Archly ffir Elektrotechnik 72 (1989) 415--426

Archiv

ftirElektrotechnik
9 Springer-Verlag 1989

Excitation controller design of synchronous machine with output feedback using high and reduced-order models
D. P. Papadopoulos, J. R. Smith a n d G. Tsourlis, X a n t h i , Greece

Contents: A practical 8th-order single-input multiple-output

(SIMO) time-invariant linear model of a synchronous machine with first order conventional exciter, supplying power to the power system through a transformer and a transmission line has been developed. 3?he criterion for the effective contribution of each system state to the total energy response at the output is used to obtain an adequate reduced 4th-order model in which the most important states and eigenvalues of the original model are retained. An efficient algebraic pole--placement method, using output feedback has been used to design the 8th and 4th-order models, physically realisable linear excitation controllers (with easily measurable state variables) for the purpose of substantially enhancing the dynamic stability characteristics and voltage control of a synchronous machine. The controller designed for the 4th-order modei has also been tested on the 8th order model to demonstrate the validity of implementing reduced order formulations without degrading the performance of the control. A procedure for implementing the control strategies is presented in this study, and attention is drawn to the wider implications of implementing practical designs on large turbogenerators currently in use.

Entwurf des Erregungsreglers einer Synchronmaschine dureh Zuriiekfiihrung auf ein reduziertes Modell [~bersieht: Aus dem Modell einer Synchronmaschine in Form
eines linearen zeitinvarianten Systems 8 . 0 r d n u n g wird ein reduziertes ~:[odell 4. Ordnung abgeleitet, das die wichtigsten Eigenwerte des Systems beibehglt. Mit Hilfe eines algebraischen Verfahrens zur Bestimmung der Pole kSnnen lineare Regler der Erregung entworfen werden, die ein verbessertes Verhalten der Maschine bezfiglich Stabilitgt und Spannungsregelung herbeifiihren. Der ffir das Modell 4. Ordnung entworfene tl,egler zeigt bei Betraehtung am System 8. Ordnung keine Versehleehterung des Verhaltens. Auf die Bedeutung des Verfahrens ffir praktische Ausf/ihrungen bei grogen Turbogeneratoren wird hingewiesen.

field voltage starer voltages in d and q axis circuits, respectively busbar voltage machine terminal voltage active and reactive power delivered at machine P~, Qt terminals generator-shaft mechanical power T~,Tm airgap electrical torque and generator-shaft mechanical torque RT, XT transformer resistance and reactance transmissiml line resistance and reactance external system resistance (R T -t-Rz) and reaetRe, Xe anee (X T ~- Xz) R~ staf~r resistance ik~, ikq damper circuit currents in d and q axes flux linkages ~f synchronous reactances in d and q axes Xd, Xq field winding self reactance Xkd~ 92kq damper winding self reaetanees in d and q axes xmd, xmq magnetizing reaetanees in d and q axes Rkd, Rkq damper winding resistances in d and q axes machine speed or electrical frequency oo inertia, constant H KE, T~ exciter gain and time constant incremental (step) voltage reference (input) change A Vre t excitation error Ve excitation controller voltage signal Ve.c.s. c~ transformation ratio of transformer subscript, means operating point o Laplace operator 8 transformation matrix S

We

Vd~ Vq Vb Vt

Introduction

List of principal symbols

d

%
~d, iq 31"

it

load angle field current starer currents in d and q axis circuits, respectively machine terminal current

The e n h a n c e m e n t of the d y n a m i c s t a b i l i t y characteristics of a practical power system m a y be achieved b y designing a controller to o b t a i n a closed-loop system with pre-assigned d y n a m i c s t a b i l i t y characteristics. M a n y studies aimed a t i m p r o v i n g t h e dyn a m i c c o n t r o l l a b i l i t y of t u r b o g e n e r a t o r s rely solely on theoretical considerations a n d omit t h e import a n t a n d sometimes difficult aspects of practical i m p l e m e n t a t i o n . A p a p e r s t u d y is u n l i k e l y to t a k e

