
Gp Twd
1+sTwd
To PSS
(1+sTdf)ndf
1+sTwd
Figure 37 Power and speed input pre-compensator

Speed and power are shown as inputs. Note:
d ( / o )
dt
1
( p m pe ) , and generally the change in pm is
2H
d
1
small; thus
p e .
dt o
2H
The speed input may be replaced by the rate of change of bus voltage angle, normalized by the systems
base angular frequency (o), i.e. the normallized measured bus frequency. The power gain Gp may be user
1
set. If Gp is set to zero in the data, it is calculated by the program as G p =
, where H is the generator
2H
inertia. The filter is low pass, and at low frequencies, the power signal is eliminated from the output. On the
other hand, at high frequencies, the input to the filter is eliminated from the output. At high frequencies, the
output from the block containing Gp is equivalent to the generator speed change. This combination gives an
effective speed input to the power system stabilizer over the whole frequency range, which is free from
torsional oscillation frequencies.
The output of the compensating filter is fed into the phase compensation part of the power system
stabilizer. This phase compensator is shown in Figure 38. The input, u, may be either, the output from the
f
,
, or per unit generator power. The output is fed into the exciter
pre-compensator of Figure 37,
o f o
reference voltage summing junction.
Power System Stabilizer
35
ymax
u
sTw
1+sTn1
1+sTn2
1+sTw
1+sTd1
1+sTd2
Gpss
ymin
Figure 38 Power System Stabilizer

Table 14 Data format for power system stabilizer
Column
Data Name
Type
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Generator number
Gpss
Tw
Tn1
Td1
Tn2
Td2
ymax
ymin
Twd
Tnf
Tdf
nnf
ndf
Gp
1.
2.
3.
4.
5.
Data Description
speed input
bus frequency input
power input
dpwf with speed input
dpwf with bus frequency
input
PSS gain
PSS washout time constant
PSS first lead time constant
PSS first lag time constant
PSS second lead time constant
PSS second lag time constant
PSS maximum output limit
PSS minimum output limit
Filter washout time constant
Filter lead time constant
Filter lag time constant
Number of filter lead stages
Number of filter lag stages
Filter power gain
If Gp is zero it is calculated
internally.
36
Appendix
6 References
1. IEEE Standard 421.5-1992, IEEE Recommended Practice for Excitation System Models for Power
System Stability Studies, The Institute of Electrical and Electronics Engineers, Piscataway, NJ, USA.
2. Digital Excitation Task Force, 'Computer Models for Representation of Digital-Based Excitation
Systems', IEEE Transactions on Energy Conversion, Vol. 11, No. 3, September 1996, pp. 607-615.
Appendix
37
7 Appendix
7.1 Per Unit System
It is important to understand the per unit system used in the modelling of exciters, and its relationship with
the per unit system used in the modelling of synchronous generators. In excitation systems (Figure 36), the
base field voltage is that voltage required to produce rated terminal voltage on the air gap line, and the base
field current is that field current which gives rated field voltage on the air gap line.
Figure 39 Generator Open Circuit Saturation Characteristic

The synchronous generator model uses a reciprocal base model. The generator open circuit voltage per unit
on the generator base in terms of the field current on the generator base is given in equation 1.1.
(1.1)
Vgpu = X adus I fdpug
The generator open circuit voltage on the generator base in terms of the field current on the exciter base is
given in equation 1.2.
Vgpu = I fdpue
(1.2)
I fdpue = X adus I fdpug
(1.3)
Thus
7.2 Rotating Exciter Saturation

In any rotating exciter, the exciters magnetic field may saturate. In MatNetEig, this is modelled using
Se = Asat exp(Bsat E fd )
where
Bsat = ln((Se1Ve1 ) /(Se2 Ve2 )) /(Ve1 Ve2 )

Asat = Se1Ve1 exp(Bsat Ve1 )
38
Appendix
7.3 Rectifier Regulation

Ve
Efd
Fex=f(IN)
IN=KcIfd /Ve
Ifd
Figure 40 Rectifier Regulation Model
The voltage available from the rectifiers used in rotating ac exciters and static exciters falls as the field
current increases. It also depends on the voltage of the supplying source. This is modelled by the Source
Regulation Function Fex. It should be noted, that in the per unit system used for exciter models, in the
steady state Ifd is equal to Efd.
Fex has the characteristic shown in Figure 41. IN is a function of the source voltage Ve and the field current
Ifd,.i.e.,
IN =
K c Ifd
Ve
(1.4)
3
4
IN
Fex = 1
3
if 0<IN <
if
3
< IN < 0.75
4
Fex = 0.75 IN 2
if 0.75 < IN < 1
Fex = 3(1 IN)
Kc is a constant parameter for a particular exciter. If IN is less than zero, Fex is unity; if IN is greater than
unity, Fex is zero. The field current must always be positive. When Kc is small, the regulation is linear with
Ifd. When Kc is large, the nonlinear regulation comes into play.
Appendix
39
Figure 41 Recitifier Regulation Characteristic
7.4 Compound Source

