Proceedings of The
IEEE International Conference
on Industrial Technology, 1996
MODELLING AND SIMULATION OF DIESEL ELECTRICAL AGGREGATE
VOLTAGE CONTROLLER WITH CURRENT SINK
G. Erceg, IEEE Member
Department of Electric Machines and Automation
Faculty of’Electrica1Engineering and Computing
University of Zagreb, Zagreb, Croatia
Absiract - In the paper modeling and simulation of diesel motor
with speed control system and generator with Voltage system as
complex, nonlinear and multivariable systems are presented.
Mathematical models for every part of diesel electrical
aggregate (diesel motor with its speed control system,
synchronous generator, synchronous exciter, self-excited
compounding unit, voltage controller and load) are developed
and connected in common model of aggregate. Upon these
mathematical models of the aggregate, simulation model is
made using “MatrixX))simulation software package.
The paper also deals with comparation of characteristics
seen from the simulation aspect and measurements. Bringing
into a model new current sink, simulation results better match
experimental results. So, this model is privileged for selection
of diesel electrical aggregate’s type and for analyzing quality of
load supplying.
Keywords - Diesel Aggregate, Modeling, Sunulation, Isolated
System.
I. INTRODUCTION
Diesel electrical aggregates usually supplies isolated
systems, or acts as a reserve power suppliers. Such systems
are characterized with the fact that aggregate’s power fits
almost equally the power of installed loads. Procedure of
switching bigger loads in such systems causes considerable
dynamic changes in amplitude and settling time of voltage
and frequency. Considering quality of supplied load, known
characteristic appeared in transient process during loading
and/or unloading of aggregate result with proper choice of
diesel electrical aggregate’s type.
Investigation of diesel electrical aggregates behavior
requires usage of modern techniques in mathematical
modeling and simulation studies, and also carrying out of
measurements.
11. MATHEMATICAL MODEL OF DIESEL
ELECTRICAL AGGREGATE
Principle scheme of diesel electrical aggregate is shown in
Fig. 1. Aggregate is equipped with generator wltage control
system and diesel motor speed governing system. Generator
excitation system is realized using brushless synchronous
exciter and compounding unit. Besides the main generator
0-7803-3 104-4
. a75
S. TeSnjak, CIGRl? Member
R. Erceg, EEE Student Member
Department of Electric Power Engineering
Faculty of Electrical Engineering and Computing
University of Zagreb, Zagreb Croatia
voltage feedback loop, the internal feedback loop is provided
using excitation current of exciter. . Selfexcited
compounding unit operates as a current supplier, always
giving more current than the excitation of the exciter needs.
Generator voltage control system is based upon performs on
principle of subtraction of exciter excitation current using
current sink. Voltage controller has PID characteristic, while
exciter excitation current controller has P characteristic.
Pulse-width modulator (PWM) operates with current of
current sink, commonly known as exciter excitation current.
Initial excitation is realized via self-excited resonant LC
unit, while compoundation via compound transformer.
Generator frequency and resonant frequency of LC unit are
equal.
In control system of generator voltage new current sink
(Fig. 2) with reactor and transistor switch is used. This
current sink is capable of achieve changes of exciter
excitation current in much wider range (practically from
zero to maxim-) with less loading current of transistor
than today’s current sinks with resistor and transistor switch.
Transistor switch needs constant frequency and‘changeable
transistor impulse conduction period. Characteristic of
exciter excitation current which depends on PWM operation
r -4 -U,- - - - - - - - - - -
I
I
1 - measure unit
2 - voltage controller (PIC))
3 - controller of exciter excitatlon current (P)
4 - pulse-width modulotor (PWM)
5 -diesel motor
6 - synchronous generotor
7 -_ brushless generotor
8 - three phose diode rectifier
9 - meosure unit of exclter excitatlon current
10 -pulse omplifier
1 1 - current sink
Fig. 1 Principle scheme of diesel electrical aggregate
-

