Machine Model GENQEC

Synchronous Machine Model GENQEC

𝑋𝑋𝑑𝑑′′ − 𝑋𝑋𝑙𝑙
q-axis
Field Voltage 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙
b-axis From Exciter
1 + 1 + 𝑆𝑆𝑎𝑎 𝐸𝐸𝑞𝑞′ _ 1 + 𝑆𝑆𝑎𝑎 ψ𝑑𝑑
′
b + 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑑𝑑′′ ++
c 𝐸𝐸𝑓𝑓𝑓𝑓 ∑ ′ ∑
1 + 𝑆𝑆𝑎𝑎 𝑇𝑇𝑑𝑑𝑑𝑑 𝑠𝑠 ′′
𝑇𝑇𝑑𝑑𝑑𝑑 𝑠𝑠 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙
∑
_ 3 _ 4
𝛿𝛿
ψ𝑑𝑑′′
a-axis
𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑑𝑑′′
𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 ψ′′𝑑𝑑 = +𝐸𝐸𝑞𝑞′′
d-axis Field Current (𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 )2
𝜋𝜋 +
− 𝛿𝛿 To Exciter 1
+
1
2 +
1 + 𝑆𝑆𝑎𝑎 ∑ 𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑑𝑑′ ∑
+ 𝐼𝐼𝑑𝑑
𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓 1 − 𝐾𝐾𝑖𝑖𝑖𝑖𝑖𝑖 1 + 𝑆𝑆𝑎𝑎
c-axis a +0.25
𝐾𝐾𝑖𝑖𝑖𝑖𝑖𝑖 𝐾𝐾𝑤𝑤
−0.25
1
∑ 𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′ ∑ 𝐼𝐼𝑞𝑞
+ + 1 + 𝑆𝑆𝑎𝑎
_ _
𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑞𝑞′′ ψ𝑞𝑞′′ = −𝐸𝐸𝑑𝑑′′
Mechanical Swing Equations 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙
2
1 𝛿𝛿̇ = 𝜔𝜔 ∗ 𝜔𝜔0 �𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 �
1 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚ℎ −𝐷𝐷𝐷𝐷
ψ𝑞𝑞′′
2 𝜔𝜔̇ = �
2𝐻𝐻
− 𝑇𝑇𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 �
1+𝜔𝜔
1 + 𝑆𝑆𝑎𝑎 ψ𝑞𝑞
′
1 + 𝑆𝑆𝑎𝑎 𝐸𝐸𝑑𝑑′ +
+ 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑞𝑞′′ +
′ 𝑠𝑠
𝑇𝑇𝑞𝑞𝑞𝑞 ∑ ′′ 𝑠𝑠
𝑇𝑇𝑞𝑞𝑞𝑞 ∑ −1
𝜔𝜔 = per unit speed deviation, so 𝜔𝜔 = 0 means we 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙
are at synchronous speed and 𝜔𝜔 = 1 would 5 _ 6
mean it’s spinning at double synchronous speed
+
𝜔𝜔0 = synchronous speed 2𝜋𝜋𝑓𝑓0 where 𝑓𝑓0 is the 𝑋𝑋𝑞𝑞′′ − 𝑋𝑋𝑙𝑙
nominal system frequency in Hz 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙
𝑆𝑆𝑎𝑎 = 𝑆𝑆𝑆𝑆𝑆𝑆�𝜓𝜓𝑎𝑎𝑎𝑎 �
Note: If option Ignore Speed Effects in Generator 1 2
��𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞 � + �𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑 � =
2 1 2
��𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖 � + �𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 �
2
𝜓𝜓𝑎𝑎𝑎𝑎 =
Swing Equation is true, then instead use 1+𝜔𝜔 1+𝜔𝜔
1 𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞 = 𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 + 𝐼𝐼𝑞𝑞 𝑅𝑅𝑎𝑎 + 𝐼𝐼𝑑𝑑 𝑋𝑋𝑙𝑙
𝜔𝜔̇ = (𝑃𝑃 − 𝐷𝐷𝐷𝐷 − 𝑇𝑇𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 )
2𝐻𝐻 𝑚𝑚𝑚𝑚𝑚𝑚ℎ 𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝐼𝐼𝑑𝑑 𝑅𝑅𝑎𝑎 − 𝐼𝐼𝑞𝑞 𝑋𝑋𝑙𝑙
The GENQEC model includes saturation not simply as an additive term to the derivative of the 𝐸𝐸𝑑𝑑′ and 𝐸𝐸𝑞𝑞′ terms, but instead as the
saturation of all input parameters directly (impedance, time constants, field voltage, and field current). This means that the network
interface equations and Electrical Torque equations are impacted by the saturation as well. The relationships are as described in the
following.

