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Heydt Synchronous Mach Sep03
Heydt Synchronous Mach Sep03
LAGGING
o
% 8 . 98 ) 9 . 8 cos( =
POWER FACTOR
Ia
Examples
A six pole synchronous generator
operates at 60 Hz. Find the speed of
operation
Examples
RPM = ( 120 f ) / (Poles)
RPM = 120*60 / 6
= 1200
Examples
A 40 MVAr synchronous condenser
operates on a 34.5 kV bus. The
synchronous reactance is 150%.
Estimate the field excitation to obtain a
30 to 40 MVAr range of reactive power.
Examples
125 . 2 | |
| 75 . 0 | 5 . 1 | | 0 . 1
75 . 0 | |
) 90 90 ( | | 5 . 1 0 | | 0 . 1 [
) 5 . 1 ( 0 | | 0 1
=
=
=
+ =
+ =
+ =
f
f
a
o o
a f
a f
a t
E
E
I At
I E
jI E
x jI E V
0 . 1 | | } 75 . 0
0 . 1 75 . 0
a
I
Q
Examples
50 . 2 | |
| 00 . 1 | 5 . 1 | | 0 . 1
00 . 1 | |
) 90 90 ( | | 5 . 1 0 | | 0 . 1 [
) 5 . 1 ( 0 | | 0 1
=
=
=
+ =
+ =
+ =
f
f
a
o o
a f
a f
a t
E
E
I At
I E
jI E
x jI E V
Therefore the field excitation should be
between 213% and 250 %
SESSION 4
Synchronous machine
models
Saturation and the
magnetization curve
Parks transformation
Transient and subtransient
reactances, formulas for
calculation
Machine transients
Saturation and the magnetization
curve
FIELD EXCITATION
S
H
O
R
T
C
I
R
C
U
I
T
A
R
M
A
T
U
R
E
C
U
R
R
E
N
T
O
P
E
N
C
I
R
C
U
I
T
T
E
R
M
I
N
A
L
V
O
L
T
A
G
E
RATED Ia
SCC
c
f
f
RATED Vt
OCC
A
I
R
G
A
P
L
I
N
E
S
H
O
R
T
C
I
R
C
U
I
T
A
R
M
A
T
U
R
E
C
U
R
R
E
N
T
FIELD EXCITATION O
P
E
N
C
I
R
C
U
I
T
T
E
R
M
I
N
A
L
V
O
L
T
A
G
E
RATED Ia
SCC
c
f
f
RATED Vt
OCC
A
I
R
G
A
P
L
I
N
E
SYNCHRONOUS REACTANCE =
SLOPE OF AIR GAP LINE
SHORT CIRCUIT RATRIO = Of/Of
Saturation and the magnetization
curve
Saturation occurs because of the alignment
of magnetic domains. When most of the
domains align, the material saturates and no
little further magnetization can occur
Saturation is mainly a property of iron -- it
does not manifest itself over a practical
range of fluxes in air, plastic, or other non-
ferrous materials
The effect of saturation is to lower the
synchronous reactance (to a saturated
value)
Saturation and the magnetization
curve
Saturation may limit the performance of
machines because of high air gap line
voltage drop
Saturation is often accompanied by
hysteresis which results in losses in
AC machines
Saturation is not present in
superconducting machines
Transients and the dq
transformation
L
bb
r
c
r
a
r
b
r
n
L
aa
L
c c
L
n
v
a
v
b
v
n
i
c
i
b
i
a
i
n
a
b
c
n
v
c
r
D
L
D
v
D
=0
i
D
r
G
L
G
v
G
=0
i
G
r
F
L
F
i
F v
F
r
Q
L
Q
v
Q
=0
i
Q
Transients and the dq
transformation
L
bb
r
c
r
a
r
b
r
n
L
aa
L
c c
L
n
v
a
v
b
v
n
i
c
i
b
i
a
i
n
a
b
c
n
v
c
r
D
L
D
v
D
=0
i
D
r
G
L
G
v
G
=0
i
G
r
F
L
F
i
F v
F
r
Q
L
Q
v
Q
=0
i
Q
ri v
=
Transients and the dq
transformation
ri v
=
ROTATION
d-axis
q-axis
THE BASIC IDEA IS TO WRITE
THE VOLTAGE EQUATION AS
IF THERE WERE ONLY A d-
AXIS, AND AGAIN AS IF
THERE WERE ONLY A q-AXIS
Transients and the dq
transformation
ri v
