Modelling and simulation of synchronous machine transient analysis using SIMULINK

A. Demiroren and H. L. Zeynelgil Electrical Engineering Department, Istanbul Technical University, Istanbul, Turkey E-mail: aysen@elk.itu.edu.tr
Abstract This work describes a method which illustrates the benets of the visual aspects of MATLAB/SIMULINK for educational purposes. The method is specially developed for transient analysis of synchronous machines given by a simplied model. Details such as the exciter circuit, turbine and governor systems of a synchronous machine which is linked to an innitive bus through two equivalent lines are given and this system is implemented in SIMULINK. The considered synchronous machine has a rated power capacity of 160 MVA and rated voltage of 15 kV. Keywords MATLAB; modelling; SIMULINK; synchronous machine

List of symbols Pe : Electrical output power Vt : Generator terminal voltage Vtd : d axis component of terminal voltage Vtq : q axis component of terminal voltage Id : d axis armature current Iq : q axis armature current E : d axis transient voltage d E : q axis transient voltage q T 0 : d axis open circuit time constant d T 0 : q axis open circuit time constant q Efd : d axis eld voltage KE : Exciter gain TE : Exciter time constant Vs KF TFE TSR TSM TCH TRH KRH s : Stabilizing transformer voltage : Stabilizer circuit gain : Stabilizer circuit time constant : Speed relay time constant : Servomotor time constant : Steam chest time constant : Reheater time constant : Reheater gain : Laplace derivation operator

Pr : Speed relay output power Ph : Servomotor output power Pc : Steam chest output power Pm : Generator input power KG d w w0 wr D M Ra Re xe xd x d xq V P Q D Vtr : Speed relay gain : Rotor angular position : Angular speed : Base angular speed : Governor reference angular speed : Damping coefcient : Inertia constant of generator : Armature resistance : Equivalent resistance of transmission lines : Equivalent reactance of transmission lines : Synchronous reactance : Transient reactance : q axis reactance of generator : Innitive bus voltage : Real power : Reactive power : Change from nominal values : Reference value of the terminal voltage

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Simulation of synchronous machines can be done using various simulation tools, one of which is electromagnetic transient programs (EMTP).1 In this work, SIMULINK/MATLAB is favoured over other tools in modelling the dynamics of a synchronous machine. The SIMULINK program in MATLAB is used to obtain a schematic model of a synchronous machine by means of basic function blocks. This approach is pedagogically better than using a compilation of program code as in other software programs found in the literature.2,3 The library of SIMULINK software programs includes function blocks which can be linked and edited to model the dynamics of a system by using menu commands found on the keyboard. The synchronous machines dynamic model equations in the Laplace domain can be created by connecting appropriate function blocks. In order to simulate the detailed transient analysis of the synchronous machine, addition of new sub-models is needed to model the operation of various control functions. These sub-models are used in the calculation of various values related to the synchronous machine such as the steady state, exciter loop, turbine governor model and the currents. Synchronous machine model constructed using SIMULINK A model of the synchronous machine with appropriate degrees is given in this work for a transient stability investigation.3,4 The considered single machine-innitive bus system is given in Fig. 1. Electrical and mechanical sub-model of the synchronous machine For transient stability analysis, the synchronous machine model for generator operating is considered as a classical fourth-degree model given below: Electrical part: Ed = Eq = xd - xq Iq 1 + sT q 0 E fd xd - xd Id + 1 + sT d 0 1 + sTd0 (1) (2)

Mechanical part: Dw = 1 (Pm - Pe ) D + sM

Transmission lines Infinitive bus

(3)

S. Machine

Vt
Fig. 1

Re, xe

The considered single machine-innitive bus system.

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d = w0

Dw s

(4)

Turbine and governor system: DPr = DPh = DPc = DPm = Exciter: E fd = Vs = KE (Vtr - Vt - Vs ) 1 + sTE (8) (9) KG Dw 1 + sTSR 1 DPr 1 + sTSM 1 DPh 1 + sTCH sK RH TRH DPc 1 + sTRH (7) (5) (6)

sK F E fd 1 + sTFE

Terminal equations: Vtd = Ed - Ra Id - x d Iq = - V0 sind + Re Id + x e Iq Vtq = Eq - Ra Iq + x d Id = V0 cosd + Re Iq - x e Id Pe = Ed Id + Eq Iq (10) (11) (12)

The exciter is represented by a second-order dynamical model as in Fig. 2. The submodel has two inputs, Vtr and Vt, reference and instantaneous values of terminal voltage, respectively and one output Efd in per-unit values. Moreover, the sub-model of the mechanical part is represented by a dynamical model as in Fig. 3. The considered system, given in Fig. 3, includes a turbine and governor sub-system and the blocks of the relations among rotor angle d, deviation of angular speed Dw, and

Vtro
2

KE TE.s+1 KFs TFE.s+1

1

Vt

Efd

Fig. 2

The sub-model of the exciter system.