Saturated Impedance Terms Flag Parameter determines what saturation function is used
𝑆𝑆𝑎𝑎 = 𝑆𝑆𝑆𝑆𝑆𝑆�𝜓𝜓𝑎𝑎𝑎𝑎 � 0 : Exponential 𝑆𝑆𝑆𝑆𝑆𝑆(𝑥𝑥) = 𝐵𝐵𝑥𝑥 𝐴𝐴
𝐵𝐵(𝑥𝑥 − 𝐴𝐴)2 /𝑥𝑥 𝐼𝐼𝐼𝐼 𝑥𝑥 > 𝐴𝐴
1 2 2 1 : Scaled Quadratic 𝑆𝑆𝑆𝑆𝑆𝑆(𝑥𝑥) = �
𝜓𝜓𝑎𝑎𝑎𝑎 = ��𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞 � + �𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑 � 0 𝐼𝐼𝐼𝐼 𝑥𝑥 ≤ 𝐴𝐴
1+𝜔𝜔 2
𝐵𝐵(𝑥𝑥 − 𝐴𝐴) 𝐼𝐼𝐼𝐼 𝑥𝑥 > 𝐴𝐴
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞 = 𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 + 𝐼𝐼𝑞𝑞 𝑅𝑅𝑎𝑎 + 𝐼𝐼𝑑𝑑 𝑋𝑋𝑙𝑙 (air gap voltage) 2 : Quadratic 𝑆𝑆𝑆𝑆𝑆𝑆(𝑥𝑥) = �
0 𝐼𝐼𝐼𝐼 𝑥𝑥 ≤ 𝐴𝐴
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝐼𝐼𝑑𝑑 𝑅𝑅𝑎𝑎 − 𝐼𝐼𝑞𝑞 𝑋𝑋𝑙𝑙 (air gap voltage)
Else we assume Exponential
′′
𝑋𝑋𝑑𝑑′′ − 𝑋𝑋𝑙𝑙
𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = + 𝑋𝑋𝑙𝑙
1 + 𝑆𝑆𝑎𝑎
′′
𝑋𝑋𝑞𝑞′′ − 𝑋𝑋𝑙𝑙 Solid Rotor Machine
𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = + 𝑋𝑋𝑙𝑙
1 + 𝑆𝑆𝑎𝑎 Time Constants must be greater than zero
Electrical Torque Reactances must be greater than zero
ψ𝑞𝑞 = ψ𝑞𝑞′′ − 𝐼𝐼𝑞𝑞 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞
′′
Salient Pole Machine with single amortisseur windings on d and q axis
ψ𝑑𝑑 = ψ𝑑𝑑′′ − 𝐼𝐼𝑑𝑑 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
′′
(see block diagram in subsequent pages)
𝑇𝑇𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 = ψ𝑑𝑑 𝐼𝐼𝑞𝑞 − ψ𝑞𝑞 𝐼𝐼𝑑𝑑 ′
𝑇𝑇𝑞𝑞𝑞𝑞 = 0 ; 𝑋𝑋𝑞𝑞′ = 𝑋𝑋𝑞𝑞 ; 𝑇𝑇𝑑𝑑𝑑𝑑
′ ′′
> 0 ; 𝑇𝑇𝑞𝑞𝑞𝑞 ′′
> 0 ; 𝑇𝑇𝑑𝑑𝑑𝑑 >0
Network Interface Equations
𝑑𝑑ψ
𝑽𝑽 = = 𝑗𝑗(1 + 𝜔𝜔) �ψ𝑑𝑑′′ + 𝑗𝑗ψ𝑞𝑞′′ � Salient Pole Machine without amortisseur windings
𝑑𝑑𝑑𝑑 (see block diagram in subsequent pages)
𝑉𝑉𝑑𝑑 + 𝑗𝑗𝑉𝑉𝑞𝑞 = �−ψ′′
𝑞𝑞
+ 𝑗𝑗ψ′′
𝑑𝑑
� (1 + 𝜔𝜔) ′
𝑇𝑇𝑑𝑑𝑑𝑑 ′
> 0 ; 𝑇𝑇𝑞𝑞𝑞𝑞 ′′
= 𝑇𝑇𝑞𝑞𝑞𝑞 ′′
= 𝑇𝑇𝑑𝑑𝑑𝑑 = 0 ; 𝑋𝑋𝑑𝑑′′ = 𝑋𝑋𝑑𝑑′ ; 𝑋𝑋𝑞𝑞′′ = 𝑋𝑋𝑞𝑞′ = 𝑋𝑋𝑞𝑞
𝑉𝑉𝑑𝑑 + 𝑗𝑗𝑉𝑉𝑞𝑞 = �𝐸𝐸𝑑𝑑′′ + 𝑗𝑗𝐸𝐸𝑞𝑞′′ �(1 + 𝜔𝜔)
Because of sub-transient saliency (𝑋𝑋𝑑𝑑′′ <> 𝑋𝑋𝑞𝑞′′ ), 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
′′ ′′
may not be equal to 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 . Because of this the network interface equations
cannot be written as a complex number circuit equation. Instead the network equations are written as follows
′′
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑉𝑉𝑑𝑑 − 𝑅𝑅𝑎𝑎 𝐼𝐼𝑑𝑑 + 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 𝐼𝐼𝑞𝑞
′′
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝑉𝑉𝑞𝑞 − 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝐼𝐼𝑑𝑑 − 𝑅𝑅𝑎𝑎 𝐼𝐼𝑞𝑞
These equations must be used directly when modeling the network boundary equations

Treatment of 𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅𝑅 and 𝑋𝑋𝑋𝑋𝑋𝑋𝑋𝑋𝑋𝑋

