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Two Reaction Theory of Synchronous Machines Generalized Method of Analysis - Part I (R. H. PARK)
Two Reaction Theory of Synchronous Machines Generalized Method of Analysis - Part I (R. H. PARK)
ea=nthereri
X
0~__
- 33
D \ \
Direction of
Rotatiion Xf
Xd
+ ib + icl ~~~~~~~~~~~~~~~[ia
[3+b+c
- Xq
+Xq
a-
ib___i
2
6 - 120)
3
Quadrature Axis
+ i, cos (2 6 + 120)]
\1b
xis of Phase c
Axis of Phase b
FIG. 1
Xd- Xq
d 3 q[a COS (2
120) + ib COS (2
+ i, cos 2 0]
= Id cos (6 + 120)
Xd + X,
where,
716
29-33
xd - zX
3
I C-
ia
a+i
+ ib +
ia_
0 +
ic
o 26-- 2)1
2)+i
[aCs(
o
O
+ i.c os (2 6 - 120)]
120)
(2)
July 1929
717
id
120)1
Xd
(p)
XXd
+ [(Xd
A (p)
(3) where,
On the other hand, if n additional rotor circuits A (p)=[XI1d-X.fXd21 To Told p2+[Xlld To+Told] P+I
exist in the direct axis there is,
If there is more than one additional rotor circuit the
4) = I + XfId Ild + Xf2d I2d
operators G (p) and Xd (p) will be more complicated but
+ . . + Xfnd 'nd - (Xd - Xd') id
may be found in the same way. The effects of external
field resistance may be found by changing the term I
where,
etc., are the per-unit instantaneous cur- in the field voltage equation to R I. Open circuited
Ild, I2d,
rents in circuits 1, 2, etc., of the direct axis, Xf1Id, Xf2d, field corresponds to R equal to infinity.
Similarly, there will be
. etc., are per-unit mutual coefficients between the
field and circuits 1, 2, etc., of the direct axis.
Iq = [Xq - Xq (p)] iq
(5)
Similar relations exist for the linkages in each of the where,
additional rotor circuits except Xd - Xd' is to be replaced
2
by a term xm. However, since all of these additional i, =- ia sin 0 +ib sin(6- 120) +i, sin(6 +120) } (3a)
circuits are closed, it follows that there is an operational
result
Xq (o) = Xq, X ( ) =q
. + Ind
Id I + Ild + I2d +
So far, 10 equations have been established relating
= G (p) E + H (P) id
(4) the 15 quantities ea, eb, e,, ta, ib ,I 4'aya tby ,t'c lid, iqy
where E is the per-unit value of the instantaneous field Id, I, E, 0 in a general way. It follows that when
voltage, and G (p) and H (p) are operators such that
any five of the quantities are known the remaining 10
may be determined. Their determination is very
G (o) = 1
G (co) = 0
much facilitated, however, by the introduction of
H (o) = 0
H (co) = Xd-Xd"
=
certain
auxiliary quantities ed, e, eoy 'Pd, aqV 4/0'
Xd' the subtransient reactance2
Thus let
It will be convenient to write H (p) = Xd Xd (p)
and to rewrite (4) in the form,1
(3b)
to lia
+ ib + ic)
Id = G (p) E + [Xd-Xd (P)] id
(4a)
i
3{ia+tb%}
If there are no additional rotor circuits, there is, as
2
shown in Appendix I,
ed= {eacos 0 + ebcos (o- 120) + e,cos (6 + 120)1
'I = I - (Xd - Xd') id
E = To pT +I
2
where To is the open circuit time constant of the field e - f{ea sin 6+eb sin(0-120)+e, sin(0+120)1 (6)
in radians.
1
There is then,
1
eO = 3j { ea + e?b + e~}
- G (p) T= -H
2
XdTo p +Xd
)/d=3 {'{a COS 6+Pb cOs (6-120)+Pcc9s (0+ 120)}
=
i'o
reference 2.
+'Pc sin(60+1l20) }
(7)
Transactions A. I. E. E.
718
A0
i/a + Ab + 0J'
ec
Axis of Phase b
- rid
2
eq=-3 {sin6p a+ sin (6- 120) pi/b\
+ sin (6 + 120) p
r
ieo= p io-/
but,
Pi
J}r
i-
eq Direct Axis
ed
Axis of Phase a
-u {sin 0
ed +
ri2d
p l =-
Axis of Phase c
/lq pGO
FIG. 2
=e+Jje0
Od-r id-/q p
eq=p'pq-riq+i/ dpd
io
Also it may be readily verified that
i/d = Id- Xd id = G (p) E- Xd (P)d
iq = I-Xq iq = - Xq (p) iq
eo
ii0
Xoio
pi/-r
(8)
(9)
(10)
+ j ?,q
=id41d +Ji
q
=
(11)/
(12)
(13)
July 1929
0-
2r
= Tp G- r { id2
{a2+
719
{[s
(1x-)2
2 r
ib2 + ic2}oh
egd
Machine
Xogvh~~~~~~~~~~~~
Axis Phase a
+ ig2 + i2 }hd
Then,
T = per-unit instantaneous electrical torque
Direct Axis of
g Machine
Direct Axis of
/
Axis Phase c
FIG. 4
Fig. 4.
