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Synchronous Generator
DIgSILENT GmbH Heinrich-Hertz-Strasse 9 D-72810 Gomaringen Tel.: +49 7072 9168 - 0 Fax: +49 7072 9168- 88 http://www.digsilent.de e-mail: mail@digsilent.de
Synchronous Generator Published by DIgSILENT GmbH, Germany Copyright 2007. All rights reserved. Unauthorised copying or publishing of this or any part of this document is prohibited. TechRef ElmSym V4 Build 331 18.10.2007
Synchronous Generator
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Table of Contents
Table of Contents
1 General Description .............................................................................................................................................. 4 1.1 Mathematical Description ............................................................................................................................................... 5 1.1.1 Equations with stator and rotor flux state variables in stator-side p.u.-system .............................................................. 5 1.1.2 Mechanics ................................................................................................................................................................ 7 1.1.3 Equations with stator currents and rotor flux variables as used in the PowerFactory model ........................................... 7 1.1.4 Saturation ................................................................................................................................................................ 9 1.1.5 Simplifications for RMS-Simulation ........................................................................................................................... 10 1.2 Input Parameter Conversion ......................................................................................................................................... 10 1.2.1 Reactances, Resistances and Time Constants ........................................................................................................... 10 1.2.2 Saturation .............................................................................................................................................................. 13 1.3 Input-, Output and State-Variables of the PowerFactory Model ....................................................................................... 14 1.4 Rotor Angle Definition .................................................................................................................................................. 15 2 Input/Output Definition of Dynamic Models ...................................................................................................... 17 2.1 Stability Model (RMS) ................................................................................................................................................... 17 2.2 EMT-Model .................................................................................................................................................................. 19 3 References .......................................................................................................................................................... 21
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General Description
1 General Description
The correct modelling of synchronous generators is a very important issue in all kinds of studies of electrical power systems. PowerFactory provides highly accurate models which can be used for the whole range of different analyses, starting simplified models for load-flow and short-circuit calculations up to very complex models for transient simulations. Basically there are two different representations of the synchronous generator: The round rotor generator or turbo generator The salient rotor generator
The generators with a round rotor are used when the shaft is rotating with or close to synchronous speed of 1500 min-1to 3000 min-1. These types are normally used in thermal or nuclear power plants. Slow rotating synchronous generators with speed of 60 min-1 to 750 min-1, which are for example applied in diesel or hydro power plants, are realized with salient rotors. A schematic diagram of both types of machines is shown in Figure 1 and Figure 2. These figures are also indicating the orientation d- and q-axis according to the theory of the synchronous machine developed in the next section.
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General Description
1.1.1 Equations with stator and rotor flux state variables in stator-side p.u.-system
Stator voltage equations (the stator current are shown in generator orientation):
u d = rs id + u q = rs iq + u0 = rs i0 +
1 d d n q n dt 1 d q + n d n dt 1 d 0 n dt
(1)
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General Description
ue = reie +
d e n dt
d D 0 = rD iD + n dt
Rotor voltage equations, q-axis, round rotor:
(2)
0 = rx ix +
d x n dt d Q
0 = rQ iQ +
n dt
(3)
0 = rQ iQ +
d Q
n dt
(4)
d = ( xl + xmd )id + xmd ie + xmd iD e = xmd id + ( xmd + xrl + xle )ie + ( xmd + xrl )iD D = xmd id + ( xmd + xrl )ie + ( xmd + xrl + xlD )iD
q-axis, full-rotor:
(5)
(6)
q = (xl + x mq )iq + x mq iQ
Q = x mq iq + (x mq + x rl + xlQ )iQ
(7)
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General Description
te = d iq q id
(8)
1.1.2 Mechanics
The accelerating torque is the difference between the input torque (mechanical torque) tm and the out put torque (electromechanic torque) te of the generator. The inertia of the generator-shaft system is then accelerated or decelerated, when an unbalance in the torques occurs. The equations of motion of the generator can then be expressed as
2 J n dn dn = Ta = tm + te 2 p z Pr dt dt
d = n n dt
(9)
The inertia of the generator and the turbine can then be expressed in a normalized per unit form as the inertia time constant H in [s], with
2 1 J0 2 p z2 Pr
H=
(10)
where pz is the number of pole pairs of the machine. The inertia time constant H can be given based on the rated apparent generator power, as shown in the equation above, or based on the rated active generator power. The mechanical starting time or acceleration time constant TA in [s] is then
Ta = 2 H
Both H and TA can be entered in PowerFactory based on Sr or Pr.