When specified, the compensated voltage fed as an input to the exciter is calculated as:
𝑉𝑉𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 = �𝑉𝑉�𝑡𝑡 − (𝑅𝑅𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 + 𝑗𝑗𝑋𝑋𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 )𝐼𝐼�𝑡𝑡 �
Salient Pole Machine with single amortisseur windings on d and q axis
′
𝑇𝑇𝑞𝑞𝑞𝑞 = 0 and 𝑋𝑋𝑞𝑞′ = 𝑋𝑋𝑞𝑞 𝑋𝑋𝑑𝑑′′ − 𝑋𝑋𝑙𝑙
′
𝑇𝑇𝑑𝑑𝑑𝑑 > 0 Field Voltage 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙
′′ From Exciter
𝑇𝑇𝑞𝑞𝑞𝑞 >0 ′
1 + 𝑆𝑆𝑎𝑎 ψ𝑑𝑑
′
′′ 1 + 1 + 𝑆𝑆𝑎𝑎 𝐸𝐸𝑞𝑞 _
𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑑𝑑′′ ++
𝑇𝑇𝑑𝑑𝑑𝑑 > 0 𝐸𝐸𝑓𝑓𝑓𝑓 ∑ ′
+
∑
1 + 𝑆𝑆𝑎𝑎 𝑇𝑇𝑑𝑑𝑑𝑑 𝑠𝑠 ′′
𝑇𝑇𝑑𝑑𝑑𝑑 𝑠𝑠 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙
∑
_ _ 4
′
If (𝑇𝑇𝑞𝑞𝑞𝑞 = 0) then the 3 ψ𝑑𝑑′′
software automatically sets 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑑𝑑′′ ′′
the following during (𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 )2 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 ψ𝑑𝑑 = +𝐸𝐸𝑞𝑞′′
Field Current +
initialization +
To Exciter 1 1
𝑋𝑋𝑞𝑞′ = 𝑋𝑋𝑞𝑞 1 + 𝑆𝑆𝑎𝑎 ∑
+ 𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑑𝑑′ ∑ 𝐼𝐼𝑑𝑑
𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓 1 − 𝐾𝐾𝑤𝑤 𝐼𝐼𝑑𝑑𝑑𝑑 + 1 + 𝑆𝑆𝑎𝑎
States 𝐸𝐸𝑑𝑑′ become algebraic. Still use the same clipping on 1
𝐾𝐾𝑤𝑤 and 𝐼𝐼𝑑𝑑𝑑𝑑 as on first page 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑞𝑞 ψ𝑞𝑞′′
1 + 𝑆𝑆𝑎𝑎

𝐸𝐸𝑑𝑑′ = 0 + 1 + 𝑆𝑆𝑎𝑎 ψ𝑞𝑞′ 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑞𝑞′′

∑ ′′ 𝑠𝑠
𝑇𝑇𝑞𝑞𝑞𝑞 −1
5 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙
_ 6

Salient Pole Machine without amortisseur windings

′
1 + 𝑆𝑆𝑎𝑎 𝐸𝐸𝑞𝑞 ψ𝑑𝑑′′
′
𝑇𝑇𝑑𝑑𝑑𝑑 >0 Field Voltage 𝐸𝐸𝑓𝑓𝑓𝑓 1 + +
′ ′′
𝑇𝑇𝑞𝑞𝑞𝑞 = 𝑇𝑇𝑞𝑞𝑞𝑞 ′′
= 𝑇𝑇𝑑𝑑𝑑𝑑 =0
∑ ′
𝑇𝑇𝑑𝑑𝑑𝑑 𝑠𝑠 ∑ ψ𝑑𝑑′
From Exciter 1 + 𝑆𝑆𝑎𝑎 _ 3 _ 4
𝑋𝑋𝑑𝑑′′ = 𝑋𝑋𝑑𝑑′
Field Current
𝑋𝑋𝑞𝑞′′ = 𝑋𝑋𝑞𝑞′ = 𝑋𝑋𝑞𝑞 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙
To Exciter +
𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓 1 1
′′ ′′
If (𝑇𝑇𝑞𝑞𝑞𝑞 = 0) or (𝑇𝑇𝑝𝑝𝑝𝑝 = 0) then the 1 + 𝑆𝑆𝑎𝑎 ∑
+ 𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑑𝑑′ 𝐼𝐼𝑑𝑑
1 − 𝐾𝐾𝑤𝑤 𝐼𝐼𝑑𝑑𝑑𝑑 1 + 𝑆𝑆𝑎𝑎
software automatically sets the following
Still use the same clipping on 1
during initialization
𝐾𝐾𝑤𝑤 and 𝐼𝐼𝑑𝑑𝑑𝑑 as on first page 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑞𝑞
𝑋𝑋𝑞𝑞′ = 𝑋𝑋𝑞𝑞 ; 𝑋𝑋𝑞𝑞′′ = 𝑋𝑋𝑞𝑞 ; 𝑋𝑋𝑑𝑑′′ = 𝑋𝑋𝑑𝑑′ + 1 + 𝑆𝑆𝑎𝑎
+
𝐸𝐸𝑑𝑑′ = 0 ∑ ψ𝑞𝑞′
States 𝐸𝐸𝑑𝑑′ , ψ𝑞𝑞′ and ψ𝑑𝑑′ become algebraic. 5 ψ𝑞𝑞′′ = 0
6
Initialization
This model is similar to GENROU, but the saturation is handled much differently. We will more
formerly discuss the theory of this model in a later section. Conceptually though, the saturation function
is applied to the reactances, field voltage input (𝐸𝐸𝑓𝑓𝑓𝑓 ), field current output (𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓 ), and also the various
′
′
time constants (𝑇𝑇𝑞𝑞𝑞𝑞 ′′
, 𝑇𝑇𝑞𝑞𝑞𝑞 , 𝑇𝑇𝑑𝑑𝑑𝑑 ′′
, 𝑇𝑇𝑞𝑞𝑞𝑞 ). The model also permits transient saliency so that 𝑋𝑋𝑑𝑑′′ <> 𝑋𝑋𝑞𝑞′′ . The
saturation function is a function of the air gap flux �𝜓𝜓𝑎𝑎𝑎𝑎 �. Satuation is then applied directly to both d
and q axis without any scaling because we are dividing all reactance terms by the same (1 + 𝑆𝑆𝑎𝑎 ) value.
The saturation function is calculated from the air gap voltage magnitude on either the d/q reference
frame or the network reference frame. Similar to GENROU with saturation we need to be a little clever
with the initialization. We know that the initial speed deviation is ω = 0, however we cannot directly
solve for rotor angle. Let’s just write out the 5 equations that must be satisfied for steady state.
𝐼𝐼𝑑𝑑
1. +𝐸𝐸𝑞𝑞′ − ψ′𝑑𝑑 − (𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 ) =0 Sum inputs integrator for State 4
1+𝑆𝑆𝑎𝑎
𝑋𝑋𝑑𝑑′′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑑𝑑′′
2. ψ′′ −� � 𝐸𝐸𝑞𝑞′ − � � ψ′𝑑𝑑 = 0 Final summation block resulting in ψ′′
𝑑𝑑 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙 𝑑𝑑
𝐼𝐼𝑞𝑞
3. −𝐸𝐸𝑑𝑑′ + �𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′ � =0 Sum inputs integrator for State 5
1+𝑆𝑆𝑎𝑎
𝐼𝐼𝑞𝑞
4. +𝐸𝐸𝑑𝑑′ − ψ′𝑞𝑞 + �𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 � =0 Sum inputs integrator for State 6
1+𝑆𝑆𝑎𝑎
𝑋𝑋𝑞𝑞′′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑞𝑞′′
5. −ψ′′ −� � 𝐸𝐸𝑑𝑑′ − � � ψ′𝑞𝑞 = 0 Final summation block resulting in ψ′′
𝑞𝑞 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙 𝑞𝑞