416 account of all the factors affecting the degradation of performance that will inevitably be found in practice. The use of a test-bed machine system, although small in relation to those which the analysis described in this paper is to be directed, assists with the assessment of the performance of the controller and of auxiliary items such as transducers and the effect of their time constants on the overall system performance. In the case of the latter, the size of generator is of course unimportant. A prerequisite to the implementation of the design strategy is the formulation of a representative linear model of the system, the complexity of which may be reduced by reduction techniques. Many reduction and approximation methods [1--6] have been introduced in the last twenty years for high-order statespace models or high-degree transfer function matrices of large-scale linear time-invariant multivariable systems. The model reduction methods may be applied directly to either state-space model formulations of systems or to transfer function model formulations. In this study the order reduction method of [5] will be used exclusively, since it provides for retaining in the reduced order model the most important states of the original high order model and as a consequence the physical significance of the states is retained along with the important eigenvalues. From a practical standpoint these two features of the method are of paramount, importance. The modern control methods, which are usually used to design actual controllers for systems of the type considered here may be classified as either "optimum control strategies" [1, 7, 8] or "algebraic control strategies" [ 9 - 1 2 ] . The algebraic control methods, particularly when they are based on o u t p u t feedback, present certain practical advantages, for example ease of problem formulation, computational requirements and implementation. The pole-placement method of [11] will be used in this study, since it is efficient and relatively simple to apply. In the content of the present work the first step is to obtain a representative model for the system under study, which in practice implies a reasonably accurate but not necessarily an excessively complicated formulation. On this basis an 8th-order SIMO time-invariant linear model of the system consisting of a synchronous machine with conventional exciter supplying power through a transformer and a transmission line, to an existing electricity supply system (where the synchronous machine is represented by a 7th-order model and the conventional exciter by a 1st-order one), is developed. Next, by using the model order reduction method of [5] an adequate 4th-order reduced model derived from the 8th-order model is obtained. Fm-thermore, by applying the pole-assign-

Archly fiir Elektrotechnik 72 (1989) ment method of [11] to the previous 8th- and 4thorder models an excitation controller is designed in each case and, thus, respective c l o s e d - l o o p systems with significantly improved dynamic stability characteristics are obtained. The excitation controller designed for the 4th-order model was tested on the 8th-order system model, in order to verify its effectiveness and thus give added justification to the practical merits of the proposed controller design procedure, i.e. via the reduced order model route. Finally, the design strategy was applied to a 30 MW turbine generator for which test results were available.

2 Modelling and simulation of open-loop synchronous machine system Many aspects of the present work, both theoretical and practical, are based on an 87.5 kVA model alternator set connected via transmission circuits to an infinite bus as shown in Fig. 1. The model machine was selected to have parameters broadly typical of those associated with larger machines. Such machines have been used in connection with previous investigatory work [13, 14] directed towards larger turbo-generators. This approach facilitates hardware change as required and allows for practical tests to be carried out without disruption to main generation sources. The parameters for this machine, which were obtained from frequency response tests and for the system to which it is connected are given in Table 1, and it is readily seen that whereas the per-unit reactances are representative of turbogenerators in the range of 20-- 30 MW, winding resistances are considerably higher. Previous authors have occasionally used time constant regulations [13] to alleviate this problem but for the purposes of the present study this was not considered necessary since the machine is used solely in association with determining the feasibility of approach. Table 1. Principal System Data Synchronous Machine x d 87.5 kVA, 415 V, 4-pole Xq x]d 1.758pu 0.99 pu 1.761pu Xkd 1.664pu X~q 0.955 pu Xmd 1.658pu Xmq 0.899pU KE 1
Ra R~ d

0.0145 pu 0.00422 pu Rkq 0.0126 pu Rfd 0.00268 pu H 1.434s

Conventional exciter Transformer a.nd transmission line

v~

0.472 s

R~- 0.0363 pu X T 0.083 8 pu R 0.03744 pu X L 0.3903 pu

per unit values on machine rating

D. P. Papadopoulos et aI.: Excitztion controller design of synchronous machine

Original open-loop system
1

417

I
1 ~

Convenfionot exciter

Synchronous generotor

Generator

infinite Tronsmission bus

~" I I

ZT&
vfe
'-----------

R~

XL

1:i t
li
t.
II

l
i
"L

v~

I 9 t
t

ve.c.~. /'~/-~= ,-~

. . . . . . . . . . . . . . . . . .

I/Excitotion "controller t i Designed

/closed-loop

I : 1 : I
.

L. . . . . . . . . . . . . . . . . . . . .

~ysle~

Fig. 1. Simplified representation of synchronous machine + exciter s~pplying power to the electric u~ility system through ~n int~rconnection network

In the consideration of synchronous machine systems it is customary to commence with Park's dand q-axis equations for the machine snd the equivalent d- and q:axis equations for the external circuits connecting the machine to the supply system. In the context of the present work the resulting system equations are linearised to represent the system in standard state-space differential form:

special subroutine and are shown in Table 2. I t is seen from this table that the system is stable. The currents i~ and iq are not measurable quantities, which presents practical problems in the actual design of the excitation controller, thus the following transformed synchronous machine model is obtained by use of an appropriate transformation explained in Appendix A, i.e.

i = Ax + bu
y = Cx

(la)
(lb)

[x']T = [v, r ii~ 4~ i~q ~ ~]

[u'] T = [u] T = [v/d Pm]