=
+
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
Q
G
D
F
c
b
a
Q
G
D
F
c
b
a
Q
G
D
F
c
b
a
Q
G
D
F
c
b
a
i
i
i
i
i
i
i
r
r
r
r
r
r
r
v
v
v
v
v
v
v
+
+ =
)
3
2
sin( )
3
2
sin( sin
)
3
2
cos( )
3
2
cos( cos
2
1
2
1
2
1
3
2
P
PARKS TRANSFORMATION
2 t
R
+ + =
BY APPLYING PARKS
TRANSFORMATION, THE TIME
VARYING INDUCTANCES
BECOME CONSTANTS
Transients and the dq
transformation
+
+
+
=
Q
G
D
F
q
d
Q
G
D
F
AD AD d AD
AQ AQ q AQ
n
Q
G
D
F
q
d
i
i
i
i
i
i
i
r
r
r
r
L L r L
L L L r
r r
v
v
v
v
v
v
v
0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 ) ( 0
0 0 ) ( 0
0 0 0 0 0 0 3
+
+
+
+
+
+
+
Q
G
D
F
q
d
Q AQ AQ AQ
AQ G AQ AQ
D AD AD AD
AD F AD AD
AQ AQ q AQ
AD AD d AD
n
B
i
i
i
i
i
i
i
L L L
L L L
L L L
L L L
L L L
L L L
L L
0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0 0 0 3
1
Machine reactances
d-axis equivalent circuit
v
F
+
+
r
F
L
F
L
D
L
AD
L
a
r
D
i
F
i
D
i
d
v
d
q
r
a
Machine reactances
q-axis equivalent circuit
+
r
G
L
G
L
Q
L
AQ
L
a
r
Q
i
G
i
Q
i
q
v
q
d
r
a
Machine reactances
These equivalent circuit parameters are
traditionally obtained by a combination of
manufacturers design specifications and
actual tests
IEEE has a series of standardized tests for
large generators that yield several time
constants and equivalent circuit inductances
Aging and saturation are not well accounted
Change in operating point is not well
accounted
Machine transient and subtransient
reactances
Subtransient direct axis
inductance
"
d
L
2
3 2 2
2
AD D F
AD AD F AD D
d
L L L
L L L L L
L
Transient direct axis
inductance
'
d
L
F
AD
d
L
L
L
2
Subtransient open
circuit time constant in
the direct axis
"
do
F D B
AD F D
L r
L L L
Transient open circuit
time constant in the
direct axis
'
do
F B
F
r
L
Subtransient short
circuit time constant in
the direct axis
"
d
"
'
"
do
d
d
L
L
Transient short circuit
time constant in the
direct axis
'
d
'
'
do
d
d
L
L
SYNCHRONOUS
GENERATOR
PHASOR DIAGRAM
i
d
i
q
E
a
i
a
ji
q
x
q
ji
d
x
d
i
a
r
a
V
t
SYNCHRONOUS
GENERATOR
PHASOR DIAGRAM
i
d
i
q
E
a
i
a
ji
q
x
q
ji
d
x
d
i
a
r
a
V
t
POWER
FACTOR
ANGLE
TORQUE
ANGLE
SYNCHRONOUS
GENERATOR
PHASOR DIAGRAM
i
d
i
q
E
a
i
a
ji
q
x
q
ji
d
x
d
i
a
r
a
V
t
POWER
FACTOR
ANGLE
TORQUE
ANGLE
ji
a
x
q
ji
q
x
q
i
d
x
q
Machine transient and subtransient
reactances
The usual procedure is that IEEE
standardized tests are used to obtain
inductances and time constants. Then
using the formulas, circuit inductances
and resistances can be solved.
TESTS
TIME CONSTANTS
INDUCTANCES
EQUIVALENT
CIRCUIT
PARAMETERS
Transient calculations
Transients in dynamic systems are calculated as solutions
of differential equations
The usual solution approach is a numerical solution of
(dX/dt) = AX + bu
Most numerical solutions relate to the approximation of
dX/dt as (delta X)/(delta t)
Solutions are iterative in the sense that the given initial
condition is used to obtain X at time t = h; then X(h) is
used to obtain X(2h), etc.