The value of the saturation function 𝑆𝑆𝑆𝑆𝑆𝑆�𝜓𝜓𝑎𝑎𝑎𝑎 � is vital to this initialization. We can get the air-gap
voltage on the network reference frame and the magnitude on the d/q reference frame will be the same

• 𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖 = 𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖𝑟𝑟𝑟𝑟 + 𝐼𝐼𝑖𝑖 𝑅𝑅𝑎𝑎 + 𝐼𝐼𝑟𝑟 𝑋𝑋𝑙𝑙 (air gap voltage)

• 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 = 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 + 𝐼𝐼𝑟𝑟 𝑅𝑅𝑎𝑎 − 𝐼𝐼𝑖𝑖 𝑋𝑋𝑙𝑙 (air gap voltage)
1 2 2 1 2 2
• 𝜓𝜓𝑎𝑎𝑎𝑎 = ��𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞 � + �𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑 � = ��𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟 � + �𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖 �
1+𝜔𝜔 1+𝜔𝜔
• 𝑆𝑆𝑎𝑎 = 𝑆𝑆𝑆𝑆𝑆𝑆�𝜓𝜓𝑎𝑎𝑎𝑎 �
The initial rotor angle can be solve using the following equation which is derived in a section shortly.
𝑋𝑋𝑞𝑞 −𝑋𝑋
𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 +𝑅𝑅𝑎𝑎 𝐼𝐼𝑖𝑖 +𝐼𝐼𝑟𝑟 � 1+𝑆𝑆 𝑙𝑙 +𝑋𝑋𝑙𝑙 �
−1
• δ = tan � 𝑎𝑎
𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 �
𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 +𝑅𝑅𝑎𝑎 𝐼𝐼𝑟𝑟 −𝐼𝐼𝑖𝑖 � 1+𝑆𝑆 +𝑋𝑋𝑙𝑙 �
𝑎𝑎
• 𝑉𝑉𝑑𝑑 = 𝑉𝑉𝑟𝑟 sin(δ) − 𝑉𝑉𝑖𝑖 cos(δ) convert to dq axis using δ
• 𝑉𝑉𝑞𝑞 = 𝑉𝑉𝑟𝑟 cos(δ) + 𝑉𝑉𝑖𝑖 sin(δ) convert to dq axis using δ
• 𝐼𝐼𝑑𝑑 = 𝐼𝐼𝑟𝑟 sin(δ) − 𝐼𝐼𝑖𝑖 cos(δ) convert to dq axis using δ
• 𝐼𝐼𝑞𝑞 = 𝐼𝐼𝑟𝑟 cos(δ) + 𝐼𝐼𝑖𝑖 sin(δ) convert to dq axis using δ
• ψ𝑞𝑞′′ = −𝑉𝑉𝑑𝑑 / (1 + ω) really we can ignore ω as it’s zero
• ψ𝑑𝑑′′ = +𝑉𝑉𝑞𝑞 / (1 + ω) really we can ignore ω as it’s zero
𝐼𝐼𝑑𝑑
• ψ′𝑑𝑑 = ψ′′
𝑑𝑑
− (𝑋𝑋𝑑𝑑′′ − 𝑋𝑋𝑙𝑙 ) � � Solve Equation 1 for 𝐸𝐸𝑞𝑞′ and substitute into Equation 2
1+𝑆𝑆𝑎𝑎
𝐼𝐼𝑑𝑑
• 𝐸𝐸𝑞𝑞′ = ψ′𝑑𝑑 + (𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 ) � � Equation 1 solve for 𝐸𝐸𝑞𝑞′
1+𝑆𝑆𝑎𝑎
𝐼𝐼𝑞𝑞
• 𝐸𝐸𝑑𝑑′ = �𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′ � � � Equation 3 solve for 𝐸𝐸𝑑𝑑′
1+𝑆𝑆𝑎𝑎
𝐼𝐼𝑞𝑞
• ψ′𝑞𝑞 = 𝐸𝐸𝑑𝑑′ + �𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 � � � Equation 4 solve for ψ′𝑞𝑞
1+𝑆𝑆𝑎𝑎
Once we have solved this set of equations, then we solve for initial values of 𝐸𝐸𝑓𝑓𝑓𝑓 and 𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓 which are
′
equal at the initial condition because their difference is fed into the 𝑇𝑇𝑑𝑑𝑑𝑑 integration block. This is similar
to GENROU without saturation except the yellow terms below. Notice the extra (1 − 𝐾𝐾𝑤𝑤 𝐼𝐼𝑑𝑑𝑑𝑑 ) term.
1+𝑆𝑆𝑎𝑎 𝐼𝐼𝑑𝑑 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑑𝑑′′ 𝐼𝐼
𝐸𝐸𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓 = � � �+𝐸𝐸𝑞𝑞′ + (𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑑𝑑′ ) � +� 2 � �+𝐸𝐸𝑞𝑞′ − ψ′𝑑𝑑 − (𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 ) 1+𝑆𝑆
𝑑𝑑
�� �
1−𝐾𝐾𝑤𝑤 𝐼𝐼𝑑𝑑𝑑𝑑 1+𝑆𝑆𝑎𝑎 �𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙 � 𝑎𝑎

