Synchronous Machine Models

Model A
A state space model which requires fewer parameters - BUT states
cannot be easily related to the original states (stator and rotor fluxes).
q axis - Standard Parameters from Measure-
ment

Lq , Tq0 , Tq00, Tqo

0 , T 00
qo
OR
Lq , L0q , L00 , T
q qo qo
0 , T 00

OR
Lq , Tq0 , Tq00, L0q , L00
q
NOTE: Stator Resistance can also be obtained
by measurement
q axis Model - Inter-relationships between
Standard Parameters

0 00 Lq 0 Lq Lq 00
Tqo + Tqo = Tq + (1 − + )Tq
L0q L0q L00
q
0 00 0 00 Lq
TqoTqo = Tq Tq
L00
q
q-axis Model A
dψG 1
= (−ψG + ψq )
dt Tq0
dψK 1
= (−ψK + ψq )
dt Tq00
(L0q − L00q ) (Lq − L0 ) L00
q q
00
ψq = Lq iq + ψK + ψG
L0q Lq L0q
dψq
= ωψd − Raiq − vq
dt
ψG and ψK are linearly related to ψg and ψk .
d axis - Standard Parameters from Measure-
ment

Ld, T 0 , T 00, T 0 , T 00
d d do do
OR
Ld, L0 , L00, T 0 , T 00
d d do do
OR
Ld, T 0 , T 00, L0 , L00
d d d d
NOTE: Stator Resistance can also be obtained
by measurement
d axis Model - Inter-relationships between
Standard Parameters
Ld 0 Ld Ld 00
T 0 + T 00 = T + (1 − + )T
do do L0 d L0 L00 d
d d d
0 00 0 00 Ld
T T =T T
do do d d L00
d
d-axis Model A
dψH 1 β1
= (−ψH + ψd) + vf
dt T 00 T 00
d d
dψF 1 β2
= (−ψF + ψd) + vf
dt T0 T0
d d
(L0 − L00) (Ld − L0 ) L00
ψd = L00id+ d d ψ +
H
d dψ
F
d L0 Ld L0
d d
dψd
= −ωψq − Raid − vd
dt
Expressions for β1 and β2
(T 00 − T 00 ) L0 L00 Mdf
β1 = d dc d d
(T 00 − T 0 ) Ld(L0 − L00) Rf
d d d d
(T 0 − T 00 ) L0 Mdf
β2 = d dc d
(T 0 − T 00) (Ld − L0 ) Rf
d d d
 Model I
A state space model using some assumptions, so that the state space
model is in terms of states that can be related to the original states easily.
The parameters of this model need to be back-calculated from the
standard parameters.
Original Equations in the d-axis
ψd = Ldid + Mdf if + Mdhih
ψf = Mdf id + Lf f if + Lf hih
ψh = Mdhid + Lf hif + Lhhih
dψf
+ Rf if = vf
dt
dψh
+ Rhih = 0
dt
dψd
= −ωψq − Raid − vd
dt
Alternative d-axis variables

Define New Variables (similar to referring vari-

ables on to one side of a transformer)

ψ 0 = ψf αf
f
ψ 0 = ψhαh
h
if
i0 =
f αf
ih
i0 =
h αh
Equations in New Variables
0 i0 + M 0 i0
ψd = Ldid + Mdf f dh h
ψf0 = Mdf
0 i + L0 i0 + L0 i0
d ff f fh h
ψh0 = Mdh
0 i + L0 i0 + L0 i0
d fh f hh h
dψf0
+ Rf0 i0f = vf0
dt
dψh0
+ Rh0 i0h = 0
dt
dψd
= −ωψq − Raid − vd
dt
Equations in New Variables

M 0 = αf Mdf , M 0 = αhMdh
df dh
L0 = α2 Lf f , L0 = αhαf Lf h
ff f fh
R0 = α2 Rf , v 0 = αf vf
f f f
R0 = α2 Rh L0 = α2 Lhh
h h hh h
Simplifications to Reduce Number of Pa-
rameters
0 = M0
1. Choose αh so that Mdh df
2. If αf is the actual turns ratio between stator
and field winding, then Mdf 0 = L −L,L
d l l
is a leakage inductance.
0 = L0
3. Assume Mdf fh
Back-calculation of Required Parameters

NOTE: Form of the transfer functions is un-

changed:

Ψd(s) = Ld(s)Id(s) + G0(s)V 0 (s)

f
(1 + BN s + AN s2)
Ld(s) = Ld
(1 + BD s + AD s2)
M0 (1 + AGs)
0 df
G (s) =
R0 (1 + AD s + BD s2)
f
 L0f f
0 0 2 M 0 2
0 00 Lhh Mdh df
BN = Td + Td = 0 + 0 − −
Rf Rh LdRh0 LdRf0
2 2
L0f f L0hh L0f h 0 L0
Mdf hh
AN = Td0 Td00 = 0 0 − 0 0 −
Rf Rh Rf Rh LdRf0 Rh0
2
0 L0 0 M 0 L0
Mdh ff Mdh df f h
− + 2
LdRf0 Rh0 LdRf0 Rh0
 LL0f f
0
0 + T 00 =
BD = Tdo + hh
do Rf0 Rh0
2
L0f f L0hh L0f h
0 T 00 =
AD = Tdo − 0 0
do 0
Rf Rh 0 Rf Rh
Thus, one may obtain L0f f , L0hh, Rf0 , Rh0 , given