“0 “b “c
w where JDMis aggregate inertia torque, TDMdiesel motor
GENERATOR
Fig. 2 h c i p l e scheme of self-excited umt with current sink
signal is nonlinear and also depends on frequency. Linear
static characteristic of exciter excitation current with internal
control loop is taken enabling increase in speed of system
performance.
Diesel motor accompanied with control system and
generator with the voltage control system make complex,
nonlinear and multivariable systems. Mathematical models
are developed for each part of diesel electrical aggregate
(chesel motor with speed control system, synchronous
generator, brushless exciter, self-excited compounding unit,
vdltage controller and load), whch are afterwards ccinnected
in general model of the aggregate.
A . Diesel motor
Diesel motor expresses characteristics of complex,
multivariable and nonlinear system. Its dynamic behavior is
presented via system of differential equations of motor,
turbocompressor, inlet and outlet collectors and speed
controller. By taking into consideration of dfierentid
equations of turbocompressor, inlet and outlet collectors,
khowledge o€ many diesel motor characteristics are required
as much as very complicated experimental measurements.
Because of observing priority of generator’s characteristic
variables, diesel motor as the part of the aggregate is in
transient process usually given with simplified model. Thus,
neglected differential equations of turbocompressor, inlet
and outlet collectors results with simplified functional
scheme (Fig. 3).
It is assumed that speed control has direct impact on
opening of gas leading valve “a” which fits the quantity of
motor gas leading in no-load state and transient process.
Also, in diesel motor operation, the torque pulsation is
neglected assuming direct proportion of torque (without
delaying) to quantity of motor gas leading.
Speed controller has different designs. In today’s practice,
direct mechanical? mechanic-hydraulical, elecrohydraulical
and electronic controllers with microprocessors are used. In
the paper, motor with direct mechanical controller is taken.
/ I
Fig. 3 Simplified functional scheme of diesel motor
Dynamic performance of diesel molDr with its speed
control system c m be described by following equations:
JDM ‘-z- T&
da,
= TDM > (1)
torque, Teh generator’s electromagnetic torque, z1 and z2
time constants of speed controller, w aggregate speed, coo
reference aggregate speed, k control amplifier and TDMo
diesel motor torque at no-load state.
B. Synchronous generator
Usually, mathematical models or synchronous generator
are given by transforming steady state abc coordinate system
into dq coordinate system. According to references,
mathematical model is given in dq system with nonlinear
variables, but the way of taking nonlinearities into the model
depends on solving the concrete problem. Because of
saturation in mathematical model of generator with self-
excitation remanence and nonlinearities using no-load state
characterislics. In the model of the generator, changes of
variables are taken in d-axis. It is supposed that variables in
q-axis are constant. The p.u. equations of mathematical
model of generator with saturation included are:
- vd = R, . id + ( x i . id + xJd . ir + x& ‘ 1, + y d O+) w .y, , (3.a)
(X , ‘ l , + X g * i Q ) - ~ ’ v / d ,
-v,=R,’l,+S (3 .b)
VI = R, .i, f s
(x ‘M . id +x; .if + x & . io +yll,,) , (34
0 = R, .io + s xdD .id +x& .if + x i .i , +yo,,) ,
(* (3.4
0 = R, .i, + s (xa . zq‘ +x, .iQ ) , (33)
T, = id (x, .I , + x g .i, ) - ( . . ; . I d + x ; .t,+x; .i, +
(3.0
+v D 0 ) ‘ ‘q
Changes of variables in d-axis of generhtor model which
are taken in no-load state condition are marked with *, while
index “0” denotes remanence. Change of saturation caused
by generator speed changing is neglected. In Fig. 4 change
of reactance xid is shown. Supposing that dissipation of
reactances are constant, x;d = x& = x& worth.
C. Brushless exciter with rotating diode rectifier
Presently, according to references full dynamic
performance of brushless exciter with rotating diode rectifier
is not explored in depth in different generator operating
 -1 - 1 I

IQ I 'f
, .
,
. ... ... .

