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MODELLING AND MODEL-REDUCTION OF THE

SYNCHRONOUS MACHINE THROUGH SINGULAR
PERTURBATION METHODS
L. F. LOpez and H . A. N. Eldin
G /u IIP vf AlltVlI/a tl ( C"lm t lOt a/Ut T a hll/wt C"VbPrllftIO . L'IIIPfl'l lt) of \\'II/JpPrtat. \\ ·lIppl'l ta t .
Fn /l'1a/ R,.publlc uf Gr rUlf",., .

Abstract. The singular perturbation methods are applied to the full 7th order model of
the synchronous machine . A systematic and mathematical l y based order reduction is presen -
ted. A detailed three time scale analysis with the complete reconstruction of the "slow"
and "high" speed dynamic components of all state variables of the full model is described.
Depending on the kind and speed of the disturbance the introduc t ion of optimized correc-
ting fa c tors for frequency and damping of the simplified models is needed .

Keywords . Synchronous machine; singular perturbation; model reduction; time scale

decompositi o n .

nd
1. INTRODUCTION Mechanical system ( 2 order ) :

The dynamical behaviour of the syn c hronous machine

is described in the d-q reference frame by a nORli -
near system of differential equations of the 7~
order . Different state variables are used (Laible,
1 952; An derson, 1 980; Nour Eldin, 1980).
s (ll = T~ (Mm(ll- t 1I (IIM 1(1))

Beside t his "full" model, there exist reduced order s(lo l = 0

models, which have been formulated using different with
approximation s together with physical and empirica l 1/(/1 =[if idIOiq10l
reasoning. Their scope of application was supposed ( 2.3)
to be, for example, in the dynamical simulation of = [ - i f xdid iO xqi q iQ 1
large e l ectrical power netwoks or in the analysis
and design of the machine control parameters and the state vector and
systems through modern control concepts . mechanical torque
Recently (Schmidt, 1982), efforts to realize re a l
time dynamic simulation of power networks using sets mechanical time constant
of mic r o - computers, show that the proper ch o ice of the matices of equat i ons (2.1) and (2 . 2) are
the model used is crucial in achieving such a goal.

In this pape r , singular perturbation methods (Koko -

tovic,1976; Chow, 1978) are applied to the complete
dynamical model of the synchronous machine. A sys-
tematic and mathematically based order reduction
( 2.4 )
with its range of application and validity is pre -
sented. Also the datailed three time scale analysis
with the reconstruction of the "slow" and "high"
M
speed dynamic components of all state variables of
the full model is described. It will be shown, that
depending on the kind and speed of the disturbance
( Mechani c al torque - ,network voltage step ) , the in -
tr o du c tion of optimized correcting factors for dam-
ping and frequency in the simplified models is n ee -
ded.

2. STATE SPACE REPRESENTATION OF THE

SYNCHRONOUS MACHINE ( FULL MODEL )

The c omplete mod e l for a synchronous ma c hine connec -

ted ta an infinite bus with the c o nstant voltage am-
plitude IVNI through an external impedance Z
(Z = r + j x ) is given in the d - q referenc~ frame
byetheef o llowrng set o f nonlinear differential equa -
tions ( Nour Eldin, 1983 )
th
Electrical system ( 5 order ) :

•Le ddil- ••
= i'l * ((!)ll(11 • • 1"1
- Qf vf - QN (6 1 VN (25 1

i( lOI =10

1569
1570 L. F. Lopez and H. A. N. Eldin

and
Cl. =11-,utI11-,udI11-,uOI TABLE 1 Eigenvalues of the Electrical
Part of the Machine (Appendix
rJ
1 =1' -~I
,
f3d 2 xe/ xd f3q = xe/ x q A1=-d, + j W, I, '" 50 Hz

Ir + re) I r + re ) * T =.247 sec.

T ._- AZ-d, - j w, 1
Td - xd q Xq
( 2.6)
T~'WOTD T~'WOTO A
3
=-d'3 '3
= 1.739sec.

