Advance Power System Operation

and Control
Lecture 06

Modeling of Power Systems

Structure of Power System

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Control of Power System

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Control Method
Manual Intervention
Slow
Depends on human response

Digital Control

Computer Based
Reliable
Fast
Adaptive

Advantages

High speed of operation

Higher accuracy
Optimal operation
Network state scanning and monitoring
Adaptive control possible
Low maintenance and low operating cost
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Type of Computer Control System

Supervisory
The computer generates an out to change the setpoint of the controller
The computer is just the decision making tool
The controller is the workhorse in the control system
Controller can be an analogue or digital

Direct Control
The computer itself acts as controller
Executes the decision taken by itself
Types
Off line
On line
In line

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Power System Representation

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Power System at Normal Operating State

Power System operates in normal state if following conditions
are satisfied:
Load flow is equation is satisfied
Balance between generated and demanded power

The frequency is constant

The bus voltage is |Vt| is within the prescribed limit

Vi

min

Vi Vi

max

No power system component is to be overloaded

Steady State Stability Limit

It is also known as static transmission capacity, is given as

Pijmax =

Vi Vi
X ij

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Modeling of System
Why do we make model of any thing may be electrical or
electrical power system?
In the present day engineering, designing and manufacturing,
computer simulations are of great significance
For clear understanding
Detailed analysis of system behavior

Component modeling is very important

Modeling should have identical behavior as of physical system
The governing mathematical equations are solved

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Modelling of Synchronous Generator

Frame of Reference
Rotor frame of reference
Stator frame of reference

Flux frame of reference

Arbitrary frame of reference

North Pole

Rotor frame of reference

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Schematic Diagram of Synchronous Machine

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Generator Modeling

Equivalent circuit of a synchronous

generator
The internally generated voltage in a single phase of a
synchronous machine EA is not usually the voltage appearing
at its terminals. It equals to the output voltage V only when
there is no armature current in the machine. The reasons
that the armature voltage EA is not equal to the output
voltage V are:
1. Distortion of the air-gap magnetic field caused by the
current flowing in the stator (armature reaction);
2. Self-inductance of the armature coils;
3. Resistance of the armature coils;
4. Effect of salient-pole rotor shapes.

Equivalent circuit of a synchronous

generator
Armature reaction (the
largest effect):
When the rotor of a synchronous
generator is spinning, a voltage
EA is induced in its stator. When
a load is connected, a current
starts flowing creating a
magnetic field in machines
stator. This stator magnetic field
BS adds to the rotor (main)
magnetic field BR affecting the
total magnetic field and,
therefore, the phase voltage.

Lagging
load

Equivalent circuit of a synchronous

generator
Assuming that the generator is connected to a lagging load, the load current IA will
create a stator magnetic field BS, which will produce the armature reaction voltage
Estat. Therefore, the phase voltage will be

V = E A + Estat
The net magnetic flux will be

Bnet = BR + BS
Rotor field

Stator field

Note that the directions of the net magnetic flux and the phase voltage are the
same.

Equivalent circuit of a synchronous

generator
Assuming that the load reactance is X, the armature reaction voltage is

Estat = jXI A
The phase voltage is then

V = E A jXI A

Armature reactance can be modeled by the following

circuit
However, in addition to armature reactance effect,
the stator coil has a self-inductance LA (XA is the
corresponding reactance) and the stator has
resistance RA. The phase voltage is thus

V = E A jXI A jX A I A RI A

Equivalent circuit of a synchronous

generator
Often, armature reactance and self-inductance are combined into the synchronous
reactance of the machine:

XS = X + XA
Therefore, the phase voltage is

V = E A jX S I A RI A
The equivalent circuit of a 3-phase
synchronous generator is shown.
The adjustable resistor Radj controls the
field current and, therefore, the rotor
magnetic field.

Phasor diagram of a synchronous

generator
Since the voltages in a synchronous generator are AC voltages, they are usually
expressed as phasors. A vector plot of voltages and currents within one phase is
called a phasor diagram.
A phasor diagram of a synchronous generator
with a unity power factor (resistive load)

Lagging power factor (inductive load): a larger

than for leading PF internal generated voltage
EA is needed to form the same phase voltage.

Leading power factor (capacitive load).

For a given field current and magnitude of
load current, the terminal voltage is lower for
lagging loads and higher for leading loads.