720
say
I-ihdsin
Transactions A. I. E. E.
To p + Xd
Xd'
Xd Xq
Top + 1
ihq
To)
rT+
Xq
Xd
Xd Xq
p2
q
To] p
'XT
d (p)&
(31)
Top-Fl
(28)
4tq --J,sin6
6
d =
Xd
+ r2 + Xd Xq
To p + 1
e.
Xq
To P3
1q
COS
rE
+
r2
Xd
X,
Iq '
cos 6 +
Id sin 6
1
Maintained
Since a three-phase short circuit causes ed and eq
to vanish suddenly, its effect with constant rotor speed
maintained may be found by impressing ed = - edo,
eq = - ego in (22) and (23) where edo and eqo are the
values of ed and e, before the short circuit. The initial
currents existing before the short circuit must be
added to the currents found in this way in order to
obtain the resultant current after the short circuit.
With s = 0 and E constant there is in detail.I
Zq (p) edo + XQ (p) eq o
xq E - r edo- xq eqo
D (p)
r2 + Xd xq
iq
D (p)
r E
r eqo
r2 +
-0.0016
-0.0014
Values of o~
-0.0012--
-0.0010-0.0008
-0.0006-_
+ Xd edO
-00004A
xdxq
-0.0002-
(30)I
0.5
1.0
<
T0 p +F
2.0
Values of r
2.5
3.0
FIG. 5
Equations (32) by the application of Equations (14).
For the particular case
xqTo = 2,000, Xd = 1.00, Xq 0.60, Xd' = 0.30
the roots a1,o a2, a3 of the equation d (p) = 0, were
found to be as shown in Figs. 5, 6, and 7, where
ag2
D(P) =
1.5
+F ab
I t wxill be noted that, as wounldl necesar^lyr be the
= aa
721
July 1929
e4=cosst
eq sins t
If we now introduce a system of vectors rotating
at s per-unit angular velocity there is
1l
=-0.000500
a1=
- =T0TO T
-0.000500
ed
1.0
(33)
-7;
-6-/
+ (1 - )2 Xd (j S) Xq (j)
-5-
-1
-2
r2
0.5
1.0
1.5
Values of r
2.0
2.5
i(
+12r
X
[r (j
j S d 1S) + Xq (j
x,, 1.0
1 \
The
of o(b
Values of
C).4
064 t
0.8
\:alues of r
1.4--
1.61.8- -
-.2-
\
\
2.2
[jS Xd (j S)
Xd
( S)
- 2s
{ Xd
2s [r
Xq
XO.@30
-*0
(35)
Pa0
Tav
(36)
ed + rtd = P4'd
(1d - S) /q
+
r
=
eq
q
(1-s) l/'d + P
4I'
ed + r id
(0.30 A- 0.60) r_
X 0.60
= 2
s)
FIG. 7
formula gives
) Xq
(js))
2.4
S)
)34
r1
\become,
Xq
r] (- j) - (1- s) Xd (j s)
r2A+(1-2 s) Xd (i S)Xq (i s)A+j s r[xd (js ) +AXq (js)]
+1
'70V
>0.6
Xd )S)
(+
J- 2
3.0
FIG. 6
0.2-
xq (i s)- r
+ (1-2 s) Xd'(j S) xq'(j s) +j s r[Xd'C( S) +X,'(j S)]
o k
1
j (1-2 s)
lVaues of cor
-4
e,=p ijs
-8
&d
(1
s)
eq
p
e+riq
e A-1 s)
(1-s)
P
-(
(q A- r i,,)
(7
Transactions A. I. E. E.