A =-d' T = 35msec
*
Tf-WOT f 4 4 4
A =-d • T =369msec
5 5 5
Finally, the vectors in equation (2.1) are defined
to: \ ' A = Al' This subsystem will be definej
, t Z
as the "equivalent d-q coupling" . It is res -
liN - [0 sinlolt)) 0 coslolt)) OJ (V)
ponsible for the sOHztransiE'ntsof thE' machine
_I .8-. A relatively "slow" subsystem of the l~ or-
tl f
_ [1-,11 0 0 0 0 12.8) der def ined by the rea I eigenvalue A 3' It
--:rr
f
0] represents the "equivalent field ll •
C. Two relatively "fast" subsystems of the 1~
and order defined by the real eigenvalues A4,As'
UU-2JT50Hz They are defined as the "equivalent dampers".
(29)
Now, the electrical part of the machine (equation
(Z.l» could be transformed from the d-q coordinates
to the eigen-axis coordinates, in order to obtain a
Equations (Z.l) and (Z.Z) are schematically dis-
suitable form for singular perturbation .
played in Fig. 1. The input variables are assumed
Hence
to be v the applied field voltage, IvNI the infi-
f
nite bus voltage and Mm(t) the mechanical torque.
~I iltl =Ailtl-Q't v: - Q'N(6) IVNI- (3.2 )

lItO) = Xl i(IOI

Mechanical
>-__ ;r---~ part lit) Xt l(l)
- 133)
2~ order
X orthonormal ized real eigenvec - 13.4)
tor matrix from the real eigen-
value matrix relation
Electrical
part RX
5 th order and
- d1 w1 135)
Fig. 1. Schematical representation of the syn-
chronous machine -w, -d1*

A
•
-d3 real matrix
3. EIGEN-AXIS MODEL OF THE (Jordan fornV
SYNCHRONOUS MACHINE

One of the main difficulties in applying singular

perturbation theory modelling, model reduction or
model dynamic separation, is that the original sys-
tem dynamic equation has to be described in a way, '
b =
-I
Xl -L-'e-Ib' 13.6)
such that the identification of small parameters
and "slow" and "fast" variables could be done. b_ I6)=X I C-'b ( 37)
N e -N (6)
The Eigen-axis state space representation of the
The mechanical system is now defined to
synchronous machine model appears to be suitable for
handling by singular perturbation.
ForIB(t)-ll<c: , with 0::::010-2 , the electrical part 6 11) = Wo 511) 138)
of the machine (equation (Z.l» is linear. The so-
lution of the generalized eigenvalue problem:
sit) =~IM II)-WII)) ;5110)=0 139)
., TA m e
R ~ = .A Le~ 13.')
wi th
with
symmetrical, positive definit (3'0)
and
-R* )W (R
const. R
r + x 0 =
leads to the eigenvalues of Table 1 (Machine data
A systematic order reduction could now be made
given in the Appendix I)
through singular perturbation methods. The struc-
The electrical part of the machine could therefore ture of the defined Eigen-axis synchronous machine
be splitted up into the following dynamic components model is schematically reveled in Fig Z. The de-
coupled representation of the electrical part of
1. A lightly damped 50 Hz., Znd order subsystem the machine simplifies the physical understanding
represented by a complex pair of eigenvalues of its characteristic motions.
 Modelling and Reduction of the Synchronous Machine 1571

~s
System A
Mm lt )

Mechanical
- Syslem 6(1)
Me ll )

Equ ivalentd-q I----'

System B
coupling
r Itll
;:=
2 nd order d 1 I-d l
Elec -
Irical
Torque
-
---- Equivalenl
Field
1st order
- fJdq clTbltf tl

with
fJdq = lIWl :::: l/wO (53)
Equivalenl I---
!= Dampers
Now, ~d -" O means, that the equivalent d-q coupling
2xl st order
Vf subsyst~m is regarded much faster than the other
transients. It results in averaging theSO Hz. oscil-
Fig 2. Eigen-axis model of the synchro- latory mode, leaving in action the "slow" varying
nous machine part of the states i (t), i (t) . Hence, the "slow"
1 2
system results to:
4 MODEL-REDUCTION OF THE SYNCHRONOUS Electrical System
MACHINE