Popular solution methods include Matlab toolboxes, EMTP,
ETMSP, PSpice
The computer solutions could be used to compare with
actual field measurements. And if there are discrepancies,
the computer model could be updated to obtain better
agreement and hence a more accurate model.
SESSION 5
State estimation applied to
synchronous generators
Basics of state estimation
Application to synchronous generators
Demonstration of software to identify
synchronous generator parameters
Session topics:
BASICS OF STATE ESTIMATION
It is desired to measure
the voltage across R
2
V
a
= 5.1 V
V
b
= 4.7 V
Since the two measurements do not agree but are close to
each other, average the result to estimate V
2
V 9 . 4
2
7 . 4 1 . 5
2
2
=
+
=
+
=
b a
V V
V
V
s
=10V
R
1
=5
R
2
=5
V
V
2
-
+
Assume we have two voltmeters: A and B
Measure the voltage across R2 with both
voltmeters
BASICS OF STATE ESTIMATION
Now assume that we have a third voltmeter C
Let the measurement from C be V
c
= 15 V
Clearly this measurement is not reliable
Simple approach: disregard V
c
and estimate V
2
from V
a
and V
b
Another approach: Use weighted state estimation
This means, assign appropriate weights to each of the three
measurements according to the confidence that the user has
to each instrument.
For example, give the following weights:
if B is the best instrument give it a weight of 20
give a weight of 18 to A
give a weight of 1 to C since it is not reliable
15 . 5
39
1 15 20 7 . 4 18 1 . 5
2
=
+ +
= V
BASICS OF STATE ESTIMATION
Definition: State estimation is the process of assigning a
value to an unknown system state variable, using
measurements from the system under study. Knowledge
of the system configuration and of the accuracy of the
measuring instruments is used in this process.
Estimated
states
S
y
s
t
e
m
M
e
a
s
u
r
e
m
e
n
t
s
E
s
t
i
m
a
t
o
r
x
z
H
EXAMPLE 1
Assume that it is desired to estimate two states (variables)
Three measurements are obtained, which form the following
equations
8 . 4 3
2 . 0 2
1 . 3
2 1
2 1
2 1
=
=
= +
x x
x x
x x
In matrix form:
8 . 4
2 . 0
1 . 3
3 1
1 2
1 1
2
1
x
x
The matrix equation is of the form Hx = z
2 states
2x1 vector
3 measurements
3x1 vector
Process matrix
3x2
8 . 4
2 . 0
1 . 3
3 1
1 2
1 1
2
1
x
x
EXAMPLE 1
Number of measurements: n=3
Number of states: m=2
Since n>m, the system is overdetermined
Hence there is no unique solution
The solution is not unique since in general it is not possible to
satisfy all the equations exactly for any choice of the
unknowns.
A solution should be selected such that the error in satisfying
each equation is minimum.
This error is called the residual of the solution and can be
computed by,
x H z r
=
x
H
+
is called the pseudoinverse of H
8 . 4
2 . 0
1 . 3
3 1
1 2
1 1
2
1
x
x
EXAMPLE 1
H
x
z
z H H H x
T T 1
) (
= Substitute H and z in
and solve for the unknown states
972 . 1
098 . 1
3 . 17
3 . 1
12 . 0 08 . 0
08 . 0 22 . 0
3 . 17
3 . 1
11 4
4 6
8 . 4
2 . 0
1 . 3
3 1 1
1 2 1
3 1
1 2
1 1
3 1 1
1 2 1
1
1
x
x
x
EXAMPLE 1
To see how much error we have in the estimated parameters,
we need to calculate the residual in a least squares sense
)
( )
( x H z x H z r r J
T T
= =
= =
018 . 0
224 . 0
03 . 0
8 . 4
2 . 0
1 . 3
972 . 1
098 . 1
3 1
1 2
1 1
z x H r
[ ] 0514 . 0
018 . 0
224 . 0
03 . 0
018 . 0 224 . 0 03 . 0 =
= J
WHY ARE ESTIMATORS NEEDED?