Vbmx
Vse
Vt
Vse=|KpVt+i(Ki+Kp Xi)it|
it
IN=KcIfd/Ve
Vb
Fex=f(IN)
Ifd
Figure 42 Compound Source Model
This model is used in the ST2a, ST3a and ST4b excitation system models. A block diagram is shown in
Figure 42. The compound source has both generator terminal voltage and current as inputs. The output is
then modified by the rectifier regulation characteristics. In the ST2a model, the parameters (Kp and Ki ) are
scalar quantities, and Xl is zero. In the ST3a and ST4b models, Kp is supplied as a scalar quantity, but is
modified by p to give a phasor Kpp = Kpexp(jp). Note: p is specified in degrees and converted to radians
internally.
The rectifier regulation function is identical to that used in the ac exciters.
7.5 Transducer with Load Compensation

The terminal voltage magnitude is measured and and may be compensated by a resitive reactive equivalent
which acts to make the effective terminal voltage back in the system from the generator bus. The system is
modelled using the system shown in Figure 43.
VT
Vc1
Vc=abs(VT+(Rc+iXc)IT)
IT
1
1+sTr
Vc
Figure 43 Transducer and Compensator
40
Appendix
VT is the terminal voltage phasor (Vd + iVq) at the generator terminals, and IT is the phasor of generator
current, on the generator base, flowing out of the generator. Tr is the time constant of the measurement
transducer.
7.6 Limit Models

Vmax
Vin
Ka/(1+sTa)
Vmin
Vout
(a)
Vmax
1+sTc
Vin
1+sTb
Vmin
Vout
(b)
Vmax
Vin
Kp +Ki/s
Vmin
Vout
(c)
Figure 44 Non-windup limit representation
Limit models may be wind-up or non-wind-up. In a wind-up limit, the output of a block is limited in value
but the state within the block may continue to increase or decrease. In a non-wind-up limit, the state and the
output are both limited. An example of a wind-up limit could be a motor drive acting though a clutch which
slips at some limit without stopping the motor. Non-wind-up limits naturally occur in electronic amplifiers
where the output is limited by the magnitude of the power supply. The non-wind-up limit function
depends on the type of system represented. Three possibilities are shown in Figure 44. A wind-up limit is
represented in a block diagram as shown in Figure 45.
Vmax
Vin
Vout
Vmin
Vmax
Vin
Vout
Vmin
Figure 45 Windup limit models
Appendix
41
7.6.1 Non-wind-up limit for lag element

r1
V1
r3
r1
r2
c
V3
Figure 46 Non-windup lag model
An analogue realisation of Figure 44a is shown in Figure 46. The output is limited by two zenner diodes
between the output terminal and ground.
The differential equations of the amplifier are
r3c
dV3
r
= V3 3 V2
dt
r2
V2 = V1
if V3 > Vmax ,
V3 = Vmax
dV3
dV3
> 0,
=0
dt
dt
if V3 < Vmin ,
(1.5)
if
V3 = Vmin
if
dV3
dV3
< 0,
=0
dt
dt
Setting the rate of change to zero, holds the state at the level at which the limit is reached until the direction
of the state is changed.
42
Appendix
7.6.2 Non-wind-up limit for lead-lag element

r1
V1
r3
r1
r2
r4
V3
Figure 47 Analogue realisation of a lag with non-windup limit
The limit model is based on that of an operational amplifier with zenner diodes controlling the output
voltage. A diagram of an operational amplifier connected to give a lead/lag transfer function is shown in
Figure 47.
Assuming the amplifiers have infinite gain and input impedance, the equations for the circuit are
dic
1
1 dV3
1 dV2 1 dV3
=
ic +
=
dt
r4 c
r4 dt
r2 dt r3 dt
r
dV
( r3 + r4 ) c 3 + V3 = 3
dt
r2
(1.6)
dV2
+ V2
r4 c
dt
The transfer function between V3 and V1 is

V3 r3
(1 + sr4c)
=
V1 r2 (1 + s(r3 + r4 )c )
(1.7)
When V3 is limited by the zennor diodes, the capacitor discharges so as to make ic = i 2 i r , as shown in
the block diagram of Figure 48.
Vmax
i1
-V2
1/r2
r3
+
ic
V3
Vmin
sc/(1+sr4c)
Figure 48 Block diagram of non-windup limit
Appendix
43
This leads to the equations of the lead/lag non-wind-up limiter.

dic
1
1 dV3
=
ic +
dt
r4 c
r4 dt
V3 = r3i r
ir =
V2
ic
r2
if V3 > Vmax ; V3 = Vmax

if V3 < Vmin ; V3 = Vmin
When the output is within limits, the transfer function is that given in equation 1.4. When the output is at a
limit, the capacitor current decays with the time constant r4c.
7.6.3 Non-wind-up limit for proportional plus integral controls

