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Determination of Load Angle For Salient-Pole Synchronous Machine
Determination of Load Angle For Salient-Pole Synchronous Machine
2478/v10048-010-0018-2
This paper presents two methods for load angle determination for salient-pole synchronous generator. The first method uses
optical encoder to detect the rotor position. In some cases the end of the rotor shaft is not free to be used and mounting of an
encoder is impossible. Therefore, the second method proposes estimation of the load angle based on the measured electrical values
that have been already used in excitation control system of the synchronous generator. Estimation method uses corresponding
voltage-current vector diagram and parameters of the synchronous generator, transformer and transmission lines. Both methods
were experimentally verified on the digital control system and synchronous generator connected to power system. The estimation
and measured results were compared. The accuracy of load angle estimation method depends on voltage and current
measurement accuracy as well as generator, transformer and transmission line parameter accuracy. The estimation method gives
satisfactory accuracy for load angles less than 120º el. Thus, it can be applied in excitation control system to provide stable work of
synchronous generator in under-excitation operating area.
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MEASUREMENT SCIENCE REVIEW, Volume 10, No. 3, 2010
position signals. The load angle measurement for detecting (channel A) has a frequency of 5000 pulses per revolution
the rotor position based on a photoelectric sensor mounted and the second pulse train (null mark) has a frequency of 1
on the stator is proposed in [12]. Air gap sensor for pulse per revolution.
detection of rotor position was proposed in [13]. After the generator is synchronized on the power system
Disadvantage of these two methods is the mounting of with no load and with synchronous speed, calibration
encoder or sensor on the generator. Several other papers procedure is performed. Digital control system detects the
have described the procedures for indirect determination of time difference between the occurrence of the null mark
load angle [14]-[17]. Indirect determination is based on pulse and the occurrence of the next positive zero crossing
available measured values. of the power system voltage. This time difference is the
This paper presents a load angle measurement using the offset or calibration time, shown as Tcal in Fig.3. As the
optical encoder. It also presents the load angle estimation synchronous generator is loaded, the rotor position pulse
method for synchronous generator connected over the advances with respect to the zero crossing of the power
transformer and transmission line to the power system system voltage. Thus, the time difference between the
(Fig.2). The proposed estimation method uses the available occurrence of the null mark pulse and the occurrence of the
measured values that have already been introduced for the next positive zero crossing of the power system voltage
purpose of the control system excitation. This method has changes to T in Fig. 3. In this way, the current load angle is
been implemented in the digital control system and requires given as the time difference:
knowledge of generator and the equivalent network
parameters. Tδ = T − Tcal (1)
Tδ (2)
δ= ⋅ 360°
Tv
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MEASUREMENT SCIENCE REVIEW, Volume 10, No. 3, 2010
iq (t ) β1q t β2 qt
= Aq ⋅ e + Bq ⋅ e (6)
iq 0
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MEASUREMENT SCIENCE REVIEW, Volume 10, No. 3, 2010
30 4
25 Measured value
Estimated value 3
20
Difference
Load angle / °el
Difference / °el
15
2
10
1
5
0
0
0,0 0,2 0,4 0,6 0,8 1,0
Active power / p.u.
Fig.9. Measured and estimated load angle, and estimation error
with reactive power of 0 p.u. during active power change from 0
p.u. to 1.0 p.u.
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5 12
20
30
4 9
Measured value
15 Estimated value
Load angle / °el
20
Difference / °el
Difference / °el
6
10
2 10
3
5 1 0
0
Measured value
0 0 -10 Estimated value
Difference
-3
-1
0 2 4 6
0,0 0,2 0,4 0,6 0,8 1,0 t/s
Active power / p.u.
Fig.10. Measured and estimated load angle, and estimation error Fig.12. Measured and estimated load angle for active power step
with inductive reactive power of 1.0 p.u. during active power change and reactive power of 0 p.u.
change from 0 p.u. to 1.0 p.u.
25
6
20
2
50
15
Difference / °el
1
Load angle / °el
40 3
10
Difference / °el
Load angle / °el
0
30 5
Measured value
0
Estimated value
20
-1 0 Difference
-5
10 Measured value -2
-3
Estimated value 0 2 4 6
Difference t/s
0 -3
0,0 0,2 0,4 0,6 0,8 1,0 Fig.13. Measured and estimated load angle for active power step
Active power / p.u. change and inductive reactive power of 1.0 p.u.