Ld, Td0 , Td00, Tdo

0 , T 00 , L
do l
Parameters for this Model (with assumptions):

Ld, L0 , L0 , R0 , R0 , Ll
f f hh f h
Parameters from measurement:

Ld, T 0 , T 00, T 0 , T 00 , Ll
d d do do

Ra is available from measurement.

αf is not explicitly required if referred volt-
age vf0 is used in all calculations.
Summary: Model I (d axis)
ψd = Ldid + (Ld − Ll )i0f + (Ld − Ll )i0h
ψf0 = (Ld − Ll )id + L0f f i0f + (Ld − Ll )i0h
ψh0 = (Ld − Ll )id + (Ld − Ll )i0f + L0hhi0h
dψf0
+ Rf0 i0f = vf0
dt
dψh0
+ Rh0 i0h = 0
dt
dψd
= −ωψq − Raid − vd
dt
Parameters for this Model (with assumptions):

Ld, L0 , L0 , R0 , R0 , Ll
f f hh f h
Parameters from measurement:

Ld, T 0 , T 00, T 0 , T 00 , Ll
d d do do

Ra is available from measurement.

αf is not explicitly required if referred volt-
age vf0 is used in all calculations.
Summary: Model I (q axis)
ψq = Lq iq + (Lq − Ll )i0g + (Lq − Ll )i0k
ψg0 = (Lq − Ll )iq + L0gg i0g + (Lq − Ll )i0k
ψk0 = (Lq − Ll )iq + (Lq − Ll )i0g + L0kk i0k
dψg0
+ Rg0 i0g = 0
dt
dψk0
+ Rk0 i0k = 0
dt
dψq
= ωψd − Raiq − vq
dt
Parameters for this Model :

Lq , L0gg , L0 , Rg0 , R0 , Ll
kk k
Parameters from measurement:

Lq , Tq0 , Tq00, Tqo

0 , T 00 , L
qo l

Ra is available from measurement.

Model I Equivalent Circuits
 Model II
A state space model using some assumptions, so that the state space
model is in terms of states that can be related to the original states
approximately. The parameters of this model do not need to be
back-calculated from the standard parameters.
d-axis variables

Define New Variables (similar to referring vari-

ables on to one side of a transformer)

ψF = ψF αF

ψH = ψH αH
iF
iF =
αF
iH
iH =
αH
Equations in New Variables
0 i + M0 i
ψd = Ldid + Mdf F dh H
0 i + L0 i + L0 i
ψF = Mdf d ff F fh H
0 i + L0 i + L0 i
ψH = Mdh d fh F hh H
dψF
+ Rf0 iF = vF
dt
dψH
+ Rh0 iH = 0
dt
dψd
= −ωψq − Raid − vd
dt
Equations in New Variables

M 0 = αF Mdf , M 0 = αH Mdh
df dh
L0 = α2 Lf f , L0 = αH αF Lf h
ff F fh
R0 = α2 Rf , vF = αF vf
f F
R0 = α2 Rh L0 = α2 Lhh
h H hh H
Assumptions to Reduce Number of Parame-
ters
0 = M0 =
1. Choose αH and αF so that Mdh df
Ld
2. αF is the not the actual turns ratio between
stator and field winding (but approximately
equal to it).
3. Assume Ld = L0f h
Interesting Observations
The assumption made in this model leads us to:
1. T00dc = T00d
00 L0hh−Ld
2. Td = R0
h
L0 −L
0 ff d
3. Td = R0
f

4. L10 = L1 + L0 1−L
d d ff d

5. L100 = L10 + L0 1−L

d d hh d
Equations in New Variables
ψd = Ldid + LdiF + LdiH
ψF = Ldid + L0f f iF + LdiH
ψH = Ldid + LdiF + L0hhiH
dψF
+ Rf0 iF = vf0
dt
dψH
+ Rh0 iH = 0
dt
dψd
= −ωψq − Raid − vd
dt
Parameters for this Model :

Ld, L0 , L0 , R0 , R0
f f hh f h
Parameters from measurement:

Ld, T 0 , T 00, T 0 , T 00
d d do do

Ra is available from measurement.