The dynamic behaviour of the full nonlinear model

of the synchronous machine, could be identified in
"three time scales", defined through the following
subsystems:
a. "Very fast" and lightly damped 50 Hz.
2nd. order equivalent d-q coupling sys-
tem.
b. Two "fast" equivalent dampers .
and
c. One "slow" equivalent field and a 2nd
order "slow" mechanical system. Mechanical System
Taking into account the machine data, order reduc -
tion could be done. A simplified flow chart is
given in Fig . 3 . Starting from the Eigen-axis 7th (55)
order model, different possibilities of order re-
duction could be found, depending on the specific
with
machine parameters or application range of the mo -
del. Mell) = 1 (/) 1 M'l!I)';- 156 )
In this paper, path a -. b -.c will be illustrated. It
corresponds to a commonly used order reduction se- Dt)t =[il ll)'211)T311)T4It)T511)j IS 7)
quence found in literature.(For example (Nelles,
1973); (Ahmed Zaid, 1982»
The original system is approximated by:

a ill) = lIt) + OllJdq)

6 (1) =6It)+0If.Jdq)

sIt) = sll) + Ol f.Jdq ) (58)

e
The fast system is analyzed separately in the r dq-
time scale:
s!l! order sth order
without dq-coupl.
2 Damper
b 9 wi t hout Damper
d-q coupling d ~1 Irdq )] [-dl 1 ] ~il Irdq )] 15 g)
dr dq i 2 lrdq) = -1 -dl i 2 lrdq )

with (510)

Note that using equation 0.3), the "fast and the

"slow" dynamIc components of the original state vec-
tor i(t) could be analyzed as
Fig 3. Possible model reduction steps

5. NONLINEAR 5
th
ORDER MODEL 1It) I
X I I) + X 11 I r dq) + 0 ( ~dq) 1511 )
(WITHOUT D-Q COUPLING) with X [X l :X2]
dim Xl I 5x 2)
In the first reduction step the equivalent d - q
coupling subsystem is separated from the rest of
the electrical system defined by equation (3.2):
1572 L. F. L6pez and H. A. N. El din

Nume rical simulation results are illustrated in the
Appendix I II. Several cases are demonstrated:
- Fig . 4: Mechanical torque step of - 207. from no -
minal value.
- Fig . 5 : Network - voltage step of - 107. from no -
minal value
- Fig . 6: Network - voltage step of - 10% from no -
minal value . + "fast" system .
The state var iables i1 to is correspond to the Ei -
gen - axis model (equat~on (3 . 3)); the state varia -
bles ID to IFF a r e defined in equation (2 . 3) . (IDD
and IQQ corr espond to the cur rent of the damper
windi ngs in the d - q refer ence frame)
Note that due to the addition of the "fast" system
to the r educed or der model, the accur acy of the
approximation of the mechanical state var iables
set) and 6(t) is increased . (Fig . 6)
6. NONLINEAR 3~ ORDER MODEL
Following path b - c of Fig. 3 , the equations (5 . 4)
and (5 . 5) can be further r educed taking into account
that l >"4 1 :::: 1>"5 1 • Subsystem (5 . 4) can be decomposed
into the equivalent field - system and the two first
order equivale nt damper - systems:
System AA
d -
- i3 111
dl
System BB
model. Experimentally, hybrid simulations could be
do ne as well .
Figur e 8 illustrates simulation results of a sudden
mechanical torque decrease of 10% from nominal
value with optimized correcting factors SFAC and
DFAC . For "small" disturbances « 20% of nominal
value) only the cor r ection of damping is needed .
The "fast" dynamic of the machine could be recons -
t r ucted in the T4 or the Ts - time scales sepa -
r ately .
7. CONCLUSION
Using the singular perturbation methods, a systema-
tic way of formulating nonlinear reduced order mo -
dels of the synchr onous machine has been given . A
complete reconstruction of the "slow" and "high"
speed dy namic components of all state variables of
the full model could be done separately, in diffe -
rent time scales.
Optimized correcting factors for damping and fre -
quency have to be introduced in those reduced order
models, in which the dynamical infuence of theequi -
valent dampers has been "eliminated"
8. REFERENCES
Ahmed - Zaid, S " P . W. Sauer, M. A. Pai and M. K. Sario-
16.11
glu (1982) . Reduced order modeling of synchro -
nous machines using singular perturbation. IEEE
Transactions on Circuits and Systems, Vol . CAS -