1.1.1 Initial Rotor Angle Derivation

It is possible to get a closed form solution of these equations as follows.
Use equation 4 to solve for 𝐼𝐼𝑞𝑞
ψ′𝑞𝑞 = �𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 � � � + 𝐸𝐸𝑑𝑑′
1+𝑆𝑆𝑎𝑎
Substitute this into equation 5 −ψ′′ −�
𝑋𝑋𝑞𝑞′′ −𝑋𝑋𝑙𝑙
� 𝐸𝐸𝑑𝑑′ − �
𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑞𝑞′′
� ��𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 � �
𝐼𝐼𝑞𝑞
� + 𝐸𝐸𝑑𝑑′ � = 0
𝑞𝑞 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙 1+𝑆𝑆𝑎𝑎
Expand this to −ψ′′ −�
𝑋𝑋𝑞𝑞′′ −𝑋𝑋𝑙𝑙
� 𝐸𝐸𝑑𝑑′ − �
𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑞𝑞′′
� 𝐸𝐸𝑑𝑑′ − �
𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑞𝑞′′
� �𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 � �
𝐼𝐼𝑞𝑞
�=0
𝑞𝑞 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙 1+𝑆𝑆𝑎𝑎
Group 𝐸𝐸𝑑𝑑′ terms to simply to −ψ′′ − 𝐸𝐸𝑑𝑑′ − �𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑞𝑞′′ � �
𝐼𝐼𝑞𝑞
�=0
𝑞𝑞 1+𝑆𝑆𝑎𝑎
Flip signs to get 𝐼𝐼𝑞𝑞
+ψ′′
𝑞𝑞
+ 𝐸𝐸𝑑𝑑′ + �𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑞𝑞′′ � � �=0
1+𝑆𝑆𝑎𝑎
Use equation 3 to solve for 𝐼𝐼𝑞𝑞
𝐸𝐸𝑑𝑑′ = +�𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′ � � �
1+𝑆𝑆𝑎𝑎

Substite this into previous 𝐼𝐼𝑞𝑞 𝐼𝐼𝑞𝑞

+ψ′′
𝑞𝑞
+ �𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′ � � � + �𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑞𝑞′′ � � �=0
1+𝑆𝑆𝑎𝑎 1+𝑆𝑆𝑎𝑎
equation to get
This then simplifies to 𝐼𝐼𝑞𝑞
+ψ′′
𝑞𝑞
+ �𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′′ � � �=0
1+𝑆𝑆𝑎𝑎
′′
Network equation for 𝑉𝑉𝑑𝑑 ψ′′
𝑞𝑞
= −𝑉𝑉𝑑𝑑 = −𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑅𝑅𝑎𝑎 𝐼𝐼𝑑𝑑 + 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 𝐼𝐼𝑞𝑞
This becomes ′′ 𝐼𝐼𝑞𝑞
−𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑅𝑅𝑎𝑎 𝐼𝐼𝑑𝑑 + 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 𝐼𝐼𝑞𝑞 + �𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′′ � (1+𝑆𝑆 ) = 0
𝑎𝑎
′′
Substitute in the value of 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 −𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑅𝑅𝑎𝑎 𝐼𝐼𝑑𝑑 + �
𝑋𝑋𝑞𝑞′′ −𝑋𝑋𝑙𝑙
+ 𝑋𝑋𝑙𝑙 � 𝐼𝐼𝑞𝑞 +
�𝑋𝑋𝑞𝑞 −𝑋𝑋𝑞𝑞′′ �
𝐼𝐼𝑞𝑞 = 0
1+𝑆𝑆𝑎𝑎 (1+𝑆𝑆𝑎𝑎 )
This then simplifies to 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙
−𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑅𝑅𝑎𝑎 𝐼𝐼𝑑𝑑 + � + 𝑋𝑋𝑙𝑙 � 𝐼𝐼𝑞𝑞 = 0
1+𝑆𝑆𝑎𝑎
Convert them to the network 𝐼𝐼𝑞𝑞 = 𝐼𝐼𝑟𝑟 cos(δ) + 𝐼𝐼𝑖𝑖 sin(δ) ; 𝐼𝐼𝑑𝑑 = 𝐼𝐼𝑟𝑟 sin(δ) − 𝐼𝐼𝑖𝑖 cos(δ)
reference and define 𝑋𝑋𝑞𝑞𝑠𝑠𝑎𝑎𝑡𝑡 𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 sin(δ) − 𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 cos(δ) ; 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = �
𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙
+ 𝑋𝑋𝑙𝑙 �
1+𝑆𝑆𝑎𝑎
This gives us −[𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 sin(δ) − 𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 cos(δ)] −𝑅𝑅𝑎𝑎 [𝐼𝐼𝑟𝑟 sin(δ) − 𝐼𝐼𝑖𝑖 cos(δ)]
+𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 [𝐼𝐼𝑟𝑟 cos(δ) + 𝐼𝐼𝑖𝑖 sin(δ)] = 0
Group the sine and cosine � 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 + 𝑅𝑅𝑎𝑎 𝐼𝐼𝑟𝑟 − 𝐼𝐼𝑖𝑖 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 � sin(δ) = � 𝑉𝑉𝑖𝑖𝑖𝑖𝑒𝑒𝑟𝑟𝑟𝑟 + 𝑅𝑅𝑎𝑎 𝐼𝐼𝑖𝑖 + 𝐼𝐼𝑟𝑟 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 � cos(δ)
terms and move sine terms
Turn this into the tangent sin(δ)
= tan(δ) =
𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 +𝑅𝑅𝑎𝑎 𝐼𝐼𝑖𝑖 +𝐼𝐼𝑟𝑟 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞
cos(δ) 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 +𝑅𝑅𝑎𝑎 𝐼𝐼𝑟𝑟 −𝐼𝐼𝑖𝑖 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞
function
This gives us our steady state rotor angle based only on the network reference frame terminal voltage
and current and the saturation value which can be calculted from terminal voltage.
𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑙𝑙
𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 + 𝑅𝑅𝑎𝑎 𝐼𝐼𝑖𝑖 + 𝐼𝐼𝑟𝑟 � + 𝑋𝑋𝑙𝑙 �
1 + 𝑆𝑆𝑎𝑎
δ = tan−1 � �
𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑙𝑙
𝑉𝑉𝑟𝑟𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 + 𝑅𝑅𝑎𝑎 𝐼𝐼𝑟𝑟 − 𝐼𝐼𝑖𝑖 � + 𝑋𝑋𝑙𝑙 �
1 + 𝑆𝑆𝑎𝑎
Writing this way is nice, because you can see that when the parameter 𝑆𝑆𝑎𝑎 = 0 (meaning no saturation)
this simplifies to exactly what we had in GENROU without saturation.
𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 + 𝑅𝑅𝑎𝑎 𝐼𝐼𝑖𝑖 + 𝑋𝑋𝑞𝑞 𝐼𝐼𝑟𝑟
δ = tan−1 � �
𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 + 𝑅𝑅𝑎𝑎 𝐼𝐼𝑟𝑟 − 𝑋𝑋𝑞𝑞 𝐼𝐼𝑖𝑖
Theory of model: Modification of Saturation Model used in GENROU
The improvements with the GENQEC are similar as for GENTPF and GENTPJ models and are primarily related to
the treatment of saturation. It has however been noticed that the dynamic equations (block diagram) in
GENTPF and GENTPJ are simplified from the GENROU resulting a small change in transient behavior. To avoid
this, let’s step back to the complete GENROU model and add a similar treatment as done for GENTPF for
saturation.