(11)
1.1.3 Equations with stator currents and rotor flux variables as used in the PowerFactory model
Subtransient Flux:
d'' = ke e + k D D q'' = k x x + kQ Q
(12)
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General Description
with
ke = kD = kx = kQ =
with
xmd xlD xd 2 xmd xle xd 2 xmq xlQ xq2 xmq xlx xq2
(13)
xd 2 = xle xlD + ( xmd + xrl )( xle + xlD ) xq2 = xlx xlQ + (xmq + xrl )(xlx + xlQ )
(14)
Using:
' d = xd'' id + d' ' ' q = xq' iq + q'
(15)
and
' 1 d d' ' n q' n dt
' u d' =
(16)
ud = rs id + uq = rs iq + u0 = rs i0 +
n dt
x0 di0 n dt
(17)
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General Description
1.1.4 Saturation
So far saturation effects where not included in the description of the equivalent circuits. The exact representation of saturation is very complex, but normally not necessary to obtain good results from simulations. Therefore in most cases saturation is represented by the saturation of the mutual reactances xmd and xmq only. Consideration of saturation of magnetizing reactance in d- and q-axis:
x md = k satd x md 0 x mq = k satq x mq 0
Saturation depending on magnitude of magnetizing flux:
(18)
m = ( d + xl id )2 + ( q + xl iq )2
(19)
The saturation of the mutual reactance xmq in the q- axis can not be measured. Thus the characteristic is assumed to be similar to the one of the d-axis. For the round rotor machine the saturation is equal in d- and qaxis. In the salient rotor machine the characteristic is weighted by the ratio xq/xd. If
m Ag :
csat =
Bg ( m Ag ) m
(20)
else:
csat = 0
The saturation coefficient ksat in d- and q-axis are calculated as follows:
(21)
k satd = k satq =
Saturated magnetizing reactances applied to all formulas (5),(6),(7) and (12),(13),(14). Saturation in subtransient reactances is not considered.
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General Description
The saturation of the leakage reactance is not included in the model. This saturation is a current saturation, i.e. high currents after short-circuits will lead to a saturation effect of the leakage reactance xl. Here it is common practice to use unsaturated values only. Although to neglect this type of saturation may lead to an underestimation of the short-circuit currents. Hence there is a way to model this effect explicitly. This saturation is an effect, which influences the SC current only in the first milliseconds, i.e. it can be assumed to be a subtransient effect. For the definition of the input parameter in the PowerFactory model please refer to section 1.2.2.
(23)
with:
' ' ud' = n q' ' ' uq' = n d'
(24)
Assumption that magnetizing voltage is approx. equal to magnetizing flux (for saturation):
m um =
(u
+ rs id xl iq ) + (uq + rs iq + xl id )
2
(25)
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General Description
q-axis, round-rotor:
' xq' , xl , xrl , xlx , xlQ , rx , rQ
Auxiliary variables:
x1 = x d xl x rl x 2 = x1
( x d x l )2
xd
(26)
(27)
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General Description
a=
x2T1 x1T2 x1 x2
x3 b= T2T3 x3 x2
Tle = a a2 + b 2 4
(28)
a a2 TlD = b 2 4
Calculation of internal model parameter:
(29)
xle =
xlD =
(30)
re = rD =
q-axis, round rotor machine: - analoguous to d-axis parameter q-axis, salient pole machine:
xlQ = rQ =
(x
xq
' xl ) xq' xl
)
(31)
xq x
'' q
nTq''
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General Description
1.2.2 Saturation
Figure 3 shows the definition of the saturation curve of the mutual reactance. The linear line represents the airgap line indicating the excitation current required overcoming the reluctance of the air-gap. The degree of saturation is the deviation of the open loop characteristic from the air-gap line.
s g1.0 = s g1.2
ie (1.0 p.u ) 1 i0
(32)
s g1.2 s g1.0
(33)
s g1.2 s g1.0
(1 A )
g
s g1.0
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General Description
(34)
~ e = ~ D =
xmd 0 e xe 0 xmd 0 D xD 0
x ~ x = mq 0 x xx 0 ~ Q =
With
(35)
xmq 0 xQ 0
xe 0 = xmd 0 + xlr + xle xD 0 = xmd 0 + xlr + xlD x x 0 = xmq 0 + xlr + xlx xQ 0 = xmq 0 + xlr + xlQ
Rotor voltage equations, d-axis: (36)
~ d e ~ ~ ue = ie + Te 0 dt ~ d D ~ 0 = iD + TD 0 dt
(37)
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General Description
~ d x ~ 0 = ix + Tx 0 dt d Q ~ 0 = iQ + TQ 0 dt
Rotor voltage equations, q-axis, salient pole:
(38)
~ d Q ~ 0 = iQ + TQ 0 dt
With
(39)
Te 0 = TD 0 =
xe 0 ren xD 0 rDn
x Tx 0 = x 0 rxn TQ 0 = xQ 0 rQn
(40)
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General Description
Additionally there is the variable dfrotx available at each generator, which is indicating the maximum value of dfrot for all generators in the system. This variable can assist you to indicate, if a generator is falling out of step with respect to the reference machine angle.
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psie psiD psix psiQ xspeed phi ve fref ut/utr/uti pt pgt ie xmdm pgt outofstep xme xmt cur1/cur1r/cur1i P1 Q1
Figure 5: Input/Output Definition of the synchronous machine model for stability analysis (RMSsimulation)
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2.2 EMT-Model
psie psiD psix psiQ xspeed phi ve pt fref ut/utr/uti pgt ie xmdm pgt outofstep xme xmt cur1/cur1r/cur1i P1 Q1
Figure 6: Input/Output Definition of the HVDC converter model for stability analysis (EMTsimulation)
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References
3 References
[1] P. Kundur, Power System Stability and Control, McGraw-Hill, Inc., 1994.
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