Power and torque in synchronous

generators
The real output power of the synchronous generator is

Pout = 3VT I L cos = 3V I A cos

The reactive output power of the synchronous generator is

Qout = 3VT I L sin = 3V I A sin

Recall that the power factor angle is the angle between V and IA and not the
angle between VT and IL.
In real synchronous machines of any size, the
armature resistance RA << XS and, therefore,
the armature resistance can be ignored. Thus,
a simplified phasor diagram indicates that

E A sin
I A cos =
XS

Power and torque in synchronous

generators
Then the real output power of the synchronous generator can be approximated as

Pout

3V E A sin
XS

We observe that electrical losses are assumed to be zero since the resistance is
neglected. Therefore:

Pconv Pout
Here is the torque angle of the machine the angle between V and EA.
The maximum power can be supplied by the generator when = 900:

Pmax =

3V E A
XS

Steady State Model

It is from the basic concept of electrical machines
A group of synchronous machines or a part of power system can be
represented as a single equivalent synchronous machine

Ed' = Vd + I d Ra + I q X q'

Eq' = Vq + I q Ra I d X d'

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Steady State Model

It is from the basic concept of electrical machines
A group of synchronous machines or a part of power system can be
represented as a single equivalent synchronous machine

Ed' = Vd + I d Ra + I q X q'

Eq' = Vq + I q Ra I d X d'

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Transient Model
The induced voltage is sum of q and d axis voltage

Ed' = Vd + I d Ra + I q X q'

Eq' = Vq + I q Ra I d X d'

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Model 1
In this model,
the machine has been assume to have the magnitude of constant
voltage behind the d-axis transient reluctance only
q axis transient flux linkage is neglected for being small
Mechanical System equations have been considered:

d
1
=
dt
M

Pm Pe D

dt

d
= 2 f o
dt
M = Angular Momentum
H = inertia constant
fo = base frequency
= angular frequency

Pm = Mechanical Power
Pe = Electrical Power
D = damping coefficient
= rotor angle

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Model 2
In model 0 and 1, electrical dynamics have not been considered

dEq'
dt

E
(
=

Eq )
'
d

E f + ( X d Ed' ) I d Eq'
Td'

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Model 3
This is further detailed model
Transient effects both in the d and q axis have been considered

'
d

dE
Ed
= ' =
dt
Tq

( X q Eq' ) I q Ed'
Tq'

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Model 4
It is due to presence of damper winding

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Modeling of Synchronous Generator in a Network

The generator models are made with a reference rotating with
its own rotor
The real and imaginary components can be form as

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Modeling of Synchronous Generator in a Network

This can be formed as

and

Vr cos
V = sin
im

sin Vq
cos Vd

Vq cos
V = sin
d

sin Vr
cos Vim
The vector V can also
be represented as

V = (Vq + jVd ) e j

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Modeling of Synchronous Generator in a Network

Power equations of for a salient pole alternator can be
modelled by any of the model.
Power equation in steady State is given as

E V
V 1
1
P=
sin +

sin 2
Xd
2 Xq Xd
2

Power equation in transient state is given as

Pg =

E' V
X d'

V
sin +
2

1
1
' ' sin 2
Xq Xd

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Governor Modelling
The model of generator will be complete only with the modeling
of few other components
Governor
Excitation Control

Governor
When load increases,
The speed of generator reduces slightly
The governor reacts to this and increases steam flow from boiler to the
turbine
The speed of turbine increases

The increased steam flow

Causes reduced boiler pressure
Fuel, air and water follow supply increases

As the boiler inertia is high, the effect of load changes only influences the
generator
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Governor Modeling Block Diagram

( s ) = F ( s )

Change in
frequency

xe
Connected
Change in Power

Opening of
steam Valve

R = Speed regulation of the governor

KSG = gain of the speed governor
TSG = time constant of the speed

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Governor Model
K SG
xe =
1 + sTSG

( s ) = F ( s )

xe

If Pc =1 and =0,
then
K SG
xe =
( Pc )
1 + sTSG

K SG
xe =
s (1 + sTSG )

K SG / TSG
=
s ( s + 1/ TSG )

K SG
K SG
=

1
s
1+
TSG
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Governor Model
K SG
K SG
xe =

1
s
1+
TSG

( s ) = F ( s )

The governor action has been

modeled as transfer function

xe (t ) = K SG 1 e t / TSG

xe

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Turbine Modelling
Turbine dynamics are import as they affect overall response of
the generating plant to load changes
Type of turbine affects it dynamics

Non reheat type steam turbine

After passing through the control valve, the high pressure steam enters
the turbine via steam chest
The steam chest introduces the delay of TT in the steam flow
The transfer function becomes

Pt ( s )
1
GT =
=
xe ( s ) 1 + sTSG

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Turbine Governor Block Diagram

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Turbine Governor Block Diagram

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Dr Sajjad Zaidi Power System Operation and Control

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