ANSI/IEEE Std 421A-1978

IEEE Guide for Identification, Testing, and

Evaluation of the Dynamic Performance of
Excitation Control Systems

'<;11.''''''''''''.''''''''"_''
IEEE Published by The Institute of Electrical and Electronics Engineers, Inc 345 East 47th 'Str~. New York, NY 1001,. USA

June 29, 1978 SH07047

• ANSI/IEEE
Std 421A-1978

An American National Standard

IEEE Guide for Identification, Testing, and
Evaluation of the Dynamic Performance of
Excitation Control Systems

Sponsor
IEEE Power Generation Committee
of the
IEEE Power Engineering Society

Approved July 17, 1981

American National Standards Institute

© Copyright 1978 by

The Institute of Electrical and Electronics Engineers, Inc

No part of this publication may be reproduced in any form.

in an electronic retrieual system or otherwise.
without fhe prior writlC'tJ permission of the publisher.
 Contents

,e SECTION

1. Scope
. PAGE.,'
:.:: .. :: .';. '7"'"

, 2. Dynamic Perfonnance Classification : .. : . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 7

2.1 Large Signal Perfonnance . , . :. .•............ ' ,
2.2 Small Signal Perfonnance.: '
' . . . . . . . . . . . . . . .. 7
7
I 3. Large Signal Perfonnance Crjteria .. '.' ' ; ',;'., . : .. ' :
.;

8
- .

i, 3.1 General ·., ..•. ; , ·...................... 8

3,2 Excitation Systems ' ..: "',' .. :' 8
! 3.3 Excitation System Components '
3.4 Summary..............................•........,
'. :.. .', : ;
, ...•.. ',' •. '" . '.,' . '
: 9
,9.
4. Small Signal Perfonnance Criteria . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 9
4.1 General ' , ' 9
4.2 Transient Response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 9
4.3 Frequency Response 10
4.4 Small Signal Performance Indexes 12
4.5 Application of Power System Stabilizers 13
4.6 Synchronizing and Damping Torque Coefficients 16
4.7 Torsional Oscillations ' 16
4.8 Summary 16
5. Large Signal Performance Testing : 16
5.1 Exciter Response Ratio 16
5.2 Excitation System Response Ratio 16
5.3 Field Testing of Excitation System Voltage Response Time 17
6. Small Signal Performance Testing : 17
6.1 Excitation System Components .................................•...........17
6.2 Field Testing of Excitation Control Systems ' 19
6.3 Field Testing and Alinement of Excitation Control Systems Equipped with
Power System Stabilizers ' ' 20
7. References ; 24
FIGURES
Fig 1 Exciter or 'Excitation System Voltage Response , , 9
Fig 2 Typical Time Response of a Feedback Control System to a Step Change in Input 10
Fig 3 Typical Open-Loop Frequency Response of an Excitation Control System with the
Synchronous Machine Open Circuited 11
Fig 4 Typical Closed-Loop Frequency Response of an Excitation Control System with
the Synchronous Machine Open Circuited 11
Fig 5 Frequency Response Characteristics of a Typical Synchronous Machine with No
Voltage Regulator Nor Governor Action as a Function of Torque Angle: A - Unloaded
Machine Operating at 0° Torque Angle; B - Loaded Machine Operating at 72° Torque
Angle; C - Loaded Machine Operating at 102° Torque Angle : 14
Fig 6 Transfer Function of a Typical Power System Stabilizer 15
Fig 7 Large Signal (10 Percent Voltage Error) Field Test of a High Initial Response
Excitation System 18
Fig 8 Field Test Data - Frequency Response of a Typical Excitation Control System
(with DC Commutator Exciter) with and without a Power System Stabilizer 21
Fig 9 Field Test Data - Power System Stabilizer Signature Tests 22
Fig 10 Field Test Data - Damping of a Forced Oscillation with a Power System Stabilizer 23
Fig 11 Field Test Data - Performance of an Excitation Control System Equipped with a
Q Power System Stabilizer During Random System Swings 24
TABLES
Table 1 Generally Accepted Values of Indexes Characterizing Good
Feedback Control System Perfonnance 12
 An American National Standard
IEEE Guide for Identification, Testing, a.'nd
Evaluation of the Dynamic Performance of ,:'e .. ,

Excitation Control Systems " , , " ' ,

-"1.' ."' (.;

'.- " .....:-'.