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1
rotor angleo w-wr w Pmo delta w

2
wr

3
Peo

Pe turbine and governor

1 s

1
K2*pi*f rotor angle

4
Pe

5
wo

Fig. 3

The sub-model of the mechanical part.

1 w-wr

-KG TSR. s+1 delta Pr

1 TSM. s+1 delta Ph

1 TCH. s+1 delta Pc

KRH. TRHs KRH. s+1 delta Pc1 2 Pmo 3 Pe 1 1 M. s+D delta w

Fig. 4

Turbine and governor system conguration.

steady state value of angular speed, w0, as given in equation (4). The sub-model includes ve inputs, steady state value of rotor angle in radian, reference value of angular speed, the steady state and instantaneous values of real electrical power and steady state value of angular speed, in per-unit values. It has one output rotor angle in radians. The sub-model of the turbine and governor system is represented in Fig. 4.5 The sub-model contains three inputs, the difference between the reference value and instantaneous value of angular speed, the steady state value of mechanical power, instantaneous value of electrical power, in per-unit, and one output, the deviation of angular speed in per-unit. The sub-model in Fig. 5 represents continuous operation of the electrical parts of the machine. The initial values which will be used until a fault occurs are provided by four switches in the sub-model. The inputs of the sub-model are d, Ed0, Efd, Vt0, Eq0, Pe0, V0, Re, xe, and the outputs are Vt, Pe. The sub-models for currents, terminal voltage and real electrical power are given in Figs 6 to 8, respectively. Steady state values of the synchronous generator The steady state values are calculated separately according to the block diagram of Fig. 9. The function blocks given in Fig. 9 which correspond to initial values of current, load angle, rotor angle, electromotor force in the machine, terminal voltage, real
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sin 1 rotor angle cos

Vo sin(delta) Id cos(delta) Eq Ed Iq Re xe Currents

xd-xd Tdo.s+1 xd-xq Tqo.s+1

2 Pe 3 Efd Vo sin(delta) cos(delta) Id Iq Re xe 1 Vt 4 Vto Vt 1 Tdo.s+1

2 Edo Eq

5 Eqo

Peo Ed Eq Pe Id Iq

Pe1 7 Vo 8 Re 9 xe

Fig. 5

The sub-model of continuous operation of the synchronous machine.

Vo 1 2 sin(delta) 4 Eq 6 Re

3 cos(delta) 5 Ed 7 xe

1 Mux Demux Id 2 Iq

Fig. 6

The sub-model of current calculated.

power, exciter voltage, and reference terminal voltage are calculated using the equations given below: I0 =
2 2 P 0 + Q0 V0

(13)
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1 2 si n(delta) 4 Id 6 Re Vo 3 M ux Vt

cos( delta) 5 Iq 7 xe

Fig. 7

The sub-model for calculation of terminal voltage.

1 2 1
Pe f( u) M ux Eq Ed

3
Id

4
Iq

Fig. 8

The sub-model for calculation of electrical power.

1 Po 2 Qo 3 Vo
Mux

f(u) lo f(u) load angleo Mux f(u) Mux

f(u) lqo Mux f(u) lqo Efdo Efdo min/max f(u)

Mux

f(u)

Mux

f(u)

1
Peo

4
f(u)

Edo

3
rotor angleo Mux Mux f(u) f(u)

6 2
Vtro

Eqo

Vto

Fig. 9

The steady-state sub-model of the synchronous machine.

j 0 = arctan d 0 = arctan

Q0 P0 I0 (x q + x e ) cos j 0 - I0 (Ra + Re ) sin j 0 V0 + I0 (Ra + Re ) cos j 0 + I0 (x q + x e ) sin j 0

(14) (15) (16) (17) (18)

Id 0 = - I0 sin (d 0 + j 0 ) Iq0 = I0 cos (d 0 + j 0 ) E fd 0 = V0 cosd 0 + (Ra + Re )Iq 0 - (x d + x e )Id 0

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Vt 0 =

(V0 + Re I0 cos j 0 + xe I0 sin j 0 )2 + (xe I0 cos j 0 - Re I0 sin j 0 )2 Ed 0 = - ( x q - x d ) I q 0

Eq 0 = E fd 0 + (x d - x d )Id 0 Pe 0 = Ed 0 Id 0 + Eq 0 Iq 0 Pm 0 = Pe 0

(19) (20) (21) (22) (23) (24)

Vtr =

E fd 0 + Vt 0 KE

The reference value of the terminal voltage of the synchronous machine is given in the last equation above. Simulation model of the synchronous generator The complete model of the synchronous machine used in the simulation is given in Fig. 10.

