AVR+Synchronous Machine pu Model

Torque Equation in per-unit

2H dω
= Tm − (ψdiq − ψq id)
ωB dt

ω is the electrical angular speed in rad/s.

ωB is the base electrical angular speed in
rad/s.
Compact Form of Flux Equations
   
ψd ψd
 ψq   ψq 
     
d  ψF  = A1  ψF  + A2 id
  
dt 
 ψH


 ψH 
  iq
 ψG   ψG 
ψK ψK
 
vd
+B1 + B2Ef d
vq
  
ψd
 ψq 
   
 ψF  id
A3  =
 ψH  iq
 
 ψG 
ψK
  
0 −ω 0 0 0 0
ω 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
  
−ωB Ra 0
 0 −ωB Ra 
 
 0 0 
A2 =  
 0 0 
 
 0 0 
0 0
    
−ωB 0 0
 0 
 0 −ωB   
  x 0
 1 d 
0 0
Td0 (xd−x0d) 
 
B1 =   , B2 = 
 
 0 0   0 
   
 0 0   0 
0 0 0
 A3 =
 0 0 00 
1 0 − (xd−xd) − (xd−xd ) 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 −ω id
=
dt iq ω 0 iq
   
ωB vd Ed
+ −
x vq Eq

ωB L
x=
Zbase
Infinite Bus

Ed = −E sin δ Eq = E cos δ
dδ
= ω − ωo
dt
E = 1, ωo = ωB
If studying slow electromechanical transients,
while operating near the nominal speed, use

0 = −ωB ψq − ωB Raid − ωB vd

0 = ωB ψd − ωB Raiq − ωB vq

i.e., in the stator flux differential equations

set
dψd dψq
=0 =0 ω ≈ ωB
dt dt
Model of interconnection (d-q pu form)
    
d id 0 −ω id
=
dt iq ω 0 iq
   
ωB vd Ed
+ −
x vq Eq

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

set
did diq
=0 =0 ω ≈ ωB
dt dt
Therefore the differential equation for the inter-connection becomes an
algebriac equation.
        
0 0 −ωB id ωB vd Ed
= + −
0 ωB 0 iq x vq Eq
Torque Equation in per-unit
2H dω
= Tm − (ψdiq − ψq id)
ωB dt

ω is the electrical angular speed in rad/s.

ωB is the base electrical angular speed in
rad/s.
Rotor Flux Equations
   
ψF ψF  
d ψH

=A  0
 ψH 
 + A00 ψd
1 ψ  1 ψ

dt  ψG  G q
ψK ψK
+B20 Ef d
Note: Stator flux (ψd, ψq ) 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 (xd−x0d)
 
0 
B2 =  0 

 0 
0
  
ψd
 ψq 
   
 ψF  id
A3  =
 ψH  iq
 
 ψG 
ψK
 A3 =
 0 0 00 
1 0 − (xd−xd) − (xd−xd ) 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 δ Eq = E cos δ
dδ
= ω − ωo
dt
E = 1, ωo = ωB
Simple Static Exciter Model
dXE 1
= (−XE + kA (Vref − V ) )
dt TA
p
V = v 2 + vq2
d
States, Inputs

1. States: δ, ω, ψF , ψH , ψG, ψK
2. Number of differential equations: 6
3. Other variables: ψd, ψq , id, iq , vd, vq
4. Algebriac Equations : 6
5. Inputs: Tm, Ef d
ψd, ψq , id, iq , vd, vq can be obtained in terms
of the states using the 6 LINEAR algebraic
Equations

0 = −ωB ψq − ωB Raid − ωB vd
0 = ωB ψd − ωB Raiq − ωB vq
        
0 0 −ωB id ωB vd Ed
= + −
0 ωB 0 iq x vq Eq
 
T i
A3 ψd ψq ψF ψH ψG ψK = d

iq