Siemens Forach-u Entwikl-Ber. B10 (1981) Ne 237 ‘© Springer-Verlag 1981 Simulation Models for Calculating the Torsional ‘ibrations of Large Turbine-Generator Units after Electrical System Faults HL, Berger and TS. Kulig © Introduction ‘A number of papers have appeared in recent years on the torsional vibration behavior of turbine- generator units, Most of these publications consider the problem from the point of view of rotor dy- namics or mechanical engincering, ic. attention is focused on the multi-part shaft assembly which is excited to torsional vibrations by the explicitly calcu Jated electrical moment as a disturbance function (1-4), In reality, the rotating, vibrating shaft is only a part of an overall system and, as such, is in- fluenced by the other sub-systems while, however, also itself having an influence on the latter. The connection between the sub-systems is not linear as, is shown by the general quadratic form of the elec- tro-mechanical moment 2S F 5k@)- FOO, Ms 9 asi where 9 angle of rotation of generator, Lk coupling inductance between j® stator winding and k rotor winding, (0 time fanction of current in the j sta- tor winding, &() time function of current’ ink rotor winding, m number of independent currents in stator and m the same in rotor. With each change in the system, be it due to a change in load or a fault in the network structure, equalizing currents flow in the generator causing transient electrical moments, As a result, the shalt assembly is excited to mechanical torsional vibra- tions which make themselves ell, among other things, in a change of the generator angle of rotation 9. As can be seen from (I), 9 affects the coupling inductance L}+which in its turn has a decisive influ- fence on the functions of the currents in the electrical system. The link between the electrical and mechani- cal variables is best illustrated by the following sketch Manuscript recived on February £6 981 Declog. Hans Berger, Mahim. Drclng,Tadevse Stefan Kuli, Modine Kraftwerk Union AG, Techn Elektromaschinen axmma7s6jeotomns7si. 80 —My FORO 940), 60. BO — ‘The question is raised as to what extent the electro- mechanical coupling influences the torsional vibra- tions. In this context, the term “electrical damping” is to be viewed as the physical effect of the electrical system on the mechanical system. This approach ‘goes beyond the definition of a damping variable. Due to the non-linear link between both systems it is not possible to give such a numerical value. Many theories are Known from the pertinent literature ranging from complete decoupling down to the exact, simultaneous calculation of the electrical mo- ‘ments ‘The object of this paper is to classify the various ‘models, to define boundaries and to check the ad- missiblity of the applied methods of calculation for the most important system faults. In addition, the necessity for a complex consideration of shaft, gener- ator, control loops and network when calculating turbine shaft torsional vibrations is demonstrated for some tasks. 1 Sub-Systems for the Incorporation ‘of a Generator into the Network ‘The system under investigation consists of the subsystems (Figur 1) shaft assembly, generator, net- ii Figure . General block diagram of subsystems for calculating the flects of elescal stem faults238 Siemens Forsch work, voltage regulator, turbine governor which ‘must all be taken into consideration in a. general study because, depending on the type of system fault, there are variations in the influence of these sub-systems on the occurring torsional vibration. ‘The first three of these sub-systems can be repre sented in a similar form for different systems where- as the voltage regulator and turbine governor must be grouped to form a new set of equations for each plant, depending on their design. 11 Shaft Assembly The shaft assembly is replaced by n rotating mas- ses which are coupled by n—I rotating springs whereby, depending on the task, there applics 6 gga | | jo 0%, = moe yer 490) \io, R000 @ oR 00 00 Ro 0 0 0 Ry \i AA difficulty in identifying the parameters is that the elements of the inductance hypermatrices are turn Quantities and can only be determined by calcu lation using complex finite element methods of field calculation [9] 13 Network ‘The network, greatly simplified or accurately sim= ulated depending on the task, is a constituent part Figure3. Generator rotor with dissed damper winding of the overall system, In order to calculate terminal short circuits and internal generator faults of in- correct synchronization, it is sufficient to select a rigid network with a line-side network reactance according to Figure 4a. Conversely, when dealing typical network faults, such as shutdown of network short circuits on double-circuit lines, rapid reclosing, system transfers or subsynchronous teso- nnances, it is necessary to simulate as accurately as possible the network structure existing at the onset of the fault (Figure 4b). In order to obtain practical results