~4
29 (1 U , 782 - 786 .
fJ4 -2.. Il l] l iT"llll
-Q f
*
Vf-QNSSI61I VNI
*
- d~J ~5 1 1J SS Ander son,P . M. and A. Feuad (1980) . Power System Con -
dl b5 111
trol and Stability, 2nd . ed . , Iowa State Univer -
16.2 1 sity Press, Iowa .
wi t h Chow, J . H. , J.J. Allemong and P. V. Kokotovic (1978) .
iJ4 16.31 Singular per turbation analysis with sustained
and high - frequency oscillations. Automatica, 14,
d '5 1641 271 - 279 .
Kokotovic, P . V. , R. E. O'Malley Jr . and P . Sannuti
Appl ying the pr evious pr cedure now to the equivalent
( 1976) . Singular perturbations and order reduc -
dampers (equation (6 . 2)), the " slow" system defined
tion i n control theory -. An overview. Automati -
by the electr i cal state i (t) and the mechanical
3 ~, 12, 123 - 132.
states set) a nd 6(t) is obtained:
Laible, T. (1952) . Die TheoriE' der Synchronmaschine
im nichtstationarem Betrieb, Springer Verlag,
Electrical system 16.51
d = *= * =. Berl in.
at '3 = - d3 ' 3111-bfAAvf- bNAAI611VNI Nelles, D. (1973). Die Beschreibung der Synchronma-
Algebraic relations 16.61 schine fur Ausgleichsvorgange in Drehstromnatze~
Wiss . Ber . AEG - Telefunken, 46, 44 - 51.
~~::] = £k[~~1 -:J [QfS vf + QNSI61IVNI] Nour Eldin, H.A., E. Lerch, P . Wegmann, P . Wehrli
(1980) . Digitale Simulation der Synchronmaschine
~~ II~IJ = [-1 -d4/ dJ [QfSSv;+ QNss l611 vNn
mit Zustandsraumdarstellung. ETZ-Archiv, Bd . 2,
H. 12, 335 - 338 .
Mechanical s~stem

61 I1 = Wo sill 16.7 1 Nour Eldin, H. A. , L. F. Lopez (1983) . Modellierung

~ 111 : it.. IMmlll- t r llllMIIIII

und Modellreduktion der Synchronmaschine mittels
Singular Perturbation. DFG - Report, AZ . No. 133/1 -
1.
with lid : [11111 i 2 (11 T3111 ~(II i 51!)] (6.81 Schmidt, K. , W. M. Mansour (1982). Berechnung der
dynamischen Stabilitat in Energieversorgungsnet -
zen mit Parallelrechnern. ETZ - Archiv, Bd . 4, H. 4,
Depending on the machine data this reduction step 133 - 139 .
may result in a very light damped system . In this
case only the "slow" varying part of the input va -
riables 1 VNI , v£ and M (t) should be used . For the
case of a mechan~cal to~que r amp (Duration 2 sec . )
APPENDIX
numerical results a r e shown in Fig . 7 . If the speed
of the disturbance is increased, the introduction Machine data(pu)
of optimized cor recting factors for frequency and
xd= 2.7 x =2 . 7
damping of the "slow" dynamic is needed . This fac- q
tors are situated in the mechanical part of thema - r = 0 . 0015
chine as shown in Fig . 9 T = 10 . 8 sec. T =0 . 4431 sec . T =0 . 324 sec .
D Q
Gradie n t optimazation methods could be used for the
T~= 7. 23 sec.
optimization procedure with known full reference
 HodeUing and Reduction of the Synchronous Machine 1573

