Electric Torques

• Mechanical torque from turbine is converted into

electrical torque
Damping and Synchronizing • The electric torque has two components:
Torques – Synchronizing torque (in phase with power angle)
– Damping torque (in phase with speed)
Mohamed A. El-Sharkawi
Department of Electrical Engineering
• The lack of either torque render the system
University of Washington unstable
Seattle, WA 98195
http://SmartEnergyLab.com • Power system controllers (stabilizers) are used
Email: elsharkawi@ee.washington.edu to enhance these torques

©Mohamed El-Sharkawi, University of Washington 1 ©Mohamed El-Sharkawi, University of Washington 2

Synchronous Machine Model Mechanical Loop

K1 K1
Mechanical loop
_ _
1  377  1  377 
+ +
Tm _ MS  D S
Tm MS  D S

K2
K4 K5 
_ +
K3  KA v
+
ef’ 1  S 'do K 3 efd 1  S A
+ Td Te
Electrical loop

K6
Ts 

©Mohamed El-Sharkawi, University of Washington 3 ©Mohamed El-Sharkawi, University of Washington 4

1
 Mechanical Loop Mechanical Loop
K1 K1
Ts
_ _
1  377  1  377 
+ +
Tm _ MS S
Tm MS  D S

Td
S  377

Tm S  M S  D S  377 K1
D 2
 Te

S 
Td 377
Te  Td  Ts  M
Te  D   K1 Ts 
Tm S  S 2  D  M S
377 K1
M
 S  C
 2
Tm S  S  2   n S   2n
Damping Torque Synchronizing Torque Characteristic Equation

©Mohamed El-Sharkawi, University of Washington 5 ©Mohamed El-Sharkawi, University of Washington 6

Mechanical Loop Mechanical Loop

K1 K1

_ _
1  377  1  377 
+ +
Tm MS  D S
Tm MS  D S

S 
377
 M 
 M S  377 K M
C C
Tm S  S 2  D  
Tm S 2  2   n S   n2 S  1 S   2 
1

S  C where

Tm S  S 2  2   n S   n2
    n  j n 1   2
where
 are the roots of the characteristic equation
377 K1
n  Natural frequncey
M
D
 Damping Coefficient
2M  n
©Mohamed El-Sharkawi, University of Washington 7 ©Mohamed El-Sharkawi, University of Washington 8

2
 Mechanical Loop Mechanical Loop
K1 K1

_ _
1  377  1  377 
+ +
Tm MS  D S
Tm MS  D S

     n  j n 1   2
j d


    j d      n  j n 1   2 n

Where     j d
 is the damping   n 

 d is the damped frequncy

©Mohamed El-Sharkawi, University of Washington 9 ©Mohamed El-Sharkawi, University of Washington 10

Roots      n  j n 1   2
Mechanical Loop
j d     j d K1

 0   n _

+ 1  377
1 MS  D S
Tm
n S  C
Tm
 n 1  2 
Tm S  S 2  2   n S   n2
K

   1
Assume Tm is a step input
1   n  Time

S  
C K
S 2  2   n S   2n S
The time domain solution of the equation is
 1  2 
t   2 
KC KC
sin  d t   e nt  tan 1  
 0 n n d   
 
©Mohamed El-Sharkawi, University of Washington 11 ©Mohamed El-Sharkawi, University of Washington 12

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Time Response of Mechanical Loop Lack of Damping Torque

 d

0

 2  1
KC KC
 2n  2n

1

Time Time

Lack of Damping Torque Lack of Synchronizing Torque


0
When n is very small, or K1 is very small

377 K1
KC
n 
M
 2n

 KC 
sin  d t   e  nt   
KC
lim   lim  2 
 n 0 
 n 0
 n nd 

Time

©Mohamed El-Sharkawi, University of Washington 16

4
 Lack of Synchronizing Torque Synchronous Machine Model
K1
Mechanical loop
 _

+ 1  377

Tm _ MS  D S

K4 K5
KC K2
 2n _ +
K3  KA v
+
ef’ 1  S 'do K 3 efd 1  S A
Electrical loop +

K6

Time

©Mohamed El-Sharkawi, University of Washington 17 ©Mohamed El-Sharkawi, University of Washington 18

Electrical Loop without VR

 

Te Te

K4 K5 K4 K5
K2 K2
_ + _ +
K3 v K3 v
+ +
ef’ 1  S 'do K 3 efd ef’ 1  S 'do K 3 efd
Electrical loop + Electrical loop +

K6 K6

©Mohamed El-Sharkawi, University of Washington 19 ©Mohamed El-Sharkawi, University of Washington 20