1. Scope i· mance testing, it is' oite;) il]Jp~actical t6 'ade-

quately duplicate these. E;ffeds,l,n c~es 'where
This guide includes criteria, definitions, and tests can ,only be' mad.eon~-ind\vidual·~c6m-
i"
test procedures for evaluating the dynamic per- .ponentsmd· only at Pirt{~.:qr no
load, analy-
fonnance of excitation control systems as ap- tl' cal means may be used to' predict' p"'e¥for-
plied' by electric utilities. Primary purpos~s are . mance under actual operating: conditions;' .
to provide a basis for evaluating closed-loop" '. The criteria' which; assess 'the' large. sign~
per·fonnance of excitation control systems (in-" 'peiioiniance of'exciters' or 'excitation systems
cluding both the synchronous machine and it~,., are" Teal:time: 'JqililrititiM. :'(transien'fi resp.0\lse)
excitation system) for both large arid srri3i.I" such ilsceiling 'voltages,time responses; a;n>i l'e-
signal disturbances; confinning the adequacy" sponse times and' ratios. i.'These are'de';ived
of mathematical models of .excitation systeins:.:.. from real-time· graphs. stich.·as .those shown in
for use in analytical studies of powe~systems;:_, F~rl ~d~;::', ",'~: .
-specifying methods for perfonn~ng tests of ex-,!,,, 2.•.~. pma!l.Signal ,Perfonn!U'c~,Srn.ap SIgn at per-
.;:,::' .'
f. .

citatIOn control systems and theIr components; . fonnance of an excitation .control syst~m'; ex-
a.nd preparing excitation syst~m specificati?ns' k , citatipn' sy~t".~,; or .. ot,t~e'. )U4iyidual, tiom-
·and addItional standards. PortIOns of ~41s gUIde .... ponents of: the .:e.x.citation. sy~teJT! is: the.,re-
will also serve as an educational ;IlleanS . fo~ .'. !~ponse to. s[gria,!~·Y;hic~. are srl:ialL~nough that
people becoming acquainted with excitation. npp.ljneapt\escan: be .d~sr~ga:rd.~d. .and ('pe.· op·
control systems. . . . ", ,.
.eration·of
.
tpesystem
. ' .' \ . ", -.. .' -,
<;an
,-/
be. consIdered to be
.. /'! . -,
'". >I',·.linear. Small· SIgnal performance. of a system
"or 'its .<:o'ffipqnerits c~'; pe'de;cribed in: terms
of
2. Dynamic Performance Classification .. < '.' "ieai-time: :I?~r~~terif.: (tr,fnsient . response)
" as for, large signal d.rsturban~es, or rn terms of
.2.1 Large Signal Perfonnance. Large signal per- . g~n,. phase...·angle~.a".~. ~re~ueri~Y; (frequency
fonnance involves changes in control 'system ,,'~ r.~spon?~)·· der;iv,ed .·fr,()l11"fre~u!::,cy .~espo~se
variables, where the magnitude is sufficientlyu: gr\lPl:J. s, sJlch.·jlS. tI:re 0!17.f.;s)10~!1fln: FIgs 3 or 4,
".: gre~t that nonlinearitiesmust be included for ,<..c. o~.by ~igenval!1e: analysi~'·.-:.'i:·'.. .
realIstIC results. . . . Small signa,!. performance cntefla prOVIde a
Tne purpose of large signal perfonnance eri: "means of ev.iJir~tirig the're~poTise''ofexcitation
teria is to provide a means of evaluating eX.cita.; : ~control syst~m~ :foi :incf¥n,1'e tal 'load.changes,
ll
tion system perfonnance for severe transIents .• increm\,ntal'._yoltage''' cl;;inges: ari,d the incre-
including high generator stator voltages, low mental changes in generator rotor speed as-
generator stator voltages, and high induced gen- sociated with the initial' stages 6f dynamic in-
erator field currents, that is, for transients stability (where oscillations are small enough
associated with questions of system transient .that saturation limits are· not reached). Small
stability. To assess the ability of the excitation signal perfonnance data provide a means for
system to improve generator·perfonnance, the detennining or verifying excitation system
criteria must reflect the effects of operation model parameters for system studies [11].'
under realistic power system disturbances.
Loading and regulation effects are thus of 1Numbers in brackets correspond to those of the
major importance. With respect to perfor- references listed in Section 7 of this guide.