with regard to the stability of the machines as well as the transient currents and voltages in the network, it is necessary in this connection to include the wide spectrum of all physical influences, e. capacitances of the lines among each other and 10 earth, transformers with saturation influence, circuit breaker properties etc. Also the mutual influencing ® Figure 4 Network models. (a) Simplified network model, () Example of more accurate networe similaton (11]240 Siemens Forsch Entice Bd 10 (1981) Nr ‘of several parallel machines must be seen in this context. The consideration of all these components is only possible with the use of very specialized computing programs as developed by Siemens (NE- TOMAC) [i0} 14. Voltage Regulator ‘The voltage regulator is of particular importance when the investigation deals with faults occurring in the vicinity of the power plant. In such cases the change in voltage across the generator terminals is particularly great, This deviation in voltage is, how- fever, the input quantity for the regulator and is thus fa measure of the change in the excitation voltage. Via the chain excitation current, field em, magnetic flux, the electrical moment of the machine changes and therefore so do its dynamic properties. The in- fluence of the voltage regulator can be seen from the ‘example in Figure $ where, for the same system fault (@-pole short circuit on high-tension side), the curves of excitation voltage, current and electrical moment FigereS, Eloarial moment in the event of a two-pole shor raion the highcllage side. () Without voliage regulator, ‘with voltage regulator versus time are compared with and without voltage regulator. 13 Turbine Governor The effect of the turbine governor is noticeable in thermal power plants after a few hundred illic seconds. Accordingly, subiransients, such as terminal short circuits and incorrect synchronization, can be calculated with a constant turbine moment. Howev- er, in the case of faults which are investigated over a longer period of time, the turbine governor must be taken into account, The quantity of the driving mo- ment is regulated via the input quantities “RPM” and “generator output power”. Since, when a fault ‘occurs, all mechanical torsional moments fluctuate about the mean value of the driving moment, both the maximum moments as well as shaft fatigue are greatly dependent on the mode of operation of the turbine governor. Figure 6 shows driving moment, electrical moment, the moment at the LP/GEN cou: pling as well as the fatigue of the shaft asscmbly ‘when calculating a pole high-speed reclosing of a network short eireuit with and without taking account of the turbine governor. Such system faults as well as simple short-cireuit shutdowns, system transfers and asynchronous operation may only be calculated with the inelusion of the turbine governor. The assump- tion of constant driving moments in such cases re~ sults in worthless statements as regards dynamic stability and shaft stresses. Figure 6 Elestrical and mechanical momenis in the event of tee pole biphspecd reloing of a threephase system ful (a) Without turbine governor, 0) wth turbine governor 2 Choice of Model for Coupling ‘the Mechanical System to the Electrical System It can be seen from the preceding section that an accurate model representation is a very complex process, For this reason, itis expedient to make use of simplifications. Of the large number of conceiv=Siemens Forch-u. Entwicl-Ber. Bd, 10 (1981) Ne. 241 able variants, the influence of electro-mechanical coupling is dealt with below. When coupling the ‘mechanical system to the electrical system, four im- portant cases can be singled out. They differ mainly by the simulation of the shaft assembly whereby the ‘generator and network models remain unchanged. If the shaft assembly is represented only by one mass for the eleetro-mechanical calculation, it is necessary subsequently to make a separate calculation of the torsional vibration behavior with n masses, for which calculation the previously determined electri- cal moment is given as an explicit input function, 2 One Rotating Mass, Angular Velocity Constant The representation (Figure 7a) corresponds to a complete decoupling between the electrical and mechanical systems. Accordingly, the model is only suitable for faults with a period of observation up to 200 ms in which it is merely important to determine the maximum values after the occurrence of the fault, 22 One Rotating Mass, Angular Velocity Variable For investigations into large networks where the total number of parameters is limited as well as for stability investigations for the single- and multi-ma- chine problem use is made once again of the model shown in Figure 7a whereby, however, the rotational speed is not Kept constant, The simulation of the © “rye Figure 7. Models for casting transients afer elaricl system faults Shaft asmbly as one mass (a as mulmase sate rafiied muli-mas system () shaft assembly by one vibrating mass