With PI controls, there are two types of non-wind-up limit, one for an analogue realisation and the other for
a digital realisation. The analogue model would have distinct limits on the proportional control and the
integral control. They may be set to the same value or different values. The limits on the proportional
control are wind-up and those on the integral control are non-wind-up. A block diagram is shown in
Figure 49.
Vpmax
Kp
+
V1
Vpmin
V2
Vimax
Ki/s
Vimin
Figure 49 PI Controller
The equations for the analog limited PI controller are

Vp = K p V1
if Vp > Vp max ; Vp = Vp max
if Vp < Vp min ; Vp = Vp min
dx
= K i V1
dt
Vi = x;
dx
> 0;
dt
dx
if Vi < Vi min ; Vi = Vi min ; if
< 0;
dt
if Vi > Vi max ; Vi = Vi max ; if
(1.8)
dx
=0
dt
dx
=0
dt
In the digital PI control, the limit on the integrator is linked to that of the output from the PI control. There
is no separate limit on the proportional control.
44
Appendix
The equations for the digital PI control are

dx
= K i V1
dt
V2 = K p V1 + x
dx
> 0;
dt
dx
if V2 < Vmin ; V2 = Vmin ; if
< 0;
dt
if V2 > Vmax ; V2 = Vmax ; if
dx
=0
dt
dx
=0
dt
(1.9)

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Excitation System Models

Copyright Graham Rogers 1997-2008 All Rights Reserved

Copyright Graham Rogers 1997-2008 All Rights Reserved

Power System Stabilizer ........................................................................................................ 34

Copyright Graham Rogers 1997-2008 All Rights Reserved

Copyright Graham Rogers 1997-2008 All Rights Reserved

Figure 1 DC Exciter Model

2.1 DC1a and DC2a Excitation Systems

Figure 2 DC1a and DC2a Excitation Systems

Copyright Graham Rogers 1997-2008 All Rights Reserved

Figure 3 DC1a Automatic Voltage Regulator

Figure 4 DC2a Automatic Voltage Regulator

Copyright Graham Rogers 1997-2008 All Rights Reserved

minimum voltage regulator output Vrmn

saturation coefficient at Ve = VE1

2.2 DC3a Excitation System

Figure 5 DC3a Excitation System

Figure 6 DC3a Automatic Voltage Regulator

Copyright Graham Rogers 1997-2008 All Rights Reserved

Data Format DC3a Excitation System, Type 3:

Copyright Graham Rogers 1997-2008 All Rights Reserved

Figure 7 AC Excitation System

3.1 AC1a Excitation System

Figure 8 AC1a Exciter Model

Copyright Graham Rogers 1997-2008 All Rights Reserved

Figure 9 AC1a Automatic Voltage Regulator

3.1.1 Data Format AC1a Excitation System, Type 4:

Table 3 Data format for model AC1a exciter

Copyright Graham Rogers 1997-2008 All Rights Reserved

3.2 AC2a Excitation System

Figure 10 AC2a Exciter Model

Figure 11 AC2a Automatic Voltage Regulator

Copyright Graham Rogers 1997-2008 All Rights Reserved

3.2.1 Data Format type 5 AC2a Excitation System:

Table 4 Data format for model AC2a Excitation System

Copyright Graham Rogers 1997-2008 All Rights Reserved

3.3 AC3a Excitation System

Figure 12 AC3a Exciter Model

Figure 13 AC3a Automatic Voltage Regulator

3.3.1 Data Format type 6 AC3a Excitation System:

Copyright Graham Rogers 1997-2008 All Rights Reserved

Table 5 Data format for AC3a excitation system

Copyright Graham Rogers 1997-2008 All Rights Reserved

3.4 AC4a Excitation System

Figure 14 AC4a Excitation System

3.4.1 Data Format type 7 AC4a Excitation System:

Copyright Graham Rogers 1997-2008 All Rights Reserved

3.5 AC5a Excitation System

Figure 15 AC5a Exciter

Figure 16 AC5a Automatic Voltage Regulator

Copyright Graham Rogers 1997-2008 All Rights Reserved

3.5.1 Data Format type 8 AC5a Excitation System:

Table 7 Data format for AC5a excitation system

Copyright Graham Rogers 1997-2008 All Rights Reserved

3.6 AC6a Excitation System

Figure 17 AC6a Exciter Model

3.6.1 Data Format type 9 AC6a Excitation System:

Copyright Graham Rogers 1997-2008 All Rights Reserved

Table 8 Data format for AC6a excitation system

Copyright Graham Rogers 1997-2008 All Rights Reserved

3.7 AC7b Excitation System

Figure 19 AC7b Exciter Model

Figure 20 AC7b Automatic Voltage Regulator