Project memo AN 01.12.

40

Modelling of generator trains in

PSCAD/EMTDC

SINTEF Energy Research

Objectives
Test and describe models of generator trains such that
these are easily available for future studies in the project
Study of generator train modelling in general
Study and test of PSCAD / EMTDC simulation software
models in particular
Focus on models suitable for studies of:
weak, possible autonomous, power systems
Diesel or gas-turbine generator trains connected to large power

electronic converter loads or connected to other converters

connected power sources.

SINTEF Energy Research

Models described in memo

Generator models
Exciter models
Diesel engine models
Gas turbine models
Speed governor models
Dynamic shaft models

SINTEF Energy Research

Simple exciter model

Alternative to the standard IEEE based
models in PSCAD/EMTDC
Transparent (no hidden details)

SINTEF Energy Research

Diesel engine (Level 1 model)

z
(fuel command)

KD

Tm
(Torque)

1
BD + sJ D

SINTEF Energy Research

wm
(mech. angluar
veloc.)

Diesel engine (Level 4 model)

1
1 + sTT

Minimum
z
(fuel
command)

NT
Turbo charger
speed

look-up table
zmax = f (NT)

1
1 + sTFI

zmax
(Max. usable
fuel injection)

*
Tm
(Torque)

1
B D + sJ D

wm
(mech.
angluar
veloc.)

look-up table
KD = f (Pm)

Pm
(Power)

SINTEF Energy Research

Inclusion of torque ripple in diesel

engine model (level 1 model)
wm
(p.u.)
Kw,pu

wm
(rad/s)

z
(fuel command)

1
s

m
(rad)

Look-up table
TR = f(z, m)

TR

+
KD

Tm
(Torque)

1
BD + sJ D

wm
(mech.
angluar
veloc.)

SINTEF Energy Research

Speed governor model with droop

wmeasure

wref
(speed ref.)

Kdroop

Time lag
/ filter

PID
Max: 1.0
Min: 0.0

d/dt
limiter

z
(fuel
command)

Pout,gen
(Output power of
generator)

SINTEF Energy Research

Gas turbine models

Focused only on generators without cogeneration (i.e.
exhaust is not used for electric power generation)
Sub-systems included in model:
Speed governor
Temperature limit controller
Fuel injection system and turbine time constants
Mechanical system (inertia and mechanical damping)
Acceleration control

SINTEF Energy Research

Gas turbine model (excl. mechanical

inertia and mechanical damping)
w
(turbine
speed)

1.0
+
-

From
acceleration
controller
+

wref
(speed ref.)

Low value
select

PID
Max: 1.0
Min: -1.0

+
+

Load limit
controller

* 0.5

Gain

*
Fuel
command

Time lag
(fuel sys.)

Time lag
(turbine)

VMax
VMin

+
+

Tturb
(turbine
mech.
torque)

Texhaust
Time lag
(thermal)
+

Tmax

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10

Possible realisation and modelling of

acceleration controller
Acceleration limit
(typ.: 0.1p.u / sec)

w
(speed)

s
1 + Tds

+
+

1
Ts

To low value
select block

Max: >1.0
Min: 0
Typical:
T = 0.01

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11

Example:

Untitled
no name
+1.015

+1.009
+1.003

Dieselgenerator
train

+0.997
+0.991
+0.985 3

12

15

18

12

15

18

12

15

18

15

18

no name
+0.45

PGen (p.u.)

QGen (p.u)

+0.35
+0.25
+0.15
+0.05
-0.05 3

no name
+1.4

If

+1.12
+0.84
+0.56
+0.28

- Speed
- Power (P , Q)
- Field current
- Load current

+0 3

no name
+1

Ib

Ia

Ic

+0.6
+0.2
-0.2
-0.6
-1 3

12

Time (sec)
SINTEF Energy Research

12

Untitled

Example:

no name
+1.04

+1.022
+1.004
+0.986
+0.968

Gas
turbine
generator
train

+0.95 4

9.2

14.4

19.6

24.8

30

19.6

24.8

30

19.6

24.8

30

24.8

30

no name
+0.45

PGen (p.u.)

QGen (p.u)

+0.35
+0.25
+0.15
+0.05
-0.05 4

9.2

14.4

no name
+1.4

If

+1.12
+0.84
+0.56
+0.28

- Speed
- Power (P, Q)
- Field current
- Load current

+0 4

9.2

14.4

no name
+1

Ia

Ib

Ic

+0.6
+0.2
-0.2
-0.6
-1 4

9.2

14.4

19.6

Time (sec)

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13

Shaft dynamics can be included

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14

Conclusions
The presented models and the simulation software
PSCAD/EMTDC are suited for studies of interaction
phenomena between generator trains and converters
The generator train models are also considered suited in
simulation analysis for optimal design of power converter
control.
The conclusion is however (as usual): More problems to
obtain relevant data (parameters) for the system, than to
implement these data in accurate models.