permits the detection of low-frequency oscillations (0.5 Hz to 1 Ha) and their effects on the electrical quantities of ‘generator and network. This is probably the most frequently used model, 23. Simulation of the Shaft Assembly with Less than 10 Masses, Angular Velocity Variable Whenever the mechanical loading of the shaft assembly is of equal importance 10 the electrical ‘quantities, in particular therefore for dimensioning problems, uses made of the model shown in Figure 7b. This model permits the detection of the ‘mutual influencing between shaft assembly and gea erator, caused not only by low-frequency oscil lations, but also by higher-frequency torsional vibra- tions of the generator rotor body. Each sub-shaft is assigned one mass. In contrast to the single-mass rmodels in which the electrical moment is calculated explicitly and is used as an independent input func- tion, itis possible in this ease thanks to the simul- taneous calculation with several masses to determine the elecrical moment at each point in time as a funetion of the real mechanical quantities Soey(0h Seal. Thus it is possible to eat system taulls which cannot be calculated with a single-mass sys- tem, eg. SSR problems. 24. Simulation of the Shaft Assembly with Several Hundred Masses, Angular Velocity Variable ‘The complex model shown in Figure Te is used only for very specialized investigations into the shaft assembly. Sample applications are: reaction of the turbine blades on the rotor shaft, multi-shell struc- tures with superconducting rotors, resonance cases with higher eigenmodes which cannot be covered by ‘the model in Section 2.3. 3. The Most Important Electrical System Faults ‘and their Caleulation ‘The models presented here have all been devel coped in recent years at KWU and Siemens; corre- sponding user programs are available to the users. ‘The more details are included in the simulation, the ‘areater becomes the effort spent on identifying the parameters of the model and on calculation. For this, reason, attempts will be made to adapt the model to the task. In the pertinent literature one often finds that models are chosen which either do not cover all, physical influences oF are too complex for the task in hand. In the following, the optimum models are proposed for the most important electrical system faults. The results thereby obtained are compared22 Slemens Forsch Emichl-Ber. Ba, 10 (1981) Nr 4 models which are too simple or too complex. It is specially pointed ‘out in which cases itis permissible to calculate the electrical moment first of all with a simple simula- tion of the shaft assembly and to substitute this function point by point as an input quantity into a ‘more complex torsion model, This approach is often practised when designing turbine generator units and corresponds to a partial decoupling of the elec- trical and mechanical systems. 3.1 Terminal Short Circuits The first 150 ms are of interest as regards the cal culation of the maximum shaft and coupling stresses. The de components of the generator currents fand thus the a. components of the electrical mo- ‘ment drop olf very quickly alter deexcitation and are less than 20% of the rated moment after approx. 1s In genera, itis sufficient for this task to keep the angular velocity « constant, If, however, shaft fa- tigue is also of interest, it is advisable to extend the time period to at least 10s because of the weakly damped torsional vibrations. In this ease the change in angular velocity should be taken into account. In general, the electrical moment can be calculated with sufficient accuracy as an explicit function if the shaft assembly is represented by one mass. Accord- ingly, one will choose the model from Section 2.1 or 22 (Figure 8) The simultaneous calculation with a ‘multi-mass model according to Section 23 does not provide any improvements compared with the sin- sle-mass models. Only in the case of turbine shafts having resonances in the direct vicinity of once or de ite: Figure. Beta! moment and mechanical moment at LPI coupling in the erent of a two-pleteominal shor cic. mas, (a) o const (8) avaiable tuvice the network frequency is it necessary to repre- sent the shaft assembly with such a complex model, because the resonance properties of the entire sys- tem are influenced by the electro-mechanical cou- pling. In new designs, however, these resonances will be avoided. 