7
 IEEE
EVALUATION OF EXCITATION CONTROL SYSTEMS Std 421A·1978

__1 tions as would be encountered during po'wer system'·

C faults and disturbances.
-- I
f
__________ ~--~-~~---~b 3.3 Excitation System Components
I
I 3.3.1 Exciter. All of the large signal perfor-
I mance criteria above, 3.2.1 through 3.2.6,·
II
_ 1
may be applied to the exciter alone as d~fined
a -------------~L ..;d
: I
in [11. Historically, the response ratio of the
,---------,1 I exciter alone. has frequently, been specIfied. If·
RESPONSE RATIO = (Ca~)(:~) 1 'I is recommended thitt excitation system response
'- ---'----'-'-'1 I
ao=synchronous machine rated . ~l
load field voltage I
l
'. "I
ratio rath;;r than· exciter response· ratio be used·
as a large 'signal performance criterion for ex-
oe= 0.5 seconds I
1
.
I
cftation control syst"ems.
af=95% of lexclter ceiling 1 I 3.3.2 Voltage' Regulator. While IEEE Std·
voltage minus synchronous I I
machme raled load field - I I 421-1972, Criteria' and Definitions' for Exci-·
voltage) I I tation Systems for Synchronous Machines,'
ot= yolta28 response time' I I recognizes that similar criteria might aiso be ap-
O=tlme of Inlllation of the 1, .I plied to the regUlator alone· [1], [2];. it is
dlslurbance
recommended that. the concept of response
.0 g e ratio not be applied to the regulator. . . . - .
TIME - SECONOS

( 3.4' Suiiimary. Excitation. system· response·

Fig 1
Exciter or Excitation System Voltage Response
NOTES:
"(i') Referring to Fig I, the excitation system response
ratio.,unless otherwise specified, shall apply only to the
increase. in excitation system voltage [1], [2]. .
(2) Response ratio is determined with' the exciter"
voltage initially equal to the r:ated load field voltage of
th~ synchronous machine to which the.exciter is ap-'
pI.jed, .and then suddently establishing circuit condi-
tions required to obtain nominal exciter ceiling voltage
[1] ,: ['2J. Excitation system response ratio is determined·
by ·suddenly reducing the voltage sensed by the syn-
chronous machine voltage regulator from 100 percent
to 80 percent unless otherwise specified.
-·(3) Unless otherwise specified, excitation system re·
ponse ratio should be determined with the exciter
loaded as specified in 3.2.2. If, for practical considera-
tions, the test is performed at no load, analytical means
may,be utilized to predict the performance under load.
(4).For excitation systems employing a rotating ex-
citer, the response ratio should be determined at rated
speed.
;(5")..For potential~source rectifier excitation systems,
th.e ·nature of a power system disturbance greatly af-
fects the available power supply voltages. The ceiling
voltage available and the voltage response time are
more meaningful parameters. To specify a response
ratio implies equivalence with other systems whose
output is not adversely affected by such depressed
voltage conditions. Therefore, response ratio is not
recommended as a specification parameter for these
excitation systems. . in Fig 2. The principal characteristics :of inter-
(6) For compound-rectifier excitation systems, the
nature of the power system disturbance and .the
specific design parameters of the exciter and the syn-
chronous generator influence the performance of the
ex'citer output. voltage.. For equivalence with rotating
exciters, the response ratio should be based on per-
formance under specified' reduced generator terrilin'al
voltage and increased generator stator current ·condi-
ratio is a well established arid useful.'c'rit~hdn
for evilIuating the large signal p~rfohn·iJ.riceoi
excitation systems employing rotating exciters.
Excitation system response ratio is .also· applic,
able to compound-rectifier excitation systems·
for the reduced terminal yoltage·.an((in~r~ase9
terminal current conditions that.. exlstduring
power. system disturbanees",. Fqr excitatiqn
systems ~ith potentlal-sourqe··· rettifier ex-
citers, available ceiling' volt",ge arid excita:ti8n'
system voltage response tiriH' :ar.e· more mean'
ingful paramete.rs, and~t 'is'recominended that
these paramet.ers, 'rather th~ r,esponse·i'atio;
be Jlsed as ,large· signalperfopnance criteria
for these systems.
: .. , .
~~
.",
, ·r " ..
4. Small .-Signal Performance Criteria .
, .( ..... , . -
• J ".
4.1 General. Small signal perf~";"'aIlce criteria
(see 2.2) applicable' to 'excitation contrOl syS'
terns are given in this section. . . , ' ..
4.2 Transient Response. A typical' tr;ip~\eni
response of a feedback control system is shown
est are the rise time, overshoot; and· settling
time as indicated in Fig 2 [3] .
. ."
N.OTE:-ln some applications, the time to attain 10 pez:~
cent ~f steady-state value is of interest. This time.may
be appreciable even though the delay time may be very
small or even zero. .., '. ,.. .. ·:.i ,}

