1
Underexcitation Limiter Models for Power
System Stability Studies
Joseph D. Hurley, Senior Member, IEEE
Abstract Underexcitation limiters are included in most
modern voltage regulators applied on large synchronous
generators. An underexcitation limiter (UEL) acts to boost
excitation whenever it senses a condition in which generator
excitation level is determined to be too low. New UEL models for
inclusion in the next standard revision are provided and
described. Methods of interfacing UEL models with standard
excitation system models is also described.
Index TermsExcitation systems, Generator, Limiting,
Modeling, Power system stability, Reactive power, Voltage
control.
I. INTRODUCTION
T HIS paper is intended to introduce and summarize
underexcitation limiter models which will be included for
the first time in the upcoming revision of IEEE 421.5, "IEEE
Recommended Practice for Excitation System Models for
Power System Stability Studies"[1]. A 1995 Working Group
paper [2] provided underexcitation limiter models, which
have been revised and updated for inclusion in this new
standard revision. The specific limiter model structure and
implementation depends upon various considerations
discussed in this paper. Hopefully, this information will
provide the reader with some guidance in the use of these
UEL models and how they can best be applied for power
system stability studies.
An underexcitation limiter (UEL) works through the
automatic voltage regulator (AVR) to boost excitation
whenever it senses an operating condition in which excitation
level is determined to be too low. A UEL is typically applied
for one or more of the following purposes:
To prevent operation which jeopardizes stability of the
synchronous machine or could lead to loss of
synchronism due to insufficient excitation.
To prevent operation that would lead to overheating in
the stator end region of the synchronous machine, which
will typically occur when the machine is absorbing large
amounts of reactive power as defined by the machine
capability curve.
To prevent loss-of-field relays from operating during
underexcited operation.
The UEL typically senses either a combination of voltage
and current of the synchronous machine or a combination of
real and reactive power. The limits are determined by the
J. D. Hurley is with Siemens Westinghouse Power Corp., Orlando, FL, USA
(e-mail: joseph.hurley@siemens.com).
machine operating point crossing a reference level or
characteristic. When the reference level or characteristic is
crossed, the UEL output signal acts to become a part of the
control of the excitation system.
The UEL output is applied in the voltage regulator either
to a summing junction to add to the normal voltage control or
to a high value (HV) gate to override the normal action of the
voltage regulator (see Section IV). Depending upon the
implementation of the UEL function to control excitation, the
action of the UEL could take the power system stabilizer out
of service and/or cause interactions which may not normally
occur during normal operation when the UEL characteristic is
not reached.
Although UEL designs utilize various types of input
sensing and signal processing, their limiting characteristics are
usually plotted in terms of real and reactive power on MVAR
vs. MW axes. However in many cases, the specified limit in
terms of MW and MVAR is terminal voltage dependent, such
as would occur with UELs that sense apparent impedance at
the generator terminals. In an attempt to encompass a wide
range of UEL applications, two UEL models have been
developed:
Circular characteristic (Type UEL1)
Single or multiple-segment straight-line characteristic
(Type UEL2)
Some UELs may utilize a temperature or pressure
recalibration feature, in which the UEL characteristic is
shifted depending upon the generator cooling gas temperature
or pressure. Since this is typically a slowly acting effect, it is
not represented in the UEL models, and selection of the UEL
model constants should reflect the limiting characteristic at
the initial operating condition represented in the study.
II. CIRCULAR CHARACTERISTIC UEL (TYPE UEL1 MODEL)
The type UEL1 model shown in Fig. 1 has a circular limit
boundary when plotted in terms of machine reactive power vs.
real power output. The phasor inputs of IT and VT are
synchronous machine terminal output current and voltage
with both magnitude and phase angle of these ac quantities
sensed.
Fig. 2 shows a typical UEL1 limiting characteristic plotted
on MVAR vs. MW axes. KUR determines the radius of the
UEL limit such that VUR (in Fig. 1) has a pre-determined
magnitude and is also proportional to the magnitude of
machine terminal voltage VT.
 2

VURmax
VUR
VUR = |KURVT|
VUImax VULmax
VUCmax -
VT VUC VUerr KUI (1+sTU1)(1+sTU3) VUEL
VUC = |KUCVT - j IT | KUL+
IT + s (1+sTU2)(1+sTU4)
- VUImin VULmin
VUF
VF KUF
Fig. 1 Type UEL1 Model for Circular Characteristic Underexcitation Limiter.

Under normal conditions when the UEL is not limiting,

VUC < VUR and the UEL error signal VUerr shown in Fig. 1
QT
(p.u.) is negative. When conditions are such that the UEL limit is
exceeded, VUC > VUR and the UEL error signal VUerr
becomes positive. This will drive the UEL output in the
positive direction, and if the gain is sufficient, the UEL output
will take over control of the voltage regulator to boost
excitation to move the operating point back toward the UEL
limit.
RA

KUC
The VF input to the type UEL1 model allows provision for
DI
U

an excitation system stabilizer signal from the voltage

S
=
KU

regulator, which can be used for damping of oscillations.