32 Out-of-Phase Synchronization Out-of-phase synchronization is one of the most serious system faults which can happen in the course of the lifetime of a turbine generator unit, If the gen- trator is switched on the network with a large phase te mn ime at Figore9, Electrical moment and mechanical moment at LP>%gen coupling inthe event of our-oFphase. synchronization vith S90" Tas, (a) constant, (9 varable displacement angle or large slip, there are very high electrical moments which, in addition to the fun- damental-frequency component, also contain low- frequency rotor swinging. Figure 9b shows the time functions of the explicitly calculated electrical and ‘mechanical moments in the case of out-olphase synchronization with a phase displacement angle 9=90° and a slip s=2% according to Model 22. If ional speed is incorrectly kept constant in the calculation (Model 2.1), there result the functions as shown in Figure 9a, In this ease the low-frequency components are neglected with the result that both the maximum moments as well as the shaft fatigues calculated from the function are worthless. A di- vision of the shaft assembly into several masses is not necessary in this case either, as Jong as there are ‘no torsional resonances in the rogion of the simple network frequency. 33 Clearing of System Faults ‘and High-Speed Reclosing ‘These faults also cause heavy torsional vibrations in the shaft assembly. Simulation with one massSiemens Forseh-u. Bowie -Ber. Bd, 10 (1981) Nr 4 243 tnt ns ae Figate 10. Hlexrical moment, slip and rotor displacement ange in tie event of cearing of three phase system fault 1 mas, (@)o constant, (8) 0 variable ‘with «=const is completely inappropriate in this case (Figure 10a) since both the physical boundary con- ditions as well as the fault sequence are decisively influenced by the variables “rotor displacement an- gle” and “slip”. Thus, for example, the electrical mo- ment after the fault-clearing is dependent on the an- gular difference “field emf. ~ network voltage”. The ‘model according to Section 2.2 (1 mass, « variable) is suitable for the calculation of such system faults (Figure 10b). The use of the model according to Section 2.3 (simultaneous calculation with several masses) would once again not provide any ap- preciably better results. 34. System Transfers System transfers are normal operating events as Jong as the permissible phase displacement angles Q ee t 1 bayptriprnnin Lp + & g ete * Lbinaas payline + = so . Fire 11, Hlereal moment and mechanics! moment a LP 2igen coupling spacement angie the event of system transfer with phase sir. 1 mass, (2) 9 constant, (b) ovatiable fare not exceeded, If, however, the phase displace- ment angle is so great that the subsequent power change is in the region of the rated power, then the torsional moments become so great that one must speak of a system fault. The involved electrical and torsional moments are largely similar to those in the case of out-of-phase synchronization with the result that, for system transfers with a large phase displace- ‘ment angle, use may be made once again of the ‘model according to Section 2.2 (Figure 11). In this cease, t00, a calculation with @=const leads to in- correct results (Figure 11a). 35° Falling out of Step of the Generator When the generator falls out of step, this is a system fault lasting several seconds. For this reason, particular importance accrues both to the turbine governor as well as the voltage regulator in the model representation. When the turbine-generator unit falls out ofstep, the oscillating power can only be supplied to the network at a reduced mean value. Since the turbine governor is slow in reducing the power, the rotational speed of the turbine-generator tunit rises as a result of the excess output of the turbine. Thus, the electrical moment oscillates at a frequency proportional to the rising slip of the ma- chine. If this frequency were to reach the order of Figure 12 Electrical moment, mechanical moment at LP!2gen ‘coupling and sip in the event of generator falling out of step (GL mash variable; (6) 6 masses, variable4 Siemens Forth w. Entwick Bot Bd 10 (1981) Ne. # magnitude of a few Hertz, this might mean, in the case of very low-tuned turbine-generator units, a not-to-be-neglected nearing of the fundamental na- tural frequency, The resulting increases in the mechanical torsional moments and the effects of these mechanical vibrations on the electrical system ccan only be taken into account by simulating the shaft system with several masses and with an exact representation of the turbine governor and the volt- age regulator. This means that the model according to Section 23 must be used for the calculation, ‘Since, however, in the ease of asynchronous oper- ation the damper winding and the wedges are sub- jected 0 heavy thermal stresses as a result of the high damper currents, itis necessary in this ease 10 have a sophisticated representation of the generator (Figure 3). Figure 12 compares the electrical and mechanical moments when the generator falls out of, step, calculated with a sophisticated multi-mass mod- cl and an inadequate single-mass model. Due to the necessity of simulating both the shaft assembly, the generator as well as the network with the great- est possible accuracy, the calculation of this fault is highly complex. 