9
 IEEE
EVALUATION OF EXCITATION CONTROL SYSTEMS Std 421A'1978'

-".

UCITATlC»l CONTROL SYSTEM ~

h:cllillon Synchronous II:

40 syslem machine ~ o
~Q
ASYMPTOTIC APPROXIMATION
OF GAIN --":--'-"''''-401lB/d~C
VR -C~ ~f
20 ~ -so
- 20dB/llet

1-------""=:---------''''''-=---,----------j-100
I
I
- - Gm- ---1------ ~c-

PERFORMAHCf IHDK:ES:
I
w, .m -1'50
0
1. PHASE MARGIN, ~ '=1180 -_ c I AT we
2. GAIN MARGIN." ·Gm::.( 0- GIIH DB AT ~=180o
_1 180
0_

3. CROSS-oVER FREQuENCY ,we AT UNITy GAIN (OdBI -'00

-250

(oJ IN RADIANS/SECOND

0.1 1.0 10 100 1OO1l

Fig 3
Typical Open-Loop Frequency Response of an Excitation Control System
with the Synchronous Machine Open Circuited

Fig 4
Typical Closed-Loop Frequency Response of an Excitation Control System
with the Synchronous Machine Open Circuited

'-'.:
11

EVALUATION OF EXCITATION CONTROL SYSTEMS
When a synchronous machine is connected
to a power system, its operating level, and the
parameters of the external system greatly in-
fluence performance [36], [37], [39]. Fig 5
serves to illustrate some of these effects. Fig 5
shows calculated frequency response character-
istics of the transfer function t:. VT/ t:.E FD for
a typical large generator at three operating
points: torque angles of 0°, 72°, and 102°,
respectively. The characteristics of Fig 5 are
calculated for a generator connected to an in·
finite bus through an external reactance with
no voltage regulator or governor action. Torque
angle depends on machine characteristics, ma-
chine operating point, and on the magnitude
of external impedance.
Fig 5 shows that the dynamic characteristics
of a generator change dramatically when the
torque angle increases. Fig 5 shows that an un-
loaded generator (8 = 0°) behaves as a simple
inductive circuit with a single time constant.
The maximum phase lag is 90°, occurring
" when the frequency w reaches infinity. Fig
!I 5B and C shows characteristic resonant peaks
appearing in the gain function accompanied
,!
i by ,a sudden dip in the phase angle. These
characteristics are attributable to poorly
damped complex poles introduced into the
,transfer function of the generator by increasing
, the torque angle.
The highly oscillatory characteristics of a
synchronous machine operating at high torque
angle can readily lead to instability when the
machine is operated in a clo'sed-loop feedback
control system with a voltage regulator. It is
frequently necessary to apply supplementary
control, that is, a power system stabilizer, to
compensate for these characteristics to ensure
stable operation and improve damping of os-
cillations arising from system disturbances. Ap·
plication of power system stabilizers is de-
scribed in 4.5 and in Appendix C. Suggested
procedures for field testing and alinement of
power system stabilizers are given in 6.3 and
Appendb: D.
4.5 Application of Power System Stabilizers.
A power system stabilizer is an element or
group of elements which provide an additional
input to the regulator to improve power sys-
tem dynamic performance. A number of dif-
ferent quantities may be used as input to the
power system stabilizer such as shaft speed,
frequency, synchronous machine electrical
power, accelerating power, and others. Power
13
IEEE
Std 421A·1978
system stabilizers are employed to solve two
separate but related problems.
4.5.1 Local Machine-System Oscillations. The
use of high initial response excitation systems
allows extremely fast terminal voltage regula-
tion. When operating with high,regulator gain,
the synchronizing torque coefficient is en-
hanced, and from this point of view wider
torque angle operating limits would be ex-
pected. As the gain of the voltage regulator is
increased, however, negative damping is intro-
duced into the machine torque-speed loop
[20], Depending on the desired gain and the
system in which it is employed, the machine-
system oscillations (1 to 2 Hz) may become
negatively damped. In order to preserve the
high synchronizing torque coefficient, and re-
store the damping torque, power system stabi-
lizers are used,
4.5.2 Interarea Oscillations. Conventional
excitation systems with a slower response are
generally not capable of changing terminal
voltage fast enough to significantly, affect the
damping of the, local mode of oscillation.
Interarea oscillations are normally' 6:r:' a
much lower frequency (,,;; 0.3 Hz)' than' the
local mode. Power system stabilizers can: gain-
fully be employed with many of these systems
(as well as with the faster systems) to damp
these low-frequency swings.'
The transfer function of a typical power sYS"
tern stabilizer is shown in Fig 6. The para·
meter values depend upon the nature of the
input signal and the specific application of the
stabilizer. Design ranges of typical parameters
for power system stabilizers that have been' ap-
plied in the United States are given in Table 3;
Suggested procedures', for' field testing' and
alinement of' power 'system stabilizers' 'are
given in 6.3 and Appendix Dof this guide. ,',
The power system stabilizers control signal
transducer should provide a: relatively noise
free output (the total influence of ripple or
random noise should not exceed 10 percent
of the dynamic range of the output of the
power system stabilizer) ,proportional to the
deviation of the input quantity with time con-
stant T Q ,,;; 0.04 s.
The fundamental function of the siinal con-
ditioning network of the power system
stabilizer is to compensate for the phase lags
of the system being controlled. Phase com-
pensation is generally accomplished by the use
of lead-lag functions providing phase lead over
the frequency range of interest; With practical
 IEEE,
EVALUATION OF EXCITATION CONTROL SYSTEMS Std 421A·1978