722
41d =
Y'2
+i q)
ib =2 (id j iq)
backward current =
(42)
If we define by analogy,
forward voltage =
backward voltage
(39)
There is,
1 {
1- 2s
= 2
2f
forward current =
2 (ed + j
2
eq)
(ed-jel)
-2r
(43)
s) + 12(r + js [Xd Q s)
Xd (js) X
s1i-2 (1
=r+
1 2
S) id]
(40)
r
+ Xq
Thus,
~~
pi~~
Tav=1/2
2 s(is
--i
+(
)i)|
=Pav+2(1
pa
(1
rq2+id
=Pav +r 2
2) +
Pa,
221-2
2(1-2 s) (iq
d]
+iiid)2
(44)
(45)
eb =0
Xd (i s) z' (i s
1.0
ef
id
;.
s) (iq2 + id2)-
2 s)
L+25stq
(iq2
ib
(iS)]) }
7Tav
(41)
PaV
ef .
Pav
if
+
real of if
rijf2
1-2si2
(46)
(47)
July 1929
E- ecosa
Xd
id
Xd
Xd (P)
+ e Xd
(Cos
Cos
c Y
(p) - G(p) Xd AE
e sina5
Xd - Xd"flau
e
Xq
Xq (P)
X(?
x
(P))-e (sina- sin8o)
XrjXq
(48)
Xd
(p)
e2cosa Xq XqXq (P) (sin
Xq
sin0o)
a-
+ e2 sin a Xd - Xd (p) )
Xd Xd (p) (co
,
d(p
e sin
(49)
(P).E+2zc'Cos6
ag0_gt
ea8Cos()o')
(p)
Xdinx(P)XdXd-XdG
(P)
T+
Xq (p)
AE-e
Xq- X
Xd
Xd
(p)
(Y}
Xd
-Xdfl
a,2n
*
1
~~~~~
Xd
Xd
1=
(p)
Xif
Xq
()+
at
E-qn,
bn
where,
2Xd Xq
saUZ
Xqt
sin 28
du
qrE
azqntf ECqucs5()5()d
aq
bnbE1
,, 4'r- A E' (u) d u
(49a)
=2
Xd
1 Xq
adn S
adn2 + S2
adn
Xd'
Xq"_
Xq Xq
y
Since
Xd- Xd
ad- 6F-nt
a~(qn S
a0qn
aq 2 + s2
(52)
aso
as2
- s2 is never greater than 1 2^ and
E adn =
Xd
1.0
+-Ff)
e2(xd-Xq)
1.0
It therefore follows from the operational rule that,
Eesin6
b,En
(cx)
Xd"=Xd
=
1.0
E ad,,
adn
a.,
e sina
Tav
Xd (p)-XdG(P)
-,
cxd
t
Formula
(50)
Xd
Xqe2
Xqt
Xq
Xq(p)
Xq"
Xq X,
Xq
Xd X
But quantities adn aqn, ad, aqqn bn,,, [,, may be found
such thatXq
(48a)
sin a
a)
En A E (u) d u
Xq
-F+ e
Xd-Xq
~~+22 Xd X1e2
X,i sin 2a
iq
Then,
T
t4'
bn e
Xd
+e
E e sin a
adn Ead
-1
Xd Xd (P)
723
aqn = 1.0
Xd Xd
Xd Xd -Ft
Xq, Xq"
Xq Xq"
53
(t) = f (P) . 1
~~~Thus
Xd
is! expresose
in
the form
724
'A T
TsA6+ Td
dt A
there results,
T= Tso e2 sin20
+ elcs6
S
Xq
X
Xd -
Xqll
Xd"
aqn 2S
-Xd'
sTd=e2in26oXd
e2sin2
Td=
Xd Xd"
ad,
(ad
82
(54)
scadn
n+ 82
aqns8 cqn
+el cos2 o Xq - Xq"
+ e2 COS2 6 Xq Xq Pt
(aq,)2 + s2
where,
c
eIdO COS60
+ e2 (Xd Xq) cos 2 6o
X,j
~~Xd XqCl
bo = average angular displacement, i. e., total
angle = 6 = 5o + A 6.
It can be shown that for the case of no additional
rotor circuits, Equations (54) are exactly equivalent to
Equations (24) and (25) in Doherty and Nickle's paper,
Synchronous Machines III. The new formulas herein
developed are, however, very much simpler in form,
especially since in the case which Doherty and Nickle
have treated, there is only one term in the summation;
that is, n = 1, and a is merely the reciprocal of the short
circuit time constant of the machine, expressed in
radians.
K. The Equivalent Circuit of Synchronous Machines
Operating in Parallel at No Load, Neglecting the
Effect of Armature Resistance
Let,
ba = angle of rotor a and bus
Oo = angle of rotor a in space
In general, the shaft torque of a machine depends
on its acceleration and speed in space, and the magnitude and rate of change of the bus voltage as a vector.