d-axis Model II
dψH 1
= (−ψH + ψd)
dt T 00
d
L0 M0
dψF 1 d df
= (−ψF + ψd) + v0
dt T0 (Ld − L0 )R0 T 0 f
d d f d
(L0 − L00) (Ld − L0 ) L00
ψd = L00id+ d d ψ +
H
d dψ
F
d L 0 L L0
d d d
dψd
= −ωψq − Raid − vd
dt
 Ld L0
ψF = Ld id + (Ld + d ) i +L iH
F d
Ld − L0
d
L0 L00
ψH = Ld id + Ld iF + (Ld + d d ) iH
L0 − L00
d d
q-axis Model II
dψG 1
= (−ψG + ψq )
dt Tq0
dψK 1
= (−ψK + ψq )
dt Tq00
(L0q − L00q ) (Lq − L0 ) L00
q q
00
ψq = Lq iq + ψK + ψG
Lq0 Lq 0
Lq
dψq
= ωψd − Raiq − vq
dt
Model II Equivalent Circuits
Per-Unit System
 Definition of Base Values
1. VB = Rated Line-Line Voltage,
2. M V AB = Rated MVA (three phase)
3. ωB = Rated (electrical) frequency (rad/s)
4. IB = M VV AB , ωmB = P2 ωB
B

5. TB = MωV AB , ψB = ωVB
mB B

6. ZB = VI B , LB = ZB
ωB
B
Model I -PER UNIT
0 0
ψ d = xdid + (xd − xl )if + (xd − xl )ih
0 0 0
ψ f = (xd − xl )id + x0f f if + (xd − xl )ih
0 0 0 0
ψ h = (xd − xl )id + (xd − xl )if + xhhih
0
dψ f 0 0
+ ωB Rf if = ωB v 0f
dt
0
dψ h 0 0
+ ωB R h i h = 0
dt
dψ d
= −ωψ q − ωB Raid − ωB v d
dt
ω and ωB are in rad/s
Model I - PER UNIT
per-unit line to line voltage under open circuit
conditions in steady state and when ω = ωB
x0 xd − xl 0
df 0
Ef d = v = v
0 f 0 f
Rf Rf

Zero Sequence Equations in pu

(not required for balanced situations)
dψ o
= ωB R a i o − ωB v o
dt
Model I -PER UNIT
0 0
ψ q = xq iq + (xq − xl )ig + (xq − xl )ik
0 0 0
ψ g = (xq − xl )iq + x0gg ig + (xq − xl )ik
0 0 0
ψ k = (xq − xl )id + (xq − xl )ig + x0kk ik
0
dψ g 0 0
+ R g ig = 0
dt
0
dψ k 0 0
+ R k ik = 0
dt
dψ q
= ωψ d − ωB Raiq − ωB v q
dt
ω and ωB are in rad/s
Model II - PER UNIT
dψ H 1
= (−ψ H + ψ d)
dt T 00
d
x 0
dψ F 1 d
= (−ψ F + ψ d + Ef d )
dt T 0 0
(xd − x )
d d
(x0 − x00) (xd − x0 ) x00
ψ d = x00id + d d ψ +
H
d dψ
F
d x0 xd x0
d d
dψ d
= −ωψ q − ωB Raid − ωB v d
dt
ω and ωB are in rad/s
Model II - PER UNIT
E f d = line-line open circuit voltage in per-unit
in steady state and when ω = ωB .
Zero Sequence Equations in pu
(not required for balanced situations)
dψ o
= ωB R a i o − ωB v o
dt
Model II - PER UNIT
dψ G 1
= (−ψ G + ψ q )
dt Tq0
dψ K 1
= (−ψ K + ψ q )
dt Tq00

(x0q − x00q ) (x q − x 0 ) x00

q q
00
ψ q = x q iq + ψK + ψG
x0q xq x0q
dψ q
= ωψ d − ωB Raiq − ωB v q
dt
ω and ωB are in rad/s
Torque Equation in per-unit
2H dω
= Tm − (ψ diq − ψ q id)
ωB dt

ω is the electrical angular speed in rad/s.

ωB is the base electrical angular speed in
rad/s.
Model which will be used in all future
discussions
Model II - PER UNIT
dψH 1
= (−ψH + ψd)
dt T 00
d
x 0
dψF 1 d
= (−ψF + ψd + Ef d )
dt T 0 0
(xd − x )
d d
(x0 − x00) (xd − x0 ) x00
ψd = x00id + d d ψ +
H
d dψ
F
d x0 xd x0
d d
dψd
= −ωψq − ωB Raid − ωB vd
dt
ω and ωB are in rad/s
Model II - PER UNIT
Ef d = line-line open circuit voltage in per-unit
in steady state and when ω = ωB
Zero Sequence Equations in pu
(not required for balanced situations)
dψo
= ωB Raio − ωB vo
dt
Model II - PER UNIT
dψG 1
= (−ψG + ψq )
dt Tq0
dψK 1
= (−ψK + ψq )
dt Tq00

(x0q − x00q ) (x q − x 0 ) x00

q q
00
ψq = xq iq + ψK + ψG
0
xq xq 0
xq
dψq
= ωψd − ωB Raiq − ωB vq
dt
ω and ωB are in rad/s
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.