"
INPUT. OUTPUT 10
w.I,OR6P VOLTAGE REGUUT£lR
(Ilcr unm !I1er unll,

SIGNAL SIGNH CONDITIONING NETWORKS STABILIZER SIGNAl OUTPUT

TRANSDUCfR GAIN WASH-OUT SIGNAL
FUNCTION LIMITS

Fig 6
Transfer Function of a Typical Power System Stabilizer

combinations of lead-lag networks, phase com- (2) It should be short enough that the
pensation can only be provided up to about terminal voltage will not be unduly affected
140° with two lead-lag functions. In many ap- by overall system speed variations - consider-
plications, the total amount of phase correc- ing system islanding conditions where applic-
tion that can be usefully employed is limited able.
by considerations of noise vulnerability. Most Most power system stabilizers incorporate
applications of power system stabilizers in the limits on the output signals effectiveness
United States utilize two stages of phase com- adjustable over the range shown in Table 3.
pensation; however, in some applications, three Limiting may be accomplished by simple clip-
stages of compensation have been employed as ping of the stabilizer output signal as shown in
shown in Fig 6. In some applications employ- Fig 6 (± L o ) or it may be accomplished by
ing high initial response excitation systems control action through a terminal voltage
having low time constants, a single stage of limiter. In a ·few applications, limiting has
compensation has been used. been accomplished by disconnecting the
For best contribution to system damping, stabilizer when terminal voltage deviation
the gain K STAB of the power system stabili- reaches preselected values [19]. The limits (±
zer should be maximized within the constraints L , ) of the individual elements of the stabilizer
imposed by stability of the power system shown in Fig 6 represent the restrictions on
stabilizer control loop; The gain K Q of signal the dynamic range of the actual physical equip-
transducer depends on the design of the trans- ment used to implement the stabilizer.
ducer and the nature of the input signals. In Analytical studies and field test resultsofap-
modeling power system stabilizers for system plications of power system stabilizers in North
stability studies, representation of K Q permits America are contained in [14] through [50].
K STAB to consistently be expressed in terms of Many of the references ([14] through [32])
tl V , / tl w in per unit regardless of whether the
input to the power system stabilizer is actually
w or some other variable such as for tlP. Table 3
The speed change tl w derived from any of Range of Typical Design Parameters for
the stabilizing inputs shown in Fig 6 is a Power System Stabilizers with
change with respect to a fixed frequency ref- Frequency or Speed Input
erence. The desired stabilizing signal has as its
reference the base system frequency. This sys- Symbol Typical Range Parameters
tem frequently is not fixed but is changing KQ transd ucer gain
(normally slowly) all the time. This change TQ o to 0.04 , transducer time con-
causes the terminal voltage to vary. A washout stant
function serves to minimize the effect of T 0.5 to 50, washout time con~
overall system speed changes on machine stant
terminal voltage. ' T , . Ta. T5 0.1 to 2.0, lead time constants
Choice of washout time constant is not T 2. T4. T6 0.002 to 0.20 , lag time constants
critical except that K STAB O.IOto 100pu stabilizer gain
(1) It should be long enough So that its phase L, ± 0.10 to 0.25 pu signal dynamic range
limits
shift does not interfere significantly with the
signal conditioning network at the desired Lo ' 0.01 to 0.10 pu stabilizer output sig-
nallimits
frequencies of stabilization.

15

EVALUATION OF EXCITATION CONTROL SYSTEMS
load field voltage of the synchronous machine
. to which the exciter is applied, and then sud-
denly reducing the voltage sensed by the syn-
chronous machine voltage regulator from 100
percent to 80 percent unless otherwise speci-
fied. All stabilizing circuits or other feedback
control circuits (except power system stabilizer
circuits) which are a part of the excitation con-
trol system should be adjusted as in actual op-
eration, where possible and practical, unless
otherwise specified.
NOTES:
(1) It is recommended that .exci.tation system
response ratio rather than exciter response ratio be