If all of the machines are operating at no load and if
there is no armature resistance, a small displacement
of any one machine will change the magnitude of the
bus voltage only by a second order quantity; consequently for small displacements the magnitude of the
bus voltage may be regarded as fixed, and only the
angle of the bus and rotor need be considered. Furthermore, the electrical torque may be found in terms
of (6) by employing an infinite bus formula. But
Equation (49a) implies the alternative general operational form,
6
=e Idosin
Xd
Xdd'P
sin26
+e2(Xd-2 Xq)
Xd Xq
+
,,
anq p
, e2 cos
~~~~~~~~XqXq'p+al
sin
adn 82
2 (cd )2 + s2
XqXq" ~~~
(a~~n)2
Xq -Xq"-
Transactions A. I. E. E.
Xqa
eqa
+Xqa
where: e
Ea
nqa
p +
anqa .6a
(55)
Ia =
Rla
Co
R2a
C
Rna
-a-Cn
C2Cn
FIG. 8
voltage across the circuit represents the electrical
torque of the machine (Ta).
The capacitances and resistances must be chosen
so that
Xda Xqa
Coa
e Ia Xqa + e2 (Xda Xqa)
Cna
Xqa Xqa"
e2anQa (Xqa-Xqa")
1
Cna anqa
The equation for the mechanical torque is
Tsa Ta MaPSa
where:
Ma = inertia factor of machine a in radians
na
(57)
2_X_stored_mech._energy_at_normal_spee
base power
-2 r f
5a
t
time in seconds
But, 5a = p Ga
~ ~ ~ ~ Thus there is
d
= dt J
Ta+Map2
Tsa =
(57a)
Ga
which corresponds to the equivalent circuit of Fig. 9,
which change - Ga
~~~~~~~in
The machine opeoratingr on axn infinite bus can be
July 1929
725
represented by the equivalent circuit of Fig. 10, since in the inductive branch of the circuit. Thus a governor which acts through a single time constant may be
the condition
represented by the circuit of Fig. 14, where
Oa = fa = 0
is fulfilled.
Rna
CRa
Cob
Several machines in parallel on the same bus may be
La
La
Tsa
Tsb
Lb
FIG. 11
Ta
Tsa
FIG. 9
C
C=
FIG. 12
(58)
e2
Tsa
Coa
Sa POa
FIG. 13
La
Cia
Ta
Cna
FIG. 10
FIG. 14
1L
R=regulation
Cg =
726
A iq =
Zd (p) (-A eq +
Transactions A. I. E. E.
O0 P A 6)
where,
Do
.A6
iq
(e sin 6o -+4dO p) Zd (p) +. (e cos 6o +1-0o P) Xd (P)
D (p)
*A6
(60)
d
[4ldO+idO Xq (p)]
AT=
+
L o
cC- I
ed -
D ()
[4qO+iqO Xd
{
(P)]
gR
(e sin 6 +
ltdO
(e cos 6o +
P)
Zd
(63)
(P)
VIqo P)
Xd
(P)
(64)
D(p)
say,
A T = f (p) . -A
Thus,
A68
= M p2 + (p) .A T,
f
(65)
Appendix
Formula for Linkages and Voltage in Field Circuit with
no Additional Rotor Circuits
In this case the per-unit field linkages will depend
ed0+A\ ed=p A 'Pd-r(ido+A id>- ('Pq9+A 'q)(l+P A 6) linearly on the armature and field currents. That is,
d + A d) (l+P A 6) in general,
eqo +,A eq =p A 'Pq-r(iqo+,A iq)(q)
+dO
A ed= P A d -r A id- 'qO p A 6 A-'q
=aIbid
a
,A eq = p A V1P- r A iq + 'PdO P A 6 + A 'Pd
Then if normal linkages are defined as those existing
from which there is
at no load there must be a = 1.0.
Zd (p) A cid- Xq (p) A iq =- A ed - 'qo p A 6
The quantity b may be found by suddenly impressing
Zq (p) A iq + Xd (p) A id =- A eq + 'PdO p A 6
terminal linkages 'Pd with no initial currents in the
machines and E = 0.
A ~~~~~~ci = ~~~~~~~~By definition there is, initially
Zq (p)(- A\ed-q
'poo /6) + Xq (p)(- A eq + 'PdOP A 6)
'Pd
D (p)
id =
FIG. 15
(61)
Xd
727
July 1929
121,139,1912.
I- d
Xd
14. Dreyfus, L., "Einfuhrung in die Theorie der Selbsterregten Sehwingungen Synchroner Maschinen," Elektrotech. u.
S. 323, 345, 1911.
Maschinenbau, 29 ________
amount
Xd
I=
ld
Xd'
-F
Xd
Xd I + X'
Xd
b = Xd - Xd'
hence
Diseussion
existing
no load
load and
and normal voltage.
existing at
at no