R

Similarly, the lag and lead functions represented by TU1

through TU4 may be appropriately adjusted in certain
vars applications to provide damping.
out (+)
PT
ot (p.u.) III. PIECEWISE LINEAR UEL (TYPE UEL2 MODEL)
Ln
QT UE iting vars
KUR - KUC Lim in (-) Fig. 3 shows the type UEL2 model. For this model, the
PT OP.
PT. UEL limit has either a straight-line or multi-segment
L
UE ing characteristic when plotted in terms of machine reactive
im it
L [Note: Assumes VT = 1 p.u.]
power output (QT) vs. real power output (PT). The UEL limit
can be unaffected by terminal voltage VT by setting the
Fig. 2 Type UEL1 Circular Limiting Characteristic
exponential constants k1=k2=0 (such that F1= F2 = 1). If
instead the UEL senses the real and reactive components of
KUC defines the center of the UEL limit characteristic.
machine current IT, the UEL limit characteristic can be made
When KUC multiplied by the phasor of quantity of VT is
proportional to VT by using k1=k2=1. Similarly, if the UEL is
summed with the phasor quantity -jIT, the resulting
configured to limit based on the real and reactive components
magnitude VUC , compared with VUR, determines whether
of the apparent impedance looking from the machine
or not the machine operating point has reached the UEL
terminals, the UEL limit characteristic can be made
limit. Absorbing more reactive power (QT) or sending more
proportional to VT2 using k1=k2=2 in the model.
real power (PT) increases VUC and results in the machine
In the UEL2 model in Fig. 3, after the real power PT is
operating point moving toward the circular UEL limit.
modified by F1 (applying the appropriate effect of terminal
Since the type UEL1 model derives the operating point
voltage VT), the resulting normalized value P' is sent to the
using IT and compares it with a radius and center proportional
UEL Look-up Table to determine the corresponding
to VT, this model essentially represents a UEL that utilizes a
normalized value of the reactive power Q' at the UEL limit
circular apparent impedance characteristic as its limit. Since
characteristic. This normalized limit value Q' is then
machine loss of field relays often utilize a similar circular
multiplied by F2 to determine the UEL limit reference QREF,
impedance characteristic, this type of UEL generally allows
which is compared with the machine reactive power QT.
close coordination with a loss of field relay. Also, the UEL
Note that the UEL limit characteristic specified in the UEL
limit boundaries in terms of P and Q vary with VT2, just as
Limit Look-up Table utilizes normalized values of real and
the steady state stability limit varies with VT2, so the UEL
reactive power (P' and Q') which are valid at rated terminal
limit changes as terminal voltage variations alter the steady
voltage (VT = 1.0 p.u.).
state stability limit.
 3

QT 1
(1+sTUQ)
1 VUImax
VT F2=(VT)k2 VULmax
(1+sTUV) F2
k2=0,1,or 2 -
Q VUerr KUI (1+sTU1)(1+sTU3) VUEL
1 REF KUL+
F1= (V )k1 k1=0,1,or 2 + s + (1+sTU2)(1+sTU4)
T + VULmin
F1 UEL Limit VUImin
1 P Look-up Table Q
PT
(1+sTUP) (see Fig. 4
or Fig. 5)

VF KUF
KFB
VREF_FB (1+sTUL)
Fig. 3 Type UEL2 Model for Straight Line or Multi-Segment Underexcitation Limiter.

The functions F1 and F2 provide the appropriate

TABLE I
adjustments so that the effects of terminal voltage, if any, on UEL SET POINT LOOKUP TABLE REQUIREMENTS
the UEL limit are properly taken into account. [Segment Endpoint Number of UEL Segments
Fig. 4 shows the normalized UEL limit characteristic for a Values Required 1 2 3 4 5 6
UEL in which the limit is comprised of a single straight-line.
P0, Q0 X X X X X X
When the points (P0,Q0) and (P1,Q1) are specified, they
define two points on the straight-line UEL characteristic. In P1, Q1 X X X X X X
the example shown in Fig. 4 these points are located on the P2, Q2 X X X X X
intercepts of the P and Q axes such that P0 = 0 and Q1 = 0, P3, Q3 X X X X
but the points would not need to be defined in this manner. P4, Q4 X X X
Any two points can be used to define the straight-line P5, Q5 X X
characteristic. Note that the P and Q values used to specify P6, Q6 X
the UEL limit are those values which would be applicable (X indicates that a data point is required.)
with VT = 1.0 p.u.. For any value of P', the corresponding
value of Q' can readily be determined by linear interpolation. define the UEL characteristic vs. the number of UEL
Fig. 5 shows a UEL limit characteristic for a UEL in which segments are defined in the Table I.
the limit is comprised of multiple straight-line segments, Note that the P and Q values used to specify the UEL limit
showing the maximum of six segments. By defining the are those values which would be applicable with VT = 1.0
endpoints of each of the segments in terms of P and Q values p.u.. Between the indicated segment endpoints, the UEL
(at VT = 1.0 p.u.), the UEL characteristic is determined. The characteristic is defined by a straight-line. For any value of
UEL characteristic can be comprised of any number of P', the corresponding value of Q' can readily be determined by
straight-line segments from 1 to 6. The data requirements to linear interpolation. The UEL characteristic beyond each of