used as the principal large signal performance cri-
terion, particularly for modern excitation control sys-
tem employing rectifier exciters.
(2) Where practical, excitation system response ratio
should be determined with the exciter loaded as speci-
fied in 3.2.2. For excitation systems, with rotating
exciters, the response ratio should be determined
. with the-exciter at rated speed.
II
5.3 Field Testing of Excitation System Voltage
Response Time. As previously stated in 3.2.6
II and 3.4, excitation system voltage response
time and ceiling voltage are more meaningful
I parameters than excitation system response
.,I ratio for high initial response excitation sys-
I
tems.
Excitation system voltage response time in
the positive direction can be detennined with
the unit on line and under load, with the
exciter voltage initially at rated-load field volt-
age of the synchronous machine to which the
exciter is applied, and then suddenly reducing
the voltage sensed by voltage regulator from
100 percent to 80 percent unless otherwise
specified. All excitation control system stabiliz-·
ing circuits (but not power system stabilizer
circuits) or other feedback control circuits
which are part of the voltage regulator should
be adjusted as in actual operation, where pos-
sible and practical. Positive ceiling voltage may
be measured from this response. For high
initial response excitation systems, the error
signal need be applied for only a very short
time due to the speed of these systems, result-
ing in minimal disturbance to the power sys-
tem. Fig 7 shows the results of a field test
made on a high initial response excitation
system to determine ceiling voltage and excita-
tion system voltage response time.
Excitation response time. in the negative
direction (and the negative ceiling) may be
determined in similar fashion.
17
'.
IEEE
Std 421A-1978
6. Small Signal Perfonnance Testing
6.1 Excitation System Components. From
small signal performance data on excitation
system components, transfer functions can be
derived describing the dynamic perfonnance
of those components [12]. These data may be
obtained either by transient response testing
or frequency response testing [7], [8], [10].
Transient response testing consists of ap~
plying a calibrated transient (step or ramp)
into the input of the element or elements
under test and recording the output response.
Transient response testing has the advantage
that it contains in a single test much of the
information contained in an extensive fre-
quency response test. Also, rise time, over-
shoot, and settling time are easily obtained
directly from the transient response. Transient
response is also useful in signature analysis;
that is, it provides a criterion for quickly
verifYing perfonnance periodically. An ex-
ample of transient response in signature analysis
of a power system stabilizer is given in 6.3 of
this guide. A disadvantage of transient response
testing is that if the transfer function of the
element under test is to be detennined, the
data must be reduced to a form which will
yield this infonnation. Methods of accomplish-
ing this include performing an inverse Fourier
transform on the transient response and the
test signal, usually with the aid of a digital
computer; performing a graphical analysis on
the data approximating the transient response
as a series of impulse responses; and iterative
simulation on an analog computer [7], [8].
All of these methods can be lengthy and
involVE extensive iterative calculation. Also,
accuracy may be questionable if the outpl1t
of the element being tested contains appreCi-
able noise. Random and pseudorandom sigilals
have also been applied to the identificaton
of automatic control system transfer functions
by cross correlating the input and output
signals of the system under test or by use of
pseudorandom binary signals to obtain a fre-
quency response characteristic [9], [10],
Frequency response testing consists of ap-
plying a known sinusoidal driving signal of
varying frequency to the input of the element
under test and measuring the amplitude and
phase shift of the output with respect to the
input. Frequency response testing has the great
advantage over transient response testing in that

