AVR+Synchronous Machine pu Model

Torque Equation in per-unit

2H d
= Tm (diq q id)
B dt

is the electrical angular speed in rad/s.

B is the base electrical angular speed in
rad/s.
Compact Form of Flux Equations

d d
q q
 
d F = A1 F + A2 id

dt
H


H
iq
G G
K K
 
vd
+B1 + B2Ef d
vq

d
q
 
F id
A3 =
H iq

G
K

0 0 0 0 0
0 0 0 0 0

10 0 10 0 0 0
Td Td
A1 = 1
100

T 00 0 0 0 0
Td

d
0 1 0 0 10 0
Tq0 Tq
0 100 0 0 0 100
Tq Tq

B Ra 0
0 B Ra

0 0
A2 =
0 0

0 0
0 0

B 0 0
0
0 B
x 0
1 d
0 0
Td0 (xdx0d)

B1 = , B2 =

0 0 0

0 0 0
0 0 0
 A3 =
0 0 00
1 0 (xdxd) (xdxd ) 0 0
x00d xdx0d x0dx00d
(x x 0) (x 0 x00)
q
0 x100 0 0 x x0 q xq0 x00q
q q q q q
Model of interconnection:

L 0 0 ia va Ea
d
0 L 0 ib = vb Eb
dt
0 0 L ic vc Ec
Model of interconnection (d-q pu form)
    
d id 0 id
=
dt iq 0 iq
   
B vd Ed
+
x vq Eq

B L
x=
Zbase
Infinite Bus

Ed = E sin Eq = E cos
d
= o
dt
E = 1, o = B
If studying slow electromechanical transients,
while operating near the nominal speed, use

0 = B q B Raid B vd

0 = B d B Raiq B vq

i.e., in the stator flux differential equations

set
dd dq
=0 =0 B
dt dt
Model of interconnection (d-q pu form)
    
d id 0 id
=
dt iq 0 iq
   
B vd Ed
+
x vq Eq

B L
x=
Zbase
A logical extension of the approximation ...

set
did diq
=0 =0 B
dt dt
Therefore the differential equation for the inter-connection becomes an
algebriac equation.
        
0 0 B id B vd Ed
= +
0 B 0 iq x vq Eq
Torque Equation in per-unit
2H d
= Tm (diq q id)
B dt

is the electrical angular speed in rad/s.

B is the base electrical angular speed in
rad/s.
Rotor Flux Equations

F F  
d H

=A 0
H
+ A00 d
1 1

dt G G q
K K
+B20 Ef d
Note: Stator flux (d, q ) differential equations
become algebraic equations, due to the neglect
of fast transients.

10 0 0 0
Td
100

0 0 0
Td

A01 =
0 0 10 0
Tq
0 0 0 100
Tq

1 0
Td0
1 0

Td00

A00
1 =
0 10
Tq
0 100
Tq
 0

1 x d
Td0 (xdx0d)

0
B2 = 0

0
0

d
q
 
F id
A3 =
H iq

G
K
 A3 =
0 0 00
1 0 (xdxd) (xdxd ) 0 0
x00d xdx0d x0dx00d
(x x 0) (x 0 x00)
q
0 x100 0 0 x x0 q xq0 x00q
q q q q q
Infinite Bus

Ed = E sin Eq = E cos
d
= o
dt
E = 1, o = B
Simple Static Exciter Model
dXE 1
= (XE + kA (Vref V ) )
dt TA
p
V = v 2 + vq2
d
States, Inputs

1. States: , , F , H , G, K
2. Number of differential equations: 6
3. Other variables: d, q , id, iq , vd, vq
4. Algebriac Equations : 6
5. Inputs: Tm, Ef d
d, q , id, iq , vd, vq can be obtained in terms
of the states using the 6 LINEAR algebraic
Equations

0 = B q B Raid B vd
0 = B d B Raiq B vq
        
0 0 B id B vd Ed
= +
0 B 0 iq x vq Eq
 
T i
A3 d q F H G K = d

iq