Fig.11. Measured and estimated load angle and estimation error
200
with capacitive reactive power of 1.0 p.u. during active power 200
change from 0 p.u. to 1.0 p.u. 150
150
load angle
Difference / °el
Load angle / °el
50
50
was active power step change (at the moment of t ≈ 1s) from -50 -100
Measured value
0 p.u. to 1.0 p.u. and again to 0 p.u. after four seconds. In all Estimated value
-150
experiments the reactive power was kept constant using the -100 Difference
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MEASUREMENT SCIENCE REVIEW, Volume 10, No. 3, 2010
Difference / °el
criterions are used to determine sensitivity of estimation 8 MAE
method to parameter change. The first criterion is the mean STAT
absolute error (MAE) between the measured and estimated 6
60
50
50
40
Load angle / °el
40
Load angle / °el
30 30
20
R(estimator) = 0,5 Rn 20
10 Measured value
Estimated value 10
Xq(estimator) = 0,5 Xqn
0 Measured value
Estimated value
0
-10
-20 -10
0 1 2 3 4 5 6 0 1 2 3 4 5 6
t/s t/s
70
60
60
50
50
Load angle / °el
40 40
Load angle / °el
30 30
Xq(estimator) = Xqn
20 R(estimator) = Rn 20 Measured value
Measured value Estimated value
10 Estimated value 10
0 0
-10 -10
0 1 2 3 4 5 6 0 1 2 3 4 5 6
t/s t/s
70
80
60
50 60
Load angle / °el
Load angle / °el
40 40
30 20
R(estimator) = 1.5 Rn
Measured value Xq(estimator) = 1.5 Xqn
20
Estimated value 0 Measured value
Estimated value
10
-20
0
-40
-10
0 1 2 3 4 5 6 0 1 2 3 4 5 6
t/s t/s
Fig.15. The measured and estimated load angle with different Fig.17. The measured and estimated load angle with different
stator resistance R in load angle estimator quadrature-axis reactance Xq in load angle estimator
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MEASUREMENT SCIENCE REVIEW, Volume 10, No. 3, 2010
12
30
10
25
Difference / °el
Difference / °el
20
MAE 8 MAE
STAT
STAT
15
6
10
4
2
0
0,4 0,6 0,8 1,0 1,2 1,4 1,6 0,4 0,6 0,8 1,0 1,2 1,4 1,6
Xq / Xqn Xe / Xen
Fig.18. MAE and STAT criterions due to different quadrature-axis Fig.20. MAE and STAT error of load angle estimation due to
reactance Xq in estimator different equivalent reactance Xe in estimator
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The results of sensitivity analysis show that static accuracy
50
of the presented estimation method is practically
independent of errors in determining stator resistance. The
40
average absolute dynamic error is less than 1 % in
Load angle / °el
30
conditions of stator resistance change. So the determining
accuracy of stator resistance value does not have great
20 Xe(estimator) = 0,5 Xen influence on the accuracy of the presented load angle
Measured value
10
Estimated value estimation method.
However, errors in determining the reactances Xq and Xe
0 have influence on the static accuracy of the presented
estimation method. The average dynamic absolute error
-10
0 1 2 3 4 5 6 significantly depends on quadrature-axis reactance Xq
t/s change.
70
60
4. CONCLUSIONS
50
This paper presents and compares methods for the load
Load angle / °el
20
Xe(estimator) = 1,5 Xen determination have influence on the static accuracy of the
10 Measured value
Estimated value
presented estimation method. The average dynamic absolute
0 error significantly depends on generator quadrature-axis
-10 reactance change.
-20
Excitation control system with additional signal and
0 1 2 3 4 5 6
estimated load angle can improve the stability of a
t/s synchronous generator in capacitive operating mode. Future
research will be based on development of excitation control
Fig.19. The measured and estimated load angle with different algorithms based on the estimated load angle of a
equivalent reactance Xe in load angle estimator synchronous generator.
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MEASUREMENT SCIENCE REVIEW, Volume 10, No. 3, 2010
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