In power systems the state variables are
typically the voltage magnitudes and the relative
phase angles at the nodes of the system.
The available measurements may be voltage
magnitudes, current, real power, or reactive
power.
The estimator uses these noisy, imperfect
measurements to produce a best estimate for
the desired states.
WHY ARE ESTIMATORS NEEDED?
It is not economical to have measurement devices at
every node of the system
If errors are small,
these errors may go
undetected
The measurement devices are subject to errors
If errors are large,
the output would be useless
There are periods when the communication
channels do not operate. Therefore, the system
operator would not have any information about
some part of the network.
HOW DOES THE ESTIMATOR HELP?
An estimator may:
reduce the amount of noise in the measurements
detect and smooth out small errors in readings
detect and reject measurements with gross errors
fill in missing measurements
estimate states that otherwise are difficult to
measure
EXAMPLE 2
R
1
R
2
R
3
V
1
V
2 V
3
Assume we have a network
configuration as in the figure on the left.
Assume that measurements are
available for V
1
, V
2
, and V
3
. Find a
relationship for V
3
that has the following
form: V
3
= aV
1
+ bV
2
+ c
Available measurements
V
1
V
2
V
3
7.1 0 3.1
8.3 3.2 2.3
10.4 5.1 1.4
0 9.1 4.0
This is clearly an estimation
problem with three unknowns (a,
b, c), and four measurements.
Therefore it is an overdetermined
estimation problem.
Now, it is necessary to express the estimation problem
mathematically
EXAMPLE 2
Substitute the measurements obtained in the desired model
V
3
= aV
1
+ bV
2
+ c
V
1
V
2
V
3
7.1 0 3.1
8.3 3.2 2.3
10.4 5.1 1.4
0 9.1 4.0
3.1 = 7.1a + 0b + c
2.3 = 8.3a + 3.2b + c
1.4 = 10.4a + 5.1b + c
4.0 = 0a + 9.1b + c
In matrix form,
0 . 4
4 . 1
3 . 2
1 . 3
1 1 . 9 0
1 1 . 5 4 . 10
1 2 . 3 3 . 8
1 0 1 . 7
c
b
a
As in example 1, we can solve this
matrix equation by taking the
pseudoinverse of the H matrix
H
x
z
+
2505 . 5
1374 . 0
3028 . 0
0 . 4
4 . 1
3 . 2
1 . 3
1 1 . 9 0
1 1 . 5 4 . 10
1 2 . 3 3 . 8
1 0 1 . 7
c
b
a
EXAMPLE 3
Lets work out another example:
Estimate the relative phase angles at the buses of the figure
below
50 MW
M
12
M
13
M
32
BUS 1
BUS 2
BUS 3
4
0
M
W
90 MW
20 MW
30 MW
6
0
M
W
Given:
X
12
= 0.2 p.u.
X
13
= 0.4 p.u.
X
23
= 0.1 p.u.
System base: 100 MVA
50 MW
M
12
M
13
M
32
BUS 1
BUS 2
BUS 3
4
0
M
W
90 MW
20 MW
30 MW
6
0
M
W
EXAMPLE 3
SOLUTION
Let bus 1 be the reference bus
0
1
=
From the measurements:
M
12
= 20 MW = 0.2 p.u.
M
13
= 30 MW = 0.3 p.u.
M
32
= -60 MW = -0.6 p.u.