(3a)
(35)

where x C R% y ( R m and u E RP are the state, output and input vectors respectively, and A, B and C are real constant matrices of appropriate dimensions. B y applying the relevant theory outlined in Appendix A to the synchronous machine, its statespace representation, in the form of equation l(a), was obtained, i.e.
xT = [id

iq il~ M ikq ~ c~]

(2a)
(2b)

uT : [Vm P~]

with the explicit numerical values of A and B, based on the specific operating point, P~ = 0.8 pu; Qt == 0.84 pu; vs~ -- 0.004 3 pu ; ,~ = 0.56 Pad; vb = 0.97 pu are given in Appendix B. The eigenvalues of the above synchronous machine model were computed using a
vt

:= 1.29 pu;

witk the explicit numerical values of the matrices B', T and S given in Appendix B. The matrix A' is not written separately here, since it may easily be identified from the 8th-order model of the synchronous machine and the conventional exciter which will be described next and is given in Appendix B. The computed eigenvalues of the transformed synchronous machine model are given in Table 2 and show clearly that the two synchronous machine models (i.e. the original and the transformed one) are identical. The introduction of the differential equation describing the conventional exciter to the transformed 7th-order model of the synchronous machine (according to the procedure explained in Appendix A) yields the 8th-order transformed synchronous machine with conventional exciter model in the form of Eq. (la) and (lb), i.e.

[u'] == [vs]
[y"]~ = [v~ ~:~ ~ v~]

(4b)
(4c)

418

Archiv fiir Elektrotechnik 72 (1989)

Table 2. Simulated csses of open-loop and designed closed-loop systems (C = computed values, D ~ desired values and ~t ~ eigenvalues) s/m model f~ Transformed s/m model Transformed s/m -]- exciter model C C C ~ --0.8006 A --0.8007 A --0.8008 --1.2724 j14.7439 --7.3045 --1.2727 :~ j14.7437 --7.3030 --1.2729 j14.7437 --7.3033 --21.3114 --21.3107 --21.3112 --46.1202 :k j313.6362 --46.1208 -V j313.6340 --46.1208 :~ j313.6367 --2.1200

o 9

Reduced order "~0 9 model ~ 9 Transformed s/m ~- exciter model Reduced order model Transformed s/m q- exciter model with controller of "~ reduced order model

A --0.8008

--1.2729 j14.7437

--2.1200

D C D C C

--1.1

--1.3 :k j14.7437

. --21.2099

. --46.1213 j313.6360

2.3 --2.3116 --3.0 --3.0

A --1.0884 ~ ~ --2.5 --2.5

--1.2996 j14.7414 --7.9034 --1.7 :k j14.7437 --1.7 ~: j14.7437 --1.2840 :k j14.7291 --7.3747

A --2.5099

--21.4833

--46.1209 -k j313.6366

--2.9580

with the explicit numerical values of A", B" and (7' given in Appendix B. Equation 4(b) presupposes that the prime mover maintains Pm constant, which is the usual assumption made for uncoupling the two control loops of the synchronous machine for carrying-out small-input dynamic analysis. The computed eigenvalues of the above 8th-order system model are shown in Table 2. The computed time responses of its outputs vt, it, ~ and vld for the small-input step change Av~ --~ 0.001 pu are shown in Figure 2(a), (b), (c) and (d) respectively. The solution of the 8th-order model was obtained by using the l~unge-Kutta 4th-order form integration technique. From Table 2 and Figure 2 it is seen that the 8th-order model (original open-loop system) is stable but does not necessarily possess satisfactory damping characteristics and sufficiently fast response.

Thus, if the ith state forms a significant contribution to E then that state is deemed appropriate for retention in the reduced order model. Table 3 shows computed results for the participation of the various system state variables to the total output energy of the system subject to a unit impulse input. The results obtained in this way coincide with, and reinforces the initial policy of choosing transformed state variables to ensure measurability and physical availability such that the resulting design could be implemented without recourse to state estimation techniques. I t also reinforces the policy of basing designs on reduced order models. Based on the information of Table 3 the 8th-order model was re-arranged in decreasing order of state variable participation in the output energy of the system, i.e. [x'"] T -~ [~ it v t vld a) i/d ik~ ikq], [u'"] Table 3. Output energy to system states State variables Output energy participation 7782 9103 9240 1.06 0 0 0 0

Reduced order model of original system

Lastman et al. [5] has shown that a strong relationship exists between the response of the system states x~ and the output coefficient matrix C such that E, the output energy criterion, m a y be found from
n c~

vt it
v/d
~fd

E :

~ dik f xk(t) x~(t) dt

k=l o

(5)

ikd
ikq

when di,k is an element of D ~ CT(~.

~o

D. P. Papadopoulos et al. : Excitation controller design of synchronous machine

419
b

0.20 p.u.
/

i /

i U'

0.I5

i / / / / / / 1 t#

71
qt

If

C l ........