Peo

0.8
Po

Po

Vtro rotor angleo Vtro Efd Vt exciter

.496
Qo

Qo

Edo Vto

1
Vo

Vo

Eqo Steady state

delta

values

-KRotor angleo wr Peo rotor angle Pe wo Turbine and Governor

radian/degree

rotor angle Edo Efd Vto Eqo Peo Vo Re Pe Vt Vt

wr

wo

xe Electrical Part

fault

f.cleaning

post f.

Demux

prefault-fault 0-0.6 s.

fault-f.cleaning f. o.6-0.78s.

cleaning-post fault 0.78-0.87s

Fig. 10 The complete model of the system in SIMULINK.

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For transient stability analysis of a synchronous machine, it is assumed that a three-phase short-circuit at the sending terminal of one of the parallel lines has occurred at 0.6 s and the fault has continued until 0.78 s. The fault is cleared by switching the faulted line between 0.78 and 0.87 s and then the system is returned to the pre-fault conguration. These cases are represented by switch blocks in the model given in Fig. 10. The simulation lasts 10 s. Only one of the switch blocks given in Fig. 11(a) and (b) is explicitly given as an example conguration. The parameters of the system are given in the Table 1. The sub-system in Fig. 11(a) initially gives rst operation values to the system via out 3. After a period which is determined by adjusting the clock, the switch changes and new parameter values are collected from out 1. The switch conguration is similar for other operating conditions. The simulation results are given in Figs 1215. Fig. 12 represents the deviation

Out1 Out2 Out3 Switch 1 fault

V
0

(a)

Subsystem

Mux Mux4

Re
0 1

Out1

xe
2

V1
0.01

Clock Mux Mux

Out2
3

Re1
0.2

Out3

xe1

(b)

Fig. 11

(a) The switch conguration; (b) inner details of the considered switch.

TABLE 1

The parameter values of the synchronous machine have a capacity of 160 MVA rated power, 15 kV rated voltage
xd xe Td0 Tq0 KE Efdmin Efdmax : 0.245 : 0.2 : 5.9 s : 0.075s : 400 : -4.5 : 4.5 TE KF TFE D M KRH w0 : 0.05 s : 0.025 :1s :0 : 4.74 : 0.3 :1 TRH TCH TSR KG TSM wr :8s : 0.05 s : 0.1 s : 3.5 : 0.2 s :1

P0 Q0 V0 Ra Re xd xq

: 0.8 : 0.496 :1 : 0.001096 : 0.01 : 1.7 : 1.64

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Vt(p.u.)

t (s)
Fig. 12 The deviation of the terminal voltage.

Pe(p.u.)

t (s)

Fig. 13 The deviation of the electrical power.

(degree)

t (s)
Fig. 14 The deviation of the rotor angle.
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(p.u.)

4
t (s)
Fig. 15 The deviation of the angular speed.

of the terminal voltage of the synchronous machine. Fig. 13 represents the deviation of the electrical power. Figs 14 and 15 represent the deviation of the rotor angle and the deviation of angular speed, respectively. Conclusion SIMULINK uses the groups of block diagrams to represent dynamic systems. In this work, a model for simulation of the synchronous machine is constructed by using properly selected sub-blocks. For transient analysis, the synchronous machineinnitive bus system is investigated using SIMULINK. As shown in this study, SIMULINK provides a powerful tool for investigating power systems including synchronous machines for research and educational purposes. References
F. L. Alvarado, R. H. Lasseter and W. F. Long, Electromagnetic Transient Program (EMTP) Workbook (EPRI, 1986). 2 J. Hicklin, A. Grace et al., SIMULINK, A Program for Simulating Dynamic Systems, Users Guide (MathWorks Inc., 1992). 3 A. Demirren and H. L. Zeynelgil, The transient stability enhancement of synchronous machines with SMES by using adaptive control, Electric Components and Power Systems (Electric Machines and Power Systems), 30 (2) (2001). 4 H. L. Zeynelgil and A. Demirren, The application of self-tuning control to power systems with SMES, in Proc. ELECO99, IEEE-PES, 1999, pp. 274278. 5 A. H. M. A. Rahim and A. M. Mohammead, Improvement of synchronous generator damping through superconducting magnetic energy storage systems, IEEE Trans. EC, 9 (4) (1994). 1

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