The line flows are given by,
ab b a
ab
ab
M
X
f = = ) (
1
The above formula can be shown
considering a simple two bus arrangement
1 1
V
2 2
V
X
P
X
V V
P
) sin(
2 1 2 1
Since V
1
and V
2
are approximately 1 p.u., and the
angle is small, P can be obtained as,
2 1
X
P
2 1
EXAMPLE 3
Hence,
6 . 0 10 10 ) (
1 . 0
1
) (
1
3 . 0 5 . 2 ) 0 (
4 . 0
1
) (
1
2 . 0 5 ) 0 (
2 . 0
1
) (
1
2 3 2 3 2 3
32
32
3 3 3 1
13
13
2 2 2 1
12
12
= = = =
= = = =
= = = =
X
f
X
f
X
f
In matrix form,
6 . 0
3 . 0
2 . 0
10 10
5 . 2 0
0 5
3
2
6 . 0
3 . 0
2 . 0
10 5 . 2 0
10 0 5
10 10
5 . 2 0
0 5
10 5 . 2 0
10 0 5
rad
1048 . 0
0438 . 0
3
2
a axis
c axis
q axis
d axis
b axis
direction of
rotation
i
F
i
F
i
D
i
D
i
a
i
a
i
b
i
b
i
c
i
c
i
Q
i
Q
i
G
i
G
Schematic diagram of a synchronous generator
SYNCHRONOUS GENERATOR MODEL
L
bb
r
c
r
a
r
b
r
n
L
aa
L
cc
L
n
v
a
v
b
v
n
i
c
i
b
i
a
i
n
a
b
c
n
v
c
r
D
L
D
v
D
=0
i
D
r
G
L
G
v
G
=0
i
G
r
F
L
F
i
F v
F
r
Q
L
Q
v
Q
=0
i
Q
DEVELOPMENT OF SYNCHRONOUS
GENERATOR MODEL
n
v ri v =
0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
n
Q
G
D
F
c
b
a
Q
G
D
F
c
b
a
Q
G
D
F
c
b
a
Q
G
D
F
c
b
a
v
i
i
i
i
i
i
i
r
r
r
r
r
r
r
v
v
v
v
v
v
v
Q
G
D
F
q
d
Q Y Q
Y G G
D X D
X F F
Q G q
D F d
Q
G
D
F
q
d
i
i
i
i
i
i
i
L M kM
M L kM
L M kM
M L kM
kM kM L
kM kM L
L
0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0 0 0
Q
G
D
F
c
b
a
QQ QG QD QF Qc Qb Qa
GQ GG GD GF Gc Gb Ga
DQ DG DD DF Dc Db Da
FQ FG FD FF Fc Fb Fa
cQ cG cD cF cc cb ca
bQ bG bD bF bc bb ba
aQ aG aD aF ac ab aa
Q
G
D
F
c
b
a
i
i
i
i
i
i
i
L L L L L L L
L L L L L L L
L L L L L L L
L L L L L L L
L L L L L L L
L L L L L L L
L L L L L L L
+
+ =
)
3
2
sin( )
3
2
sin( sin
)
3
2
cos( )
3
2
cos( cos
2
1
2
1
2
1
3
2
P
abc dq
Pi i =
0
abc dq
Pv v =
0
abc dq
P =
0
DEVELOPMENT OF SYNCHRONOUS
GENERATOR MODEL
[ ] [ ]
1 4
1 3
0
7 7
1 4
1 3
0
7 7
1 4
1 3
0
x
FDGQ
x
dq
x
x
FDGQ
x
dq
x
x
FDGQ
x
dq
i
i
L
i
i
R
v
v
Resulting model:
SYNCHRONOUS GENERATOR MODEL
+
+
+
+
+
+
+
+
+
+
=
Q
G
D
F
q
d
Q AQ AQ AQ
AQ G AQ AQ
D AD AD AD
AD F AD AD
AQ AQ q AQ
AD AD d AD
n
B
Q
G
D
F
q
d
Q
G
D
F
AD AD d AD
AQ AQ q AQ
n
Q
G
D
F
q
d
i
i
i
i
i
i
i
L L L
L L L
L L L
L L L
L L L
L L L
L L
i
i
i
i
i
i
i
r
r
r
r
L L r L
L L L r
r r
v
v
v
v
v
v
v
0 0
0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0 0 0 3
1
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 ) ( 0
0 0 ) ( 0
0 0 0 0 0 0 3
MODEL DISCUSSION
After the development of the model it is necessary to
carefully examine the available information about the
system, find out what is known in the model, what is
unknown and needs to be calculated or assumed, and what
is desired to be estimated.