O.ZO 1 p.u. [
~ ./ // . . . . . . . . . . . . . .

a,b
Jc . . . . . . .

I 0.I0

olol'/f' '/"/f"
0 -]~0 , 9 ?---, 2 4 ................ 0 8 I0 t----,6 t,----~ 0 10

2el
12 ',14 s 16 b 12 14 s 10

0.05
0 2 4 0 B
t ~.....

10

1Z

14 s 16

i~ red
f8

1.oo

," ...............

l .............

p.u.
0.75 !
i

//
i

o,b

-0.05

-0.I0
t\ c

-0.15
x x a

0.25

-0.20
d

0 0 2 4 0 0
f-----~

10

1Z

I4 s 10

Fig.~a--e. Time responses of the state variables (vt, it, ~ and vfd ) of the open-loop and closed-loop system input step change Av e = 0.001 p.u. Open loop system: a 8th-order transformed synchronous m~ehine ~-. exciter model, b 4th-order reduced model. Designed closed-loop system: c 8th-order closed-loop model, d 4th-ordcr closed-loop model, e 8th-order closed-loop model with the controller of the reduced order model

= [u"] = [ve] and [y,"]T = [3 g, Vt vfd]. Thus, it is evident t h a t t h e a d e q u a t e reduced order model should be of 4th-order a n d in the form of equations l(a) and l(b) it becomes [xr] 7 = [8 it st vie] (6a)

[Ur] = [u"] ---- [%]

(6b)

[y,]T = [x,]T

(6e)

The explicit numerical values of reduced matrices At, Br and G, were c o m p u t e d with a special p r o g r a m based on the fact t h a t the first four dominanb

420 eigenvalues of the 8th-order model should be mainrained in the reduced order one; they are given in Appendix B. As seen from Table 2 the computed eigenvalues of the reduced order model agree exactly with those that were retained from the 8th-order model. By assuming zero initial conditions in the 8th-order model the corresponding initial conditions of the reduced order model are given as
[x~(O)y = [ 2 . 1 4 5 7 0 - 0 . 7 4 1 1 o] [vo(O)]

Archly fiir Elektrotechnik 72 (1989)

4.2 Close&loop system el the reduced 4th-order open-loop model

By applying the relevant theory outlined in Appendix A and very much the same procedure followed in the previous case the following were obtained: the polynomiM of the open-loop system P~(s), the polynomial of the closed-loop system P~(s), the gain output feedback vector k~, i.e. k~ -----[-0.0056 0.0029 0.0037 1.327] (9)

The computed responses of the reduced order model ~, is, vt and old for the same input disturbance (zJve = 0.001 pu) are shown in Figure 2 accordingly. It is clear ithat the outputs of the reduced order model follow quite well the corresponding outputs of the 8th-order model.

and the matrix )kr Of the designed closedqoop system from the relationship

4 Design and simulation of closed-loop system (design of excitation controllers)

4.1 Closed-loop system o/the trans/ormed 8th-order open-loop model
By applying the relevant theory with output, feedback outlined in Appendix A to the system of equations (5a)-(5c) along with appropriate tests for controllability and algorithms to form the Adj (sI - A") and the coefficients of the characteristic polynomial the following were obtained: the poly~omiM of the openqoop system P(s), the polynomiM of the closed-loop systems P(s) :-Q(s). R(s), the gain output feedback vector k which is given by k T :-[--0.0219 0.0167 --0.0412 0.4870] (7)

The explicit numerical expressions of Pr(s), Pr(s) and -&r are easily obtainable but are not given here for the reason mentioned easier. The computed eigenvalues of the above closed-loop system are given in Table 2. It is clear that for this case there is exceptionally good agreement between the desired eigenvalues and the computed ones from the designed closed-loop system. The computed time responses of the outputs ~, it, vt, and old of the designed 4thorder closed-loop system model, for the same input step change Av~ = 0.001 pu, are shown accordingly in Fig. 2. The dynamic stability characteristics of this closed-loop system model are by far superior than those of the designed 8th-order closed-loop system model presented in Sect. 4.1.

4.3 Close&loop system o/ the trans/ormed 8th-order open-loop model with the controller o/the reduced 4th-order closed-loop model
It is of practical interest to use the gain output feedback vektor k r of equation (9) along with the transformed 8th-order open-loop system model, defined by Eq. (4a-c) in order to design a new 8th-order closedloop system model to ascertain how its dynamic performance compares with that of the other two closed-loop systems, previously designed. The matrix A'~ of the new 8th-order closed-loop system is obtained from the relationship
A

and the matrix A" of the designed closed-loop system from the relationship A " - - A" - B"k T (8)

The explicit numerical expressions of P(s), P(s) and A" are easily obtainable but are not given here due t~) space considerations. The computed eigenvalues of the above closed-loop system are given in Table 2. It is seen that in this case there is good agreement between the desired eigenvalues and those computed by the method. The computed time responses of the outputs v~, i~, ~ and via of the designed 8th-order transformed synchronous machine with conventional exciter closed-loop model, for the same input disturbance Ave ~ 0.001 pu, are shown in Fig. 2a--d respectively.