3.6 Subsynchronous Resonances Subsynchronous resonances are oscillations in the electtical and mechanical systems which can oc- ‘cur when turbine generator units feed into a net- ‘work, the long lines of which are compensated by series capacitors [11], Triggered by a fault in the electrical system representing an electric resonant circuit, there is an exchange of energy between the shaft and the inductive and capacitive elements of the “generator, transformer, line, network” circuit. ‘The resulting currents generate low-frequency elec- trical moments in the generator air gap. If the frequencies of these moments are in the vicinity of cone of the lowest natural torsional frequencies, then the shaft assembly may be excited to strong res- ‘onant vibrations. These in turn are transmitted into the electrical system by the electro-mechanical cou- pling already discussed in the introduction. The “electro-mechanical damping” dependent on the sys- tem parameters is generally low or even negative. In this second case there is an increase in the torsional vibrations and in the electric current which may lead to impermissibly high stresses and even to dam age. In order to take account of the resonance Phenomena it is absolutely necessary to simulate with the greatest possible accuracy both the entire network with series and parallel capacitances as well as the generator and the shaft assembly. Obviously, only Model 23 can be used in this case (Figure 13). If calculations are performed with only one mass, eg according to Model 22, the subsynchronous res- conance does not even appear Figure 12, Electrical moment and mechanical moment at [LP(2igen coupling the sip and rotor displacement angle in the cient of sabeynehronesfesonances 4.7 Unbalanced Load on the Generator Whereas all the previously discussed faults take place in a matter of seconds, unbalanced load may ‘occur for a period of minutes. Owing to the asym- metrical loading of the generator, second-harmonic ‘components are superimposed on the rated moment. ‘The lovel of these amplitudes is determined by the degree of unbalanced loading and in practice, reaches only a few percent of the rated moment. In ‘contrast to the serious network system faults where the greatest dynamic stresses occur immediately af ter onset of the fault, unbalanced loading causes initially only thermal’ stressing of the generator. Considerable torsional vibrations as a result of reso- nance cannot build up until a natural frequency of the turbine generator unit is in the vicinity of twice the network frequency. In this frequency range, how- ever, there could be only higher-order natural frequencies which are not recognized as such if the shaft assembly is simulated with too few masses. Therefore, the torsional vibrations generated in this “| ; a Figure 14, Envelope cures of the mechanical moment at TLP|2igen coupling inthe event of 107, unbalanced oadSiemens Forch- u, Entwickl-Ber. Bd. 10 (1981) Nr 4 24s case must be calculated using Model 2.4 with up to 300. masses. Of particular importance is the ‘mechanical damping which decisively influences the level of the developing mechanical torsional mo- ‘ments. Experience shows that useful results can only be obtained by taking into account stress-dependent damping. The electrical system, on the other hand, ccan be represented in a much simplified form (Fig- ure 14). 4 Conclusions From the large number of above-described sys- tem faults it becomes clear that the computation effort can be considerably reduced by adapting the selected model to the task in hand. Conversely, ex- cessive simplifications lead to completely incorrect fesulls down as far as the failure to recognize a possible hazard, The method most used hitherto, that of describing the electrical moment in the form of a closed analytical equation, does not permit to take account of the electro-mechanical coupling and is, therefore, only applicable in a few cases. The correct treatment of most faults requires the taking into account of the electro-mechanical coupling and thus the application of the previously described mod- el procedure. In many cases, however, the electrical moment can be calculated with high accuracy by assuming one single mass for the entire shaft as- sembly. In such a case, the change in angular ye- locity must be taken into consideration. A. subdi vision of the shaft assembly into many individual masses is only necessary if resonant vibrations are to be expected. The large number of topics presented in this paper permits only a very concentrated treat- ment of the material. It will, therefore, be necessary in special papers to go into more detail about in- dividual system faults which have not yot been treat- ced in the pertinent literature. These include above all the topics “falling out of step” and “unbalanced load”. After a system fault has occurred, the influenc- ing variables necessary for the calculation are avail- able only in the rarest of cases. For this reason, the additional measurement of the system fault is of great importance with regard to the assessment of ‘urbine-generator unit stresses. The analyzer devel- ‘oped by KWU and Siemens [12] is excellently suit- ed for this purpose, 1. 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