Application of Saturation to the block diagram terms

To see where this comes from, let’s go back to the book Power System Dynamics and Stability by Peter Sauer
and M.A. Pai and look at equations the derivation of the equations that led to the GENROU/GENSAL models. In
particular, page 39 and 40 of that book and equations 3.120 and 3.130 – 3.139. A scanned image of these
equations is shown in the follow image.
Taking a closer look at all the terms boxed in blue above, going back a page in the Sauer/Pai book are the
following definitions.

These terms then refer to the green and ultimately red boxed terms in the following equations.

Ultimately, all our reactances, time constants, and even the scaled field voltage and current end up being
directly proportional to the following red-boxed terms.
• 𝐿𝐿𝑚𝑚𝑚𝑚 : d-axis stator inductance
• 𝐿𝐿𝑚𝑚𝑚𝑚 : q-axis stator inductance
• 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 , 𝐿𝐿1𝑑𝑑1𝑑𝑑 : d-axis rotor inductances
• 𝐿𝐿1𝑞𝑞1𝑞𝑞 , 𝐿𝐿2𝑞𝑞2𝑞𝑞 : q-axis rotor inductances
All of these six inductance terms represent inductance inside the windings of the synchronous machine. Thus all
of these terms are going to experience saturation because their flux path is through the iron core. There is also
dependence on the leakage inductance 𝐿𝐿𝑙𝑙𝑙𝑙 (boxed in purple above). The leakage inductance does not saturate
because it is dominated by the characteristic of the air gap and we assume that the flux in the air does not
saturate.

To derive the GENQEC model, assume all d-axis inductances are scaled by the 𝑆𝑆𝑆𝑆𝑆𝑆𝑑𝑑 term and all q-axis
inductances are scaled by the 𝑆𝑆𝑆𝑆𝑆𝑆𝑞𝑞 term as follows.
𝐿𝐿𝑚𝑚𝑚𝑚 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 𝐿𝐿1𝑑𝑑1𝑑𝑑
𝐿𝐿𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 = 𝐿𝐿𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 = 𝐿𝐿1𝑑𝑑1𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 =
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
𝐿𝐿𝑚𝑚𝑚𝑚 𝐿𝐿1𝑞𝑞1𝑞𝑞 𝐿𝐿2𝑞𝑞2𝑞𝑞
𝐿𝐿𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 = 𝐿𝐿1𝑞𝑞1𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝐿𝐿2𝑞𝑞2𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 =
𝑆𝑆𝑆𝑆𝑡𝑡𝑞𝑞 𝑆𝑆𝑆𝑆𝑡𝑡𝑞𝑞 𝑆𝑆𝑆𝑆𝑡𝑡𝑞𝑞
This directly results in all the reactance terms being similarly scaled as follows.
𝑋𝑋𝑚𝑚𝑚𝑚 𝑋𝑋𝑓𝑓𝑓𝑓 𝑋𝑋1𝑑𝑑
𝑋𝑋𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 = 𝑋𝑋𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 = 𝑋𝑋1𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 =
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
𝑋𝑋𝑚𝑚𝑚𝑚 𝑋𝑋1𝑞𝑞 𝑋𝑋2𝑞𝑞
𝑋𝑋𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 = 𝑋𝑋1𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝑋𝑋2𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 =
𝑆𝑆𝑆𝑆𝑡𝑡𝑞𝑞 𝑆𝑆𝑆𝑆𝑡𝑡𝑞𝑞 𝑆𝑆𝑆𝑆𝑡𝑡𝑞𝑞
As examples, the following carries this through calculating saturated values of the 𝑋𝑋𝑑𝑑′′ and 𝑇𝑇𝑑𝑑𝑑𝑑
′′
terms. They are as
follows and then expanded.
1 1 1
𝑋𝑋𝑑𝑑′′ = 𝑋𝑋𝑙𝑙 + 1 1 1
′′
𝑇𝑇𝑑𝑑𝑑𝑑 = �𝑋𝑋𝑙𝑙1𝑑𝑑 + 1 1 �
+ + ω𝑠𝑠 𝑅𝑅1𝑑𝑑 +
𝑋𝑋𝑚𝑚𝑚𝑚 𝑋𝑋𝑙𝑙𝑙𝑙𝑙𝑙 𝑋𝑋𝑙𝑙1𝑑𝑑 𝑋𝑋𝑚𝑚𝑚𝑚 𝑋𝑋𝑙𝑙𝑙𝑙𝑙𝑙