A'~ = A " - B " k /

(11)

The explicit numerical expression of A'~ is easily obtained but is not given here for reasons mentioned earlier. The computed eigenvMues of this closed-loop system are given in Table 2. It is seen that this design presents a considerable improvement over the design outlined in Section 4.1. The computed time responses of the outputs v~, it, ~ and old of this 8th-order closed-loop

D. P. Papadopoulos et al. : Excitation controller design of synchronous machine

zo % f

421

10

25

50
Load

75

100

Bose lood

Fig. 3. Percentage improvement in system dynamicy stabitity limit obtained using new excitation design technique

p e r f o r m a n c e and indeed determine whether the control design algorithm chosen is a valid means by w h i c h practical controllers may be derived. Fig. 3 shows the percentage improvement that the control gives over the complete local range of the machine. The results presented in Fig. 3 were obtained from the 87.5 kVA alternator set, but it is contended that the trend is valid for machines of higher rating. It is interesting to note that improvement, although apparent throughout the range of operation is more significant at rated load than at low load conditions. This is because the model on which the control was based was linearised in a point corresponding to high load conditions.

5 system model, for the same input disturbance Ave = 0.001 pu, are shown in Fig. 2 a - e respectively. The degree of enhancement achieved in the dynamic stability characteristics in this ease is practically the same as that achieved when using the 4th-order closed-loop system model. This is a satisfactory result, sinee in a practical situation, where a system of large dimensions is involved, the system designer would undoubtedly prefer to synthesise a control based on reduced order formulations if an assurance of satisfactory system behaviour can be guaranteed. The differences in performance between designs based on higher-order and reduced-order models are not significant from a practical point of view as indicated by comparison of results in previous sections. Nevertheless, until such comparisons have duly been carried out, such a conclusion would be merely speculative and not give the sound assurances that are required. Finally, it should be stated that when output feedback is used for poleassignment in high-order systems, some problems conearning the effectiveness of the method may appear. This feature of the algorithm lends further weight to the use of reduced-order models. Furthermore, by computation of Adj ( s I - A) in systems of high dimensions, especially when the matrix A is not sparse, accumulative errors due to rounding appear. An excitation controller, derived from either eonventionM or modern algebraic control strategies, is generally based on a mathematical model of the system linearised in a particular operating point. However since the characteristics of the generator vary with differing operating conditions due to non-linearities inherent in the machine, the performance of the derived control must be evaluated at operating conditions other than those used as a basis of design. In this way it is possible to assess the degradation in

Practical implementation of the excitation controller

For the designed excitation controller to be integrated into a practical system (represented in Fig. 1) it must be transformed into actual hardware. The block diagram representation of the excitation controller is shown in Figure 1 and when taken together with the results of Eqs. (7) and (9) it defines the form of designed excitation controllers for the power system under consideration. The schematic diagram which shows one method of implementing the designed excitation controller is shown in Fig. 4. The gains of the operational amplifiers may now be determined by following standard practices. For example, starting with the summation amplifier and taking into account the operating condition values of the output variables (i.e. vt, it, c$ and v/d) and the associated computed feedback gains kT = [/Cv~ #4 /c~ /%~], one may determine the values of the excitation control signal voltage Ve.c.s, the associated inputs and the gain A~. With the values of the inputs to the summation amplifier known the gains of the other operational amplifiers (i.e. A1, A2, A~ and A4) may be determined since all information required is available. However, care must be taken in converting the p.u. information into the corresponding physical quantities. It must be pointed out that, since the model used for the simulation takes no account of the inherent delays in the various transducers etc. of the feedback signals, the improvement of the dynamic stability characteristics predicted by the simulations of the designed closed-loop system will be higher than those obtained from actual tests. To illustrate the effectiveness of a formally derived control strategy comparative simulations were conducted using a 30 MW synchronous generator for which both data and test results were available. The data for the machine are given in Table 4.