EVALUATION OF EXCITATION CONTROL SYSTEMS
the transfer function of the element under test
is frequently immediately evident. For this rea-
son, the frequency response method is recom-
mended for determining the transfer functions
of excitation system components. Frequency
response can best be measured using commer-
cially available analyzers.
Certain precautions should be observed in
frequency response testing. These include:
(1) Care should be taken that the driving sig-
nal does not cause saturation of the elements
under test. A signal magnitude causing output
variations which can be linearized about the
quiescent operating point of the element under
test is recommended. - ..
(2) The range of test frequencies should be
broad enough to fully describe the dynamic
characteristics of the element( s) under test.
The frequency should be varied in small
enough increments to accurately describe
'abrupt changes in the response curve, particu-
larly in the vicinity of resonant peaks.
(3) In measuring the response of rotating
exciters in the factory, it may be necessary
to insert a power amplifier between the sine
wave generator and the exciter field. The trans-
fer function of the power amplifier should be
recorded.
(4) In measuring the response of power com-
ponents such as power amplifiers and exciters,
it may be desirable to insert isolation trans'
ducers between the output of the power com-
ponent and the test instrumentation. Also, it
may be necessary to filter the output of the
power component. The transfer function of
the transducers and filters should be recorded.
(5) The test should be repeated over the ex-
pected operating range of temperature, fre-
quency, and magnitude of supply voltage varia-
tion, and loading of the element under test if
the frequency response is a function of any of
these parameters. For example, the frequency
response of a rotating amplifier varies with
loading. When measuring the response of indi-
vidual elements of an excitation system, care
should be taken with respect to possible varia-
tion of expected overall response when the ele-
ments are connected together due to loading
and interaction effects. This applies primarily
to older excitation systems employing passive
circuit elements and rotating or magnetic
amplifiers. In modem excitation systems em-
ploying solid-state control elements, those ele-
ments are normally free of interaction and
19
IEEE
Std 421A-1978
loading effects. Should these effects be present,
the overall frequency response of the group of
elements interconnected in their normal con-
figuration should be measured in addition to
the response of the individual elements [7].
Typical frequency response characteristics and
corresponding transfer functions of elements
commonly encountered in excitation systems
are shown in Appendix B. For a detailed
discussion 0 f the relationship between transfer
functions and frequency response character-
istics, see [3], [6], [7], [8], and [12].
6.2 Field Testing of Excitation Control Sys-
tems. An excitation control system is a feed-
back control system including the synchro-
nous machine and its excitation system [1],
[2]. As such, its transient and frequency'
response characteristics can fully describe
its small signal dynamic performance. These
characteristics can be determined by field test-
iI;lg as described in this section of this' standard.
With the exception of those alternator-rec-
tifier excitation systems in which the exciter
terminals are not available and compound-
rectifier excitation systems, most of the ex-
citation system component tests described
in 6.1 could be performed in the field prior
to testing of the excitation control system.
Most excitation control systems include
some form of internal stabilization such as
rate feedback or series compensation. The
function of this internal compensation is to
ensure stability of the excitation control sys-
tem off line and to provide a means of adjust-
ing the transient response' of the system.
During startup of a new turbine generator in-
stallation, it is normal procedure to check
the transient response of the unit off line in
order to adjust the settings of the excitation·
system stabilizers. This is best done by insert-
ing a small step change into either the reference
or sensing circuitry- of the voltage regulator
and recording machine terminal voltage ter-
minal voltage response. It is recommended that
an ac to de voltage transducer with adjustable
null balance providing zero suppression be used
to record only the deviation in voltage.
F or an excitation system having small time
constants, an acceptable transient response
might be considered as one having no more
than two overshoots with maximum overshoot
of 5 to 15 percent. In some applications, it
 IEEE'
EVALUATION OF EXCITATION CONTROL SYSTEMS Std 421A-1978