Fig. 5 Structural diagram of synchronous exciter with rotating

diode rectifier

0 01 0.4 01 0.1 I I1

Fig. 4 Changes of reactance xi. in d-axis of generator

A 1 1 I

Fig. 6 Compensation scheme of self-excited compounding unit

modes. Internal resistance, exciter armature reaction and
commutation process of &ode rectifier have considerable
effects on static and dynamic characteristics of exciter. By all
electromagnetic effects with speed change taken into
consideration of brushless exciter with rotating diode V, = R, * i,,
4, - 0, x , . i,, + Vc, ,
+x, -
rectifier, from the complex mathematical description results dt
which is not appropriate in computation. Model (Fig. 5 ) is
chosen from [2] where brushless synchronous exciter is
modeled with saturation (SE) at no-load state, and diode
rectifier with valve characteristic (Fe).Effect of armature
reaction is represented via kD factor. Commutation reaction PWM is in operation at frequency of 330 Hz,and can be
of diode rectifier is defined using subtransient reactance of simplified in modeling of practical operations. Such model
exciter. of P W M is not suitable as a part of common model of the
aggregate. Starting from the fact that self-excited
D.Mathematical model of load compounding unit determines exciter excitation current,
needed correction of exciter excitation current is made by
Transformation of voltage equations of load from abc voltage controller. Control loop of exciter excitation current
coordinate system into dq coordinate system results with with self-excited unit is modeled as it is shown by structural
mathematical model of generator's load which is stated in block diagram (Fig. 7).
p.u. as follows:
V, = R , . id + s . x L . i d + w . x , . i, , (4) F. Generator voltage controller
V, = R L . i q+ s . x , . i , - w . x , . i , . (5)
Generator voltage controller has PID characteristic. Its
mathematical model with feedback loop elements included is
E. Self-excited resonant compounding unit and exciter
excitation current control loop
depicted by structural scheme (Fig. 8).

111. SIMULATED AND EXPERIMENTALLY OBTAINED

Self-excited compounding unit posses ''mixed" (AC-DC)
RESPONSES
current circuit, and 111 mathematical descriptions would
lead to vexy complicated simulation model. Simplified model
For each part of the system, the simulation model is made
is achieved through compensation scheme (Fig. 6) where
by using ''Matrix? simulation software package. Different
mixed circuit of self-excited unit is replaced with AC circuit.
parts of the simulation model are connected into common
In compensation scheme generator is equipped with voltage
model of the aggregate (Fig. 9). Dynamic behavior of the
supplier, compound transformer with current supplier, and
aggregate is simulated regarding nominal step loading
winding of exciter excitation with equivalent resistance of
andor unloading of generator (54 kVA, 400 V, 78 A, 1500
exciter excitation.
mid', 50 Hz,cosq~0.8)as a triggering events.. Simulated
Upon this basis of compensation scheme with
transformation of abc coordinate system into dq coordinate and experimentally obtained responses of the aggregate (Fig.
10 and 11) match in significant degree approving diesel
system, the self-bxcited resonant compounding unit is
modeled with equations as follows: electrical aggregate model correction.
Fig. 7 Structuralblock diagram of exciter excitation current control
loop

CONTROL LOOP

I
I
11 +sT2
Fig. 9 Matrix, System Build simulation model of diesel electrical
aggregate
Fig. 8 Structural block diagram of generator voltage controller

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:::
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a) Simulation responses b) Expeiimentally obtained responses

Fig. 10 Responses of loading diesel electrical aggregate
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d
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g$
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IV. CONCLUSION [ 3 ] S. Stavrakakis, G. N. Kariniotakis, “A General

Results of diesel electrical aggregate simulation matches
experimentally obtained results in signifkant degree
introducing this simplified model as a useful mean in
practical purposes.
Linear and nonlinear variables of diesel electrical
aggregate components have to be more correctly given or
measured. Their uncorrection can cause considerable
changes between simulated and experimentally obtained
responses.
This model of the aggregate gives opportunity of
exploring diesel motor speed control system effects on
generator voltage control system performance.
V. REFERENCES
Simulation Algorithm for the Accurate Assessment of
Isolated Diesel - Wind Turbines System Interaction”,
Part I: “A General Multimachine Power System Model”,
IEEE Trans. on Energy Conversion, Vol. 10, No. 3 , pp.
577-583, Sept. 1995.
[4] S. Stavrakakis, G. N. Kariniotakis, “A General
Simulation Algorithm for the Accurate Assessment of
Isolated Diesel - Wind Turbines System Interaction”,
Part 11: “Implementation of the Algorithm and Case-
Studies with Induction Generators”, IEEE Trans. on
Energy Conversion, Vol. 10, No. 3, pp. 584-590, Sept.
1995.
[ 5 ] “Matrix, - SystemEIuildNS’, Version 3.0, Integrated
Systems Inc., USA, 1992.

[l] Anderson, A. A. Fouad, “Power System Control and

Stability”, IEEE PRESS Power System Engineering
Series, USA, New York, 1993.
[2] IEC Technical Report 34-16-2, 1991.