422 Table 4. Data for 30 MW synchronous generator system gath~g: 37.5 MVA, 11.8 kV, 0.8 pf(tag), 3000 rpm xa 1.816 pu Xq 1.648 pu Xmd 1.676 p~ Xmq 1.508 pU xifl 1.816 p u xd 0.249 pu xa 0.141 pu rid 0.00107 10u ra 0.002 pu rkd = rkq 0.003 t8 pu H 5,3s Tra.nsmission Circui~: Transformer XT
RT

Archiv f/Jr Elcktrot,echnik 72 (1989) effective. I t should be emphasised t h a t both controllers used the same forward amplification stages, the only difference being in the feedback quantities applied, t h a t is, terminal voltage only in the ease of the conventional control and the states v t , it, v l e and ~ in the case of the new modern control. Three-phase fault condition I n this situation it is to be expected t h a t an excitation control derived using state feedback will show some improvement in post-fault voltage reeover~- and will be much less effective in extending the limits of transient stability. Figure 6 shows the simulation of the post-fault voltage recovery transient for the 30 MW synchronous generator compared with the recovery recorded during test conditions. The fault was applied at the highvoltage terminals of the generator transformer. An important feature of this simulation relates to the rate of rise of voltage and its effect on asynchronous motor load connected to the system.

Line

X/~ R~

0.1328 pu 0.00505 pu 0.047 5 Io~ 0.017 24 pu

Step fall in system voltage The purpose of this simulation is to compare rates of terminal-voltage recovery for a generator with conventional excitation control and a controller based on the formally derived strategy when the machine is subjected to successive falls in system voltage vb. The curves Fig. 5 a for the conventional control, and Fig. 5b for the synthesised modern control, were produced b y raising vb from I pu to various values depending on the test considered to give the initial conditions, and then stepping vb back to I pu. Table 5 gives details of the step-change conditions used in each simulation. The simulation represents step reductions of system voltage on the generator, and it is seen that conventional control is less effective at controlling voltage with each succeeding step of vb. I t is also apparent t h a t the formally derived strategy effects a faster voltage recovery and maintains stability beyond curve C after which the conventional control is in-

Table 5. Initial conditions for siraulation of step reductions in system voltage Final reading Step initial (a) conditions (b) for (c) (d) (e) (f) (g)
vb vt P Q

1,0 1,08 1,112 1,151 1,1.89 1.218 1.257 1.296

1.1

0.8

-0.6

1.1113 1.1 1.1 t.I 1.102 1.104 t.1042

0.8 0.8 0.8 0.8 0.8 0.8 0.8

0.128 --0.11,9 --0.358 -0.59 -0.757 --0.986 --1.22

Perfect rectification o:I

vtI ~ ~ A . C .
Vuttoge rmnsformer o:1
A.C.

Current Transformer

To excitation summation point

Optical
sensor

l~ig. 4. Schemat,ie diagram of excitation controller implementation

D, P. Papadopoulos et a l. : Excitation controller design of synchronous machine

1.I5 p.~. 1.10

423

Conclusions and discussion

1.05

1.00

0.95

O.gO

0.85
&

0.80 1.15
~U.

1.10

1.05

LO0

~r 0,95

0.90

A practical procedure, appropriate for the design of excitation controllers of synchronous machines connected to isolated or interconnected networks, has been presented. The mathematical background required for the dynamic modelling of a synchronous machine with exciter has been presented in concise form. The above methods have been applied successfully to the design of an exeitat,ion controller for an 87.5 kVA synchronous machine supplying power to an electricity supply system through a transformer and a transmission line, using an original SIMO time invariant linear 8th-order system model and an adequate reduced 4th-order system model. From the three closed-loop systems designed (i.e. based on the 8th-order model, the 4th-order reduced model and the 8th-order model with the controller of the 4thorder reduced model), the best enhancement in the system dynamic stability characteristics was achieved by the two latter cases which validates the use of 4th-order models as the basis of design. Practical tests carried out on the alternator system show that improvement in response is attainable throughout the working range of the machine which in essence eliminates the direct need to update a controller in an adaptive manner with changing load conditions. The controller to produce the results given in Fig. 3 was constructed using analogue techniques and included the effect, of the transducer delays. Further improvements should be obtained b y using digital techniques, and work is continuing in this direction. Appendix A

0.85

0.80

o:5

1:o
f

l:s

z:o

z.s

Overview o/ synchronous generator system modelling [1] The general form of the voltage equations for a synchronous generator system in Park's frame of reference are : [v] = [i] p[i] + ([G,~] + [G~]) co,[i.] + [R] [i] (B.I)

Fig. 5a and b. Step-fall in system voltage, a conventional control, b designed design control
1.4 p.u. - - - j Foutt cleared 380ms 1 1.2 1 1.0
I /~ J r ' - - / ' ",-' Reference ievel

and the equation of motion of the generator shaft is given b y (H/7~]) p2~ = T,~ -- [i]T [Gm] [i] (B.2)

~.-0.6 04 02

0.8

J
-/

where the winding currents are given by

Y
- .... Conventional excitation New design of exdtation

tilt = (id i~ izd ik~ i~)

and the voltage vector by [v]y = (vb sin (3 vb cos (3 vzd 0 0)

(B.3)
(B.4)

I~i~'. 6. Post-faulg recovery voltage

[L] is the machine inductance matrix, [Gm] and [GJ modified inductance matrices and [R] the diagonal matrix of winding resistances.