SINTEF Energy Research

15

PROJECT MEMO
MEMO CONCERNS

Energy Research

SINTEF Energy Research

Address:
Reception:
Telephone:
Telefax:

N-7465 Trondheim,
NORWAY
Sem Slands vei 11
+47 73 59 72 00
+47 73 59 72 50

http://www.energy.sintef.no

Modelling of generator trains in PSCAD/EMTDC

DISTRIBUTION

Magnar Hernes (SINTEF Energiforskning)

Nils Arild Ringheim (SINTEF Energiforskning)
Kjell Ljkelsy (SINTEF Energiforskning)
Olve Mo (SINTEF Energiforskning)

Enterprise No.:
NO 939 350 675 MVA

AN NO.

CLASSIFICATION

REVIEWED BY

AN 01.12.40

pen

Magnar Hernes

ELECTRONIC FILE CODE

AUTHOR(S)

DATE

010808Mo143726

Olve Mo

2001-08-08

PROJECT NO.

NO. OF PAGES

12X12702

Olve.Mo@energy.sintef.no

59

DIVISION

LOCATION

LOCAL FAX

Energy Systems

Sem Slands Vei 11

+47 73597250

SUMMARY
This memo presents the results of a study of generator train modelling in general and particularly
implementation of generator train models in the PSCAD/EMTDC simulation software.
The scope is generator train models suitable for studies of weak, possible autonomous, power
systems, where typically a diesel or gas-turbine generator trains is connected to large power
electronic converter loads or to other power sources connected to the power system via
converters.
The models will be especially suited in studies of interaction phenomena between generator trains
and converters, and also as a tool for optimal design of power converter control.
Presented in this memo are:

Generator models
Exciter models
Diesel engine models
Gas turbine models
Speed governor models
Dynamic shaft models

The intention has not been to establish new models of these system components, but rather to
collect and test models presented in literature and in the PSCAD/EMTDC manuals, making them
easily available for further investigation of studies like the one outlined above.
This study has shown that generally the problem is more to obtain relevant data for the system,
than to implement these data in accurate models in PSCAD/EMTDC.
12X12702

AN 01.12.40

2
Energy Research

TABLE OF CONTENTS
Page
SUMMARY ............................................................................................................................... 1
1

INTRODUCTION ............................................................................................................ 4

GENERATOR .................................................................................................................. 5
2.1
Generator model.................................................................................................... 5
2.2
Exciter ................................................................................................................... 7
2.2.1
Exciter models in PSCAD / EMTDC ..................................................... 7
2.2.2
Initialisation of the PSCAD/EMTDC exciter models........................... 12
2.2.3
Alternative exciter model...................................................................... 13
2.3
Power system stabilizers ..................................................................................... 14
2.4
Parallel operation of generators .......................................................................... 14
2.5
V/f control ........................................................................................................ 15

DIESEL ENGINES......................................................................................................... 16
3.1
Diesel engine....................................................................................................... 16
3.1.1
Characteristics of diesel engines ........................................................... 16
3.1.2
Level 1 model of diesel engine ............................................................. 16
3.1.3
Level 2 model of diesel engine ............................................................. 17
3.1.4
Level 3 model of diesel engine ............................................................. 18
3.1.5
Level 4 model of diesel engine ............................................................. 20
3.1.6
Inclusion of constant friction torque ..................................................... 23
3.1.7
Inclusion of torque ripple...................................................................... 23
3.2
Speed governor.................................................................................................... 26
3.3
Modifications of speed governor for parallel operation...................................... 26

GAS TURBINE .............................................................................................................. 29

4.1
Gas turbine .......................................................................................................... 29
4.2
Modifications of speed governor for parallel operation...................................... 32
4.3
Model parameter extraction from measurements................................................ 32

COMPLETE PSCAD / EMTDC MODEL OF A DIESEL GENERATOR TRAIN ..... 33

5.1
Modelling ............................................................................................................ 33
5.1.1
Generator............................................................................................... 33
5.1.2
Exciter ................................................................................................... 33
5.1.3
Diesel engine......................................................................................... 33
5.1.4
Speed governor ..................................................................................... 33
5.1.5
Generator load....................................................................................... 33
5.1.6
The model ............................................................................................. 34
5.2
Parameters used in the model.............................................................................. 36
5.3
Simulated examples for illustration of correct behaviour ................................... 36
5.3.1
Step loading and load rejection............................................................. 36
5.3.2
Terminal short circuit............................................................................ 37

COMPLETE MODEL OF A GAS TURBINE GENERATOR TRAIN ........................ 40

6.1
Modelling ............................................................................................................ 40
6.1.1
Generator............................................................................................... 40
6.1.2
Exciter ................................................................................................... 40

12X12702

AN 01.12.40

3
Energy Research

6.2
6.3

6.1.3
Gas turbine and speed governor............................................................ 40
6.1.4
Generator load....................................................................................... 40
6.1.5
The model ............................................................................................. 40
Parameters used in the model.............................................................................. 45
Simulated examples for illustration of correct behaviour ................................... 45
6.3.1
Step loading and load rejection............................................................. 45

INCLUSION OF SHAFT DYNAMICS ......................................................................... 47

7.1
Modelling of shaft dynamics............................................................................... 47
7.2
Example of simulation including shaft dynamics ............................................... 48
7.3
Parameters used in the model.............................................................................. 51

CONCLUDING REMARKS.......................................................................................... 52

REFERENCES ......................................................................................................................... 53
APPENDIX A

12X12702

PARAMETERS FOR THE EXAMPLES ............................................ 54

AN 01.12.40