For the synchronous generator case,
Measured/Known
line-to-line terminal voltages
line currents
field voltage (for an exciter with brushes)
field current (for an exciter with brushes)
Unknown
damper currents
current derivatives
Finally, some of the parameters need to be estimated through
state estimation, while the other parameters need to be
calculated from manufacturers data
STATE ESTIMATOR CONFIGURATION
EXAMPLE
Estimate L
AD
, L
AQ
, and r
F
t
t i t t i
t i
) ( ) (
) (
+
=
+ +
+ + + +
+ + + +
Q
G
D
F
q
d
Q
G
D
F
q
d
F
q
d
n
B
Q
G
D
F
q
d
d
q
n
F
AQ
AD
F D F d
B
Q G q
B
D F d
Q G q D F d
B
V
V
V
V
V
V
V
i
i
i
i
i
i
i
L L
i
i
i
i
i
i
i
r
r
r r
r
L
L
i i i i
i i i
i i i
i i i i i i
0 0
0
0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0 3
1
0 0 0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0 0 3
0 ) (
1
0 ) (
1
) (
0 ) ( ) (
1
0 0 0
CALCULATION OF TORQUE ANGLE
The torque angle can be calculated in
different ways depending on what information
is available
Two ways to calculate the torque angle will be
shown:
1. Using line to line voltages and line currents
(stator frame of reference)
2. Using voltages and currents in the rotor frame of
reference (0dq quantities)
CALCULATION OF TORQUE ANGLE
IN THE STATOR REFERENCE FRAME
Known quantities:
Line to line voltages (v
ab
, v
bc
, v
ca
)
Line currents (i
a
, i
b
, i
c
)
Procedure:
1. Calculate phase voltages
) (
3
1
) (
3
1
) (
3
1
ca bc c
bc ab b
ca ab a
v v v
v v v
v v v
+ =
+ =
=
2. Calculate three phase active
and reactive power
3 ) (
b ca a bc c ab
c bc a ab
i v i v i v Q
i v i v P
+ + =
=
3. Calculate the power factor
P
Q
1
tan
=
CALCULATION OF TORQUE ANGLE
IN THE STATOR REFERENCE FRAME
4. Calculate the voltage angle for each phase
For a balanced 3-phase system,
) 120 cos(
) 120 cos(
cos
+ =
=
=
v v
v v
v v
m c
m b
m a
For phase a, use phases b and c
v v v v v
v v v v v
m m m m c
m m m m b
sin
2
3
cos
2
1
120 sin sin 120 cos cos
sin
2
3
cos
2
1
120 sin sin 120 cos cos
= =
+ = + =
It can be observed that,
v v v
v v v
m c b
m c b
sin 3
cos
=
= +
c b
c b
c b
c b
v v
v v
v v
v v
+
=
=
3
1
tan
cot
3
1
CALCULATION OF TORQUE ANGLE
IN THE STATOR REFERENCE FRAME
5. Find the angle of i
a
Using the above procedure,
The angles for the other phases can be calculated in a
similar fashion. The angles for all phases are given by,
)
) (
) (
3
1
( tan
)
) (
) (
3
1
( tan
)
) (
) (
3
1
( tan
1
1
1
b a
b a
v
a c
a c
v
c b
c b
v
v v
v v
v v
v v
v v
v v
c
b
a
+
=
+
=
+
=
)
) (
) (
3
1
( tan
1
c b
c b
i
i i
i i
a
+
=
CALCULATION OF TORQUE ANGLE
IN THE STATOR REFERENCE FRAME
6. Calculate the instantaneous line to neutral rms voltage for
phase a
7. Calculate the machine generated emf
a
rms
v
ca bc
t
v v
V
cos 3 2
+
=
E I jx r V E
t a q t t
= + + = ) (
is the torque angle
CALCULATION OF TORQUE ANGLE
IN THE ROTOR REFERENCE FRAME
Known quantities:
0dq voltages (v
0
, v
d
, v
q
)
0dq currents (i
0
, i
d
, i
q
)
Procedure:
1. Calculate the active and reactive power
q d d q
q q d d
i v i v Q
i v i v P
=
+ =
2. Calculate the terminal voltage
E jV V E
t q d t
= + =
CALCULATION OF TORQUE ANGLE
IN THE ROTOR REFERENCE FRAME
3. Calculate the terminal current
t
t
E
Q P
I
2 2
+
=
4. Calculate the power factor angle
5. Calculate the torque angle
) ( cos
1
t t
I E
P
=
) sin cos (
) sin cos (
tan
1
I x rI E
rI I x
t q t t
t t q
+ +
=
SESSION 7
Question and answer
session