424 For small perturbations about a given operating point, from equation (B.1)
[Av] = [L] p [ A i ] - F ([G~] + [O,])Ao~r[io]

Archly fiir Elektrotechnik 72 (1989) where A, U. V and C are the matrices of eigenvalues, eigenvectors and control output respectively partitioned appropriately as ~ is given b y

+ ([a,~] + [r
and from equation (B.2)
pAe, r = (=I/H) (AT,, pA(~ = AoJr
-

~o[~] + [R] [~i]

(B.5)

/~

LU~ ~J ~

The initial conditions of the reduced order model are given from the following expression

([/el T ([am]
(B.6)

xr(O) = Vn[Ultx~(O ) + U~x~(0)]

t~A~-I/~u(0) (B.12)

+ [G,~]T))[A,]

Collecting terms from equations (B.5) and (B.6) the comprehensive first-order differential form

m][

It is to be noted that the solution of equations (B.10a), (B.10b) and (B.12) will yield y~(t) which will be a close approximation of that of the original system, i.e. of y(t).

- [ L ] -1 {[~] -~- ~%[G]}

o "

0
0

--~//~[4]T {[a~]+ [a~]m}

l/Z

(B.7)
may be obtained. If it is assumed that the synchronous machine has a first-order conventional exciter described by the equation
pvf~ = (-1.1TE) rid + K~I~,(~Go~ v,)

Pole-placing technique [11]

(B.8)

If the linear SIMO model, Eqs. (la) and (lb), is controllable with distinct real or complex eigenvaIues the control law may be found from u = --kTx + ~o (B.13)

then the overall model for the machine and exciter is obtained using Eqs. (B. 7) and (B. 8). For the purpose of the present work the states are required to be in terms of physical quantities. To transform the states of Eqs. (B.7) and (B.8) to a new set, in the present context id and iq are transferred to vt and it by the method given in l%ef. [1].

where k T is the 1 n gain state feedback vector and co is the new scalar control input, such that the sought closed-loop system is obtained from, = (A -- Bk +) x + Be~ -~ Ax ~ B~o y = Cx (B.14a) (B.14b)

Model reduction [5]

If it is assumed that l system states are measurable and the system state vector is arranged in order of measurability, the feedback control law becomes u = --[k T 0] x @ co = - k [ y + o~ (B.15)

Arranging the linearised system equations in the order of decreasing energy participation [5] of its states or b y arranging the order in terms of the physical significance and ease of implementation of states, which in this case are the same, the system equation may be written

----

[A21

A2~J x~

B~

(B.9)

where k t is the unknown l 1 gain output feedback vector. In this case l poles of the closed-loop system may be preassigned whereas the remaining n - l poles will be free. The characteristic polynomial of the sought closedloop system P(s), in terms of that of the open-loop system P(s) ere, becomes

The reduced order model is given by,

~ =[All - A12UT~IU21] x~ + [B1 -- AI~U~IA~IB~] u

P(s):
(B.lOa)

[sI--Ai=[sI--

A+BkVI:[sI-A!
(B.16)

+ kT[Adj (sI -- A)] B

---- P(s) + kTM(s) B

y~ -- [C~ -- C~U~U2~] x~

-- C2U~1A21B~u

(B.10b)

Equation (13.16) may be rewritten in the form kTM(s) B - - 1 0 ( 8 ) - P(s), and after equating eoeffi-

D. P. Papadopoulos et al. : Excitation controller design of synchronous machine cients of equal powers of s one obtains the following matrix equation in compact form Rk = ~ (B.17)
-

425

Matrix B' o/transformed synchronous machine openloop model and transformation mairices T and S
16.3489 11.1719 2873.2964 --2845.3904 --8.5153 0 4,2841 0.26690 0 0 0 0 110

where the elements of k are the unknowns. If t = n and R, is invertible, then equation (B.17) yields the gain state feedback vector k = R-I~. On the other hand, if l < n equation (B.17) m a y be written in partitioned form as

---1.1580 0.8968 0 T = 0 0 0 0

0.2239 0.4425 0 0 0 0 0

1.1967 0 1 0 0 0 0

1.1958 0 0 1 0 0 0

--0.2272 0 0 0 1 0 0

--0.0749 0 0 0 0 1 0

--0.0O240 0 0 0 0
1

which, when Rll is invertible, yields the gain output feedback vector kI = R~]1~I subject to the condition

-0.0142 0 0
S :,=

00 0 0 0
0

R21R~1~h = ~]2.