5
 Electrical Loop with VR Electrical Loop with VR
Te K 2 K3K 4 Te K 2 K3K 4
1  S do
'
K3  1  S do
'
K3 
G  j  
K 2 K3 K 4
Te S   K 2 K 3 K 4 
1   do
'
K3  2

   j   180 o  tan 1  do' K 3 

 S  1   do
'
K3 S
Te  j   K 2 K3 K4
  G  j   j 
  j  1  j do'
K3  G 
0 180o
Corner frequency 180o-45o
G  j  
K 2 K3 K4 1 2

1   do
'
K3  2 ′

  j   180o  tan 1  do' K 3 
0 90o

©Mohamed El-Sharkawi, University of Washington 21 ©Mohamed El-Sharkawi, University of Washington 22

Electrical Loop with VR Electrical Loop with VR

 G  
Te K 2 K3K 4
1  S do 180o
 0
'
K3
  n
Corner frequency 180o-45o Te Td
1 2
′
0 Ts  
 0 90o
Damping torque is positive
Synchronizing torque is negative

Tdm damping torque from mechanical loop
  n Tde damping torque from electrical loop
Te Td Tsm synchronizing torque from mechanical
Total damping torque 0 loop
Total synchronizing torque 0 Tse synchronizing torque from electrical
0 Ts   loop

©Mohamed El-Sharkawi, University of Washington 23 ©Mohamed El-Sharkawi, University of Washington 24

6
 Electrical Loop with VR Electrical Loop with VR
 

At corner frequency   n Example   n

Te Td 0.54 Te Td
1.2
 0.66 
0 Ts  0 Ts 
0.7
0

0 0.277 0
2
Total damping torque 0
Total synchronizing torque 0
0.54 0.277 0
2

The system is stable

©Mohamed El-Sharkawi, University of Washington 25 ©Mohamed El-Sharkawi, University of Washington 26


Electrical Loop with VR Te
Electrical Loop with VR K5
 K2
+
K3  KA v
Te
ef’ 1  S 'do K 3 efd 1  S A
K5 +
K2
+
K3  KA v
K6
ef’ 1  S 'do K 3 efd 1  S A
+
K K K 
  2 ' 5 A 
Te S    do  A 

S 
K6
  K 
'
 1  K3 K6 K A 
S 2   A ' do 3  S   
 
 A do 3 
K   A  do K 3 
'

With VR, we can ignore K4 

Te S  C

S  S 2  2  n S   2n
©Mohamed El-Sharkawi, University of Washington 27 ©Mohamed El-Sharkawi, University of Washington 28

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  
Te Te
Electrical Loop with VR K5 Electrical Loop with VR K5
K2 K2
+ +
K3  KA v K3  KA v
ef’ 1  S 'do K 3 efd 1  S A ef’ 1  S 'do K 3 efd 1  S A
+ +

K6 K6

Te S  C Te  j   
 ; Replace S by j (Oscillation frequency) C 2  
S  S 2  2  n S   n2  j 
 180  tan 1 2 n 2


 
 2

  2  2  n  
2 2
 n   
Te  j 
n
C   n
 2
 j  
 n   2  j 2  n   Te Td
Te  j 
When K5>0
C  2    Synchronizing Torque is negative up to =n
 180  tan 1 2 n 2 
 j   2
n 
  2  2  n  
2 2
 
n    
0 Ts  

©Mohamed El-Sharkawi, University of Washington 29 ©Mohamed El-Sharkawi, University of Washington 30


Te
Electrical Loop with VR K5 Negative Impact of VR
K2
+
K3  KA v

ef’ 1  S 'do K 3 efd 1  S A
+
 0

K6
Td

Te  j  C  2    
  tan 1 2 n 2 
  j   2
n 
  2  2  n  
2 2
 
 n    KA1
 Ts 0

Td Te KA2 > KA1
When K5<0   n
Damping Torque is negative up to =n   n 31

VR could enhance one of the torques but could reduce the other

©Mohamed El-Sharkawi, University of Washington ©Mohamed El-Sharkawi, University of Washington 32

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 Damping and Synchronizing Torques in
Multi-Machine System Electric Torques on ith Machine
j K1ii
K1ij
_ _
i
 
n
Tmi + 1 i 377 Tei S    K1ij  j  K 2ij e 'fj
_ M i S  Di S
_ j 1

efj’
K2ij K2ii
K4ii K5ii
j • The angle between machine buses
K5ij
K 3ii
_
efdi  K Ai vi
+
+ determines the magnitude of the
efi’ 1  S 'doi K 3ii
_ _
+ 1  S Ai + synchronizing and/or damping torques
+ K6ij
efj’
1/K3ij K4ij

efj’ j

K6ii
©Mohamed El-Sharkawi, University of Washington 33 ©Mohamed El-Sharkawi, University of Washington 34