Q
vars
(p.u.)
out (+)
(P1,Q1)
P
vars not
in (-) UEL ng (p.u.)
ti
Limi

UEL g
tin
(P0,Q0) Limi [Note: Normalized Limit Function
Specified for VT = 1 p.u. ]

Fig. 4 Type UEL2 Straight-Line Normalized Limiting Characteristic

 4

Q
vars
(p.u.)
out (+)
(P5,Q5)
P
(P6,Q6) (p.u.)
vars
in (-)
(P4,Q4)

IT
L LIM (P3,Q3)
UE
[Note: Normalized Limit Function
(P0,Q0) (P2,Q2) Specified for VT = 1 p.u. ]
(P1,Q1)

Fig. 5 Example of Type UEL2 Multi-Segment Normalized Limiting Characteristic Using Six Segments

the defined endpoints is a straight-line that is a continuation During normal operation (when the operating point is far
of the segment defined by the first two (for negative values of away from the UEL limit), the UEL output would typically
P) or last two (for positive values of P) endpoints. For have a large negative value, and go positive as the operating
example, in Fig. 5 the UEL characteristic for negative values point approaches and crosses the limit characteristic.
of P is an extension of the segment defined by the points Therefore, when the UEL model interfaces with the AVR
(P0,Q0) and (P1,Q1). Also in this example, it can be seen model via a HV gate, VULmin in the UEL model is typically
that beyond point (P5,Q5) a UEL limit continuing along the set to a negative value.
Q'=0 axis can be represented by defining the point (P6,Q6)
such that Q5=Q6=0 and P6>P5. If the point (P6,Q6) was not UEL
defined in this example, then the UEL characteristic would
Output
extend to the upper-right with the same slope as the line Limited
segment defined by the points (P4,Q4) and (P5,Q5). Normal HV
Control
Under normal conditions when the UEL is not limiting, the Control Gate
Signal
UEL error signal VUerr shown in Fig. 3 is negative, since the Signal
reactive power QT will be greater than the limit value QREF. Fig. 6 UEL Output Interface to AVR via High Value (HV) Gate
When conditions are such that the UEL limit is exceeded,
VUerr becomes positive. This will drive the UEL output in Fig. 7 shows the summing junction interface. In this
the positive direction, and if the gain is sufficient, the UEL application the UEL output is summed with the normal AVR
output will take over control of the voltage regulator to boost control signal, and the resulting signal is the sum of the two
excitation to move the operating point back toward the UEL signals. During normal operation (when the operating point is
limit. far away from the UEL limit), the UEL output would typically
The input VFB allows provision for the feedback signal be equal to zero, and go positive as the operating point
necessary in non-windup integrator function, depending on approaches or crosses the limit characteristic. Therefore,
the chosen representation. when the UEL model interfaces with the AVR model via a
summing junction, VULmin in the UEL model is typically set
IV. INTERFACE OF UEL OUTPUT WITH AVR MODELS to zero.
The UEL model output interfaces with the AVR in the
excitation system model via either a high value (HV) gate or a UEL
summing junction. Output
Fig. 6 shows the HV gate interface. The UEL output is +
Normal Limited
compared with the normal AVR control signal, and the output
of the HV gate is the greater of the two signals. This type of
Control + Control
interface is sometimes called an auctioneering function, and Signal Signal
the type of limiter sometimes called a take-over limiter. Fig. 7 UEL Output Interface to AVR via Summing Junction
 5

V. ACKNOWLEDGEMENT Joseph D. Hurley received a BS degree in Electrical Engineering from the

University of Minnesota in 1973 and an MSEE degree in Power Engineering
The development of the UEL models and supporting from Carnegie Mellon University in 1975. In 1973 he joined Westinghouse
information was a cooperative effort by the Modeling Electric Corporation, in East Pittsburgh, PA. He is currently a Fellow Engineer
Working Group of the Excitation Systems Subcommittee. in the Generator Engineering Department of Siemens Westinghouse Power Corp.
in Orlando, FL. He has been actively involved in the areas of power system
stability, excitation systems control, investigation of power system disturbances,
VI. REFERENCES and turbine-generator field and factory testing, including torsional testing and
instrumentation. He is a member and past chairman of the IEEE Excitation
[1] IEEE Standard 421.5-1992, "IEEE Recommended Systems Subcommittee and a Registered Professional Engineer in the
Practice for Excitation System Models for Power System Commonwealth of Pennsylvania.
Stability Studies".
[2] IEEE Task Force on Excitation Limiters,
"Underexcitation Limiter Models for Power System
Stability Studies," IEEE Transactions on Energy
Conversion, Vol. 10, No. 3, Sept. 1995, pp. 524-531.