0 0 0 0

Appendix

Matrices A and B of synchronous machine open-loop model

--47.7738 --1118.2148 --2.7847

797.7444 --44.1950 46.4997 748.3560 --41.5904 0 --244.0048

--0.0845 830.5969 --7.6912 7.5775 781.6462 0 --72.1264

--2.1433 830.5969 11.9467 --14,8322 781.6462 0 --72,1264

--486.8357 --5.9260 --28.3772 --456,6956 --9.7105 0 79.2618

--446.2220 257.4357 --26.0098 --418.5964 242.2639 0 0

1.00821.3698 0.0588 0.9457 1,2891 1 0

A =

--44.8161 --1052.3136 0 33.0181

31.5652 0 2874.1499 --2831.6542 0 0 0

00 0 0 0 0 110

B =

426

Archly fiir Elektrotechnik 72 (1989) 4. ~Iickhl, J.; Sinha, N . K . : Model reduction for linear multi-variable systems. I E E E Trans., AC-25 (1980) 1121--1127

Matrices A", B'" and C" o/ trans]ormed synchronous machine with conventional exciter open-loop model
A, 40.2890 1208.5031 60.1963 A,, _ 37.7423 74.6259 -40.0486 --79.7276 62.9500 0 289.4512
0

40.9234 -1079.4895 -60.0340 63.5054 0 289.1718

0

-6.0749 -164.6102 -14.6994 126.7509 0 10.6078

0

-9.3261 -195.7787 -21.5033

-0.1250 i --1.42221 -0.08731

--

16.348911.1719 2873.2964 2845.3904 --8.5153 0 4.2841 --2.1200

961.0250 - 1 0 7 8 . 7 6 0 8

968.78491201.0128 600.5692 - 3 9 7 . 9 2 4 1 0 0 -- 302.1477 -- 353.3434

0 0

-- 1151.7594 - 1173.2731 - 2 3 6 . 5 6 8 3 --346.0683 - 1.40501 278.2255 - - 0 . 1 6 8 2 1 0 1 l I --22.6203

0

0.7332 I
0

~
I

-0 0

-1
1

0 (y, = IO 0

0 1
0

io
L2.12_~

Matrices A r, Br and C~ o/the reduced order open-loop model

-- 102.8897 Ar = 86.3374 --209.3676]

r-323.5581] B~ _ / - 4 1 2 . 5 1 0 8 [, / -2.1811[

-118.0139 t.7136 0

96.8276--239.65241, --1.45100 ~.7155j

L
e~= 1 0

2.12d
0 1
1

5. Lastman, G. J. ; Sinha, N. K. ; Rozsa, P. : On the selection of states to be retained in a reduced-order model. Proc. IEE, 131, Pt D (1984), 15--22 6. Boglou, A. K. ; Papadopoulos, D. P.: Frequency-domain order reduction methods applied ~o a hydro power system. Arch. Elektrotech. 71 (1988) 4t3--419 7. Davison, E . J . ; Rau, N.S.: The optimal output feedback control of a synchronous machine. I E E E Trans., PAS-90 (1971) 2123--2134 8. Rains, V.M.; Anderson, J . H . ; Wilson, W . J . ; Quintans, V. H.: Optimal output feedback control of power systems with high-speed excitation systems. I E E E Trans., PAS-95 (1976) 677--686 9. Wonham, W.M.: On pole assignment of multi-input controller linear systems. I E E E Trans., AC 12 (1967) 660--665 10. Retallak, D.G.; MacFarlane, A . G . J . : Pole shifting techniques for multivariable systems. Proe. IEE, 117 (1970) 1037--1038 11. Papadopoulos, D . P . ; Paraskevopoulos, P . N . : Application of eigenvalue assignment techniques for damping power frequency oscillations. Electr. Power Energy Syst~. 7 (1985) 188--191 12. Papadopoutos, D. P.: Excitation control of turbogenerators with output feedback. EIeetr. Power Energy Syst. 8 (1986) 176--181 13. Kalsi, S.; Adkins, B.: Transient stability of power systems containing both synchronous and induction machines. Proe. IEE, 118 (1971) 1467--1474. 14. Soper, J. ; Fagg, A. 1~. : Divided-winding rotor synchronous alternator. Proe. IEE, 116 (1969) 113--126

Received March 1, 1989

J. I~. Smith D. P. Papadopoulos Department of Engineering University of Aberdeen Aberdeen, V. K. G. Tsourlis Department of Electrical Engineering Democritus University of Thrace 67100 Xanthi Greece

References 1. Smith, J. t~.; Stringfellow, D.C.: Numerical determination of reduced order linear synchronous machine models. Comput. Elect. Eng., 4 (1977) 323--330 2. Elrazaz, Z.; Sinha, N. K. : On the selection of dominant poles of a system to be retained in a low order model. I E E E Trans., AC-24 (1979) 792--793 3. Enright, W . H . ; Kamel, W . H . : On selecting a loworder model using dominant mode concept. I E E E Trans., AC-25 (1980) 976--978