1 1 1
𝑋𝑋𝑑𝑑′′ = 𝑋𝑋𝑙𝑙 + 1 1 1
′′
𝑇𝑇𝑑𝑑𝑑𝑑 = �𝑋𝑋1𝑑𝑑 − 𝑋𝑋𝑚𝑚𝑚𝑚 + 1 1 �
+ + ω𝑠𝑠 𝑅𝑅1𝑑𝑑 +
𝑋𝑋𝑚𝑚𝑚𝑚 𝑋𝑋𝑓𝑓𝑓𝑓 −𝑋𝑋𝑚𝑚𝑚𝑚 𝑋𝑋1𝑑𝑑 −𝑋𝑋𝑚𝑚𝑚𝑚 𝑋𝑋𝑚𝑚𝑚𝑚 𝑋𝑋𝑓𝑓𝑓𝑓 −𝑋𝑋𝑚𝑚𝑚𝑚
Now apply saturation to the appropriate reactance terms and then simplify.

′′ 1 ′′ 1 𝑋𝑋1𝑑𝑑 𝑋𝑋𝑚𝑚𝑚𝑚 1
𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑋𝑋𝑙𝑙 + 1 1 1 𝑇𝑇𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = � − + 1 1 �
𝑋𝑋𝑚𝑚𝑚𝑚 + 𝑋𝑋𝑓𝑓𝑓𝑓 𝑋𝑋 + 𝑋𝑋 ω𝑠𝑠 𝑅𝑅1𝑑𝑑 𝑆𝑆𝑎𝑎𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑋𝑋𝑚𝑚𝑚𝑚 + 𝑋𝑋𝑓𝑓𝑑𝑑 𝑋𝑋
1𝑑𝑑 𝑋𝑋𝑚𝑚𝑚𝑚
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 − 𝑚𝑚𝑚𝑚 𝑆𝑆𝑆𝑆𝑡𝑡 − 𝑆𝑆𝑆𝑆𝑡𝑡 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 − 𝑚𝑚𝑚𝑚
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑑𝑑 𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑

′′ 1 1 ′′ 1 1 1
𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑋𝑋𝑙𝑙 + � 1 1 1 � 𝑇𝑇𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = � �𝑋𝑋1𝑑𝑑 − 𝑋𝑋𝑚𝑚𝑚𝑚 + 1 1 ��
𝑆𝑆𝑎𝑎𝑡𝑡𝑑𝑑 + + 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 ω𝑠𝑠 𝑅𝑅1𝑑𝑑 +
�����������������
𝑋𝑋 𝑚𝑚𝑚𝑚 𝑋𝑋 𝑓𝑓𝑓𝑓 − 𝑋𝑋 𝑚𝑚𝑚𝑚 𝑋𝑋 1𝑑𝑑 − 𝑋𝑋 𝑚𝑚𝑚𝑚 ������������������������� 𝑋𝑋 𝑚𝑚𝑚𝑚 𝑋𝑋 𝑓𝑓𝑓𝑓 − 𝑋𝑋 𝑚𝑚𝑚𝑚

𝑋𝑋𝑑𝑑′′ −𝑋𝑋𝑙𝑙 ′′
𝑇𝑇𝑑𝑑𝑑𝑑
This can be expressed more simply without all the intermediate terms as
′′ �𝑋𝑋𝑑𝑑′′ −𝑋𝑋𝑙𝑙 � ′′
′′
𝑇𝑇𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑋𝑋𝑙𝑙 + 𝑇𝑇𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 =
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑

You can go through the same procedure to write all the saturated reactance terms which have the same form as
above, as well as the saturated time constants. Also notice in equation 3.139 of the Sauer/Pai book that the
normalization of 𝐸𝐸𝑓𝑓𝑓𝑓 is proportional to 𝑋𝑋𝑚𝑚𝑚𝑚 which will saturate. Similarly, the scaled field current 𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓 is also
be subject to saturation. This gives us the following saturated values.
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙
𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = + 𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = + 𝑋𝑋𝑙𝑙
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑞𝑞
𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙
𝑋𝑋′𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = + 𝑋𝑋𝑙𝑙 𝑋𝑋′𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = + 𝑋𝑋𝑙𝑙
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑞𝑞
𝑋𝑋𝑑𝑑′′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞′′ −𝑋𝑋𝑙𝑙
𝑋𝑋′′
𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = + 𝑋𝑋𝑙𝑙 𝑋𝑋′′
𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = + 𝑋𝑋𝑙𝑙
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑞𝑞
′ ′′
𝑇𝑇𝑑𝑑𝑑𝑑 𝑇𝑇𝑑𝑑𝑑𝑑
𝑇𝑇′𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑇𝑇′′
𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 =
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
′
𝑇𝑇𝑞𝑞𝑞𝑞 ′′
𝑇𝑇𝑞𝑞𝑞𝑞
𝑇𝑇′𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝑇𝑇′′
𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 =
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
𝐸𝐸𝑓𝑓𝑓𝑓
𝐸𝐸𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 = 𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 = 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑

Note that the equations for 𝑋𝑋′′ ′′

𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 and 𝑋𝑋 𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 are identical to those which were used in the network boundary
equations for GENPTF and GENTPJ. If we make these assumptions for network boundary equations of GENROU
then we get the same treatment as GENTPF and GENTPJ. We can then also apply this to the block diagram for
GENROU. There are 5 reactance blocks on both the d-axis and the q-axis portion of the GENROU block diagram.
The following table shows how each block is translated to make the GENQEC dynamic equations block diagram.
Block on Convert to Intermediate Derivation Steps Translates
GENROU Saturated Version GENQEC
𝑋𝑋′𝑑𝑑 − 𝑋𝑋𝑙𝑙 𝑋𝑋′𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑋𝑋𝑙𝑙 �
𝑋𝑋′𝑑𝑑 −𝑋𝑋𝑙𝑙
+ 𝑋𝑋𝑙𝑙 � − 𝑋𝑋𝑙𝑙 𝑋𝑋′𝑑𝑑 − 𝑋𝑋𝑙𝑙
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
′ ′ 𝑋𝑋′𝑑𝑑 −𝑋𝑋𝑙𝑙 𝑋𝑋′𝑑𝑑 −𝑋𝑋𝑙𝑙 ′
𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑑𝑑 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 �
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙
+ 𝑋𝑋𝑙𝑙 � − � + 𝑋𝑋𝑙𝑙 � =
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙
− 𝑋𝑋 𝑑𝑑 − 𝑋𝑋 𝑑𝑑
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
′ ′′ ′ ′′ ′ ′′ ′ ′′
𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑑𝑑 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 �
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙
+𝑋𝑋𝑙𝑙 �−�
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙
+𝑋𝑋𝑙𝑙 �
′ ′′
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑑𝑑 𝑋𝑋 𝑑𝑑 − 𝑋𝑋 𝑑𝑑
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡
𝑋𝑋′𝑑𝑑 − 𝑋𝑋𝑙𝑙 𝑋𝑋′𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑋𝑋𝑙𝑙 𝑋𝑋′ −𝑋𝑋
= 𝑋𝑋′ −𝑋𝑋𝑑𝑑 𝑋𝑋′𝑑𝑑 − 𝑋𝑋𝑙𝑙
𝑙𝑙 𝑙𝑙
� 𝑑𝑑 +𝑋𝑋𝑙𝑙 �−𝑋𝑋𝑙𝑙 𝑑𝑑
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑

𝑋𝑋′′
𝑑𝑑 − 𝑋𝑋𝑙𝑙 𝑋𝑋′′
𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑋𝑋𝑙𝑙
′′
𝑋𝑋 −𝑋𝑋
� 𝑑𝑑 𝑙𝑙 +𝑋𝑋𝑙𝑙 �−𝑋𝑋𝑙𝑙
𝑋𝑋′′
𝑑𝑑 −𝑋𝑋𝑙𝑙 𝑋𝑋′′
𝑑𝑑 − 𝑋𝑋𝑙𝑙
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
′ ′ ′
𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑙𝑙 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑋𝑋𝑙𝑙 𝑋𝑋′𝑑𝑑 −𝑋𝑋𝑙𝑙
= 𝑋𝑋′𝑑𝑑 −𝑋𝑋𝑙𝑙
𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑙𝑙
� +𝑋𝑋𝑙𝑙 �−𝑋𝑋𝑙𝑙
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑

𝑋𝑋′𝑑𝑑 − 𝑋𝑋′′
𝑑𝑑 𝑋𝑋′𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑋𝑋′′
𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 �
𝑋𝑋′𝑑𝑑 −𝑋𝑋𝑙𝑙 𝑋𝑋′′ −𝑋𝑋
+𝑋𝑋𝑙𝑙 �−� 𝑑𝑑 𝑙𝑙+𝑋𝑋𝑙𝑙 �
𝑋𝑋′𝑑𝑑 −𝑋𝑋′′
𝑑𝑑 𝑋𝑋′𝑑𝑑 − 𝑋𝑋′′
𝑑𝑑
′ ′ 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑 ′ 𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
(𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑙𝑙 )2 (𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 − 𝑋𝑋𝑙𝑙 )2 2 = 2 (𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑙𝑙 )2
𝑋𝑋′𝑑𝑑 −𝑋𝑋𝑙𝑙 𝑋𝑋′𝑑𝑑 −𝑋𝑋𝑙𝑙
�� 𝑆𝑆𝑆𝑆𝑡𝑡 +𝑋𝑋𝑙𝑙 �−𝑋𝑋𝑙𝑙 � � 𝑆𝑆𝑆𝑆𝑡𝑡 �
𝑑𝑑 𝑑𝑑
The exact same thing can be done on the q-axis and simply adds some multiplication or division by 𝑆𝑆𝑆𝑆𝑡𝑡𝑞𝑞 instead.
The conversion for the time constant and field voltage term are direct as they are just scaled by the saturation
function. This gives you the following block diagram.