Leakage coefficients (pu)

a = 0 . 1482
df
a = 0.1052
dD
a q = 0 . 0153
Compound coefficients(pu)
~f = 0 . 0756 ~D = 0 . 0288
Network data(pu)
r = 0.04 x 0 .3
e e

APPENDIX II

List of symbol s
d *. I Re (Ai} I, with Ai complex eigenvalue
1

~~~
i(t) current vector in the d-q reference frame
i(t) current vector of the Eigen - axis model
(pu) •
j= y-! complex number ..
te symmetrical inductance matrix (pu)
dim (5x5)
id symmetrical d- axis inductance matrix (pu)
e
dim Ox3)
i eq symmetrical q- axis inductance matrix (pu)
dim (2x2)
.. ~~
.. ~
M (t) mechanical torque (pu)
m
M (t) electromagnetic torque (pu)
e
r stator resistance (pu)
set) slip of rotor (%)
TA 2H, where H is the inertia constant
T , TQ
D
Damper winding time constants in d and q
axis respectively (sec.) ·-tAtv-- :~
.-~
T Field armature time constant (sec.)
f
v Field voltage (pu)
f '-h " " " ',I,'"
IvNI Voltage of the infinite bus (pu)

c5( t) load angle(elec . radians)

~f' ~D' ~d compound coeffiecients (pu) Fig . 45th order model; mechanical torque
step response
adf' adD leakage coefficients (pu) d-axis

leakage coefficient (pu) q- axis 7'nl OIDD MClDD...---

5llIOtODlfWlnlDAHP'Dt I -

e(t) R~ted angular velocity of rotor

Set) = 1 + set)
~dq '~4 Time scaling factor (sec)
Time constant (sec . )
Base synchronous speed (rad/sec.)
IIm (A }1 ,with Al complex eigenvalue
1
representing the equivalent d- q system
Network inductance (pu)
Network resitance (pu)
direct and quadrature axis synchronous
reactances (pu)

T5 Time scales (pu)

DFAC, SFAC Correcting factors for frequency and
damping (pu)

APPENDIX III

Numerical simulation results

The following Figures correspond to the simulation
of the nonlinear 5th . order model:
Fig . 4: M - step of - 20%
m
Fig . 5: V - step of - 10%
N
Fig . 6: V - step of - 10'7. + "fastlf system
N
The simulation of the 3rd order model is given in
the Figures:
Fig . 7: Mechanical torque ramp (Duration 2 sec . )
Fig . 8: Mm - step of - 10% with optimized correc-
Fig . 55th order model; network voltage step
ting factors SFAC, DFAC . response
1574 L. F . L6pez and n. A. N. Eldin

...... :~:r~ <:1:.. - - -

"no c~:r. "':::0.. - - - !-:1"c .. :O....:::c.. -
~ :: .. ~O' • r~~~ SYH~ -

~ (,
- I' r
~: I.' \. "--___
l _______ . t-~ _______ .. __

.. ~,
H
:.J
"I Jr
,
" • .1
t'

"'~I
!r
~
./'../"-_ _
~
.'£!....., , ------- . -,
T:c...>'--,-'....L'-L.-'~'-'-+~
./

t~ .!

//
.J~ .... / .../ .

" //
• 1 ~""I ! I !" L_~

""f ~\\;;'\
~ /~-
..... f \'" ' .. if!
~~~-----
jC
pi ! ! I
~/
I ' ! 1.1.
/
V,.,., . " " " '1
I

Fig. 65th order model; network voltage step Fig . 8 3rd order model; mechanical torque
response + "fast" system step response with SFAC=17 . 788

IICSI"ONS I: Tt) TIoIIIMI' -\0 00000 ,

'"

J~
. . $, J I I I I, t I! 1 I ,
"".~
'I/~

Fig 9. Correcting factors for frequency

::L
and damping

. . . .
l'
"1=~
F '
I
! I
•
I !
•
I ! I
I.
,

"~
r' ! .
.
I,!
,
I I !!

. E\,
~

.t~ '\'
.l ·~~
r ! ! !, !

Fig . 7 3rd order model; mechanical torque

ramp response (duration 2 sec . )