i
I ElClTATIOIi CGIlTROl SYSUlll

's
"".er
System 6 3
S"~I1IU!+ hcllilion SJl\c!lIll1lOl1S
Snltm lllacl'llne
IDO
" 'IE~oTgO-+u
"
----
01l-11M 61 62

=
Gn-llne
co.n~
compenn:z- -
~ :--". -,.,:>.
UtlCtlMPENSATEG RESPONSE = '0'1
V _vS=O
6 ,
Oil-lIM --...... .0.'1,
URCD!l'CMlMIl'tll - ... -...~
_, • "-.COlll"UISmO ItE~SI = 6¥s
-lOCI f--

;
"-Ii,,------"""",
URClllllpenSiteG ' ..
..... .....

~
2D
D'-ll"~ _ _~
Ofl-1in~
cO!llplnnttd compenSlltd

-
~
~
-lD
DO>
Field Test Data - Frequency Response of a Typical Excitation Control System
(with DC Commutator Exciter) with and without a Power System Stabilizer
i
I! The stabilizer gain governs its potency and,
i for best contribution to system damping,
I should be maximized within the constraints
imposed by recommended stability margin of
I the control loop. The maximum permissable·
gain depends upon many factors .and can be
determined. by test. A suggested test procedure
for verifying stabilizer gain and determining us-
able gain is given in Appendix D_
i As a check on the adequacy of the power sys-
tem stabilizer signal conditioning network time
i, \ constant adjustments, the frequency response
of the overall system should be checked to
verify that the power system stabilizer ade-
quately compensates the phase lag of the volt-
age regulator, exciter, and generator. This
check is made according to the same pro-
cedure as for the initial frequency response
tests except that the driving signal is fed into
the stabilizer in place of the transduceJ signal.
The output of the stabilizer should be con-
nected to the voltage regulator. Fig 8 shows
typical frequency response' field test data of
an excitation control system with and without
a power system stabilizer. Note that the fre-
quency response characteristics .6 V T 1.6 V R
and .6 V T I.6 V S shown in Fig 8, are convenient
-"""~-
---.
On-Iou
W1Compennlld
~
---
"'"-;> ... ~ .......
"'-
'." --
Oil-line
UlI;ompenuted
-
~~
-.....
D.'
FMHlutliCY III K1
ID
,
Fig 8
to measure and yield adequate information for'
determining and verifying suitable settings of
the stabilizer to' improve. damping of lower:'
« 0.3 Hz) frequency interarea oscillations. In'
determining and verifying suitable stabilizer
settings to improve damping of higher frequen~ ,
cy (1 to 2 Hz) local mode oscillations, the' I
transfer function for which compensation
should be provided is .6 TI.6 V R, the change in' .
torque (or power) with respect to change in '.'
reference voltage.
Fig 8 illustrates the use of frequency re-
sponse data in verifying the adequacy of
stabilizer settings to improve interarea oscil- .'
lations. .,
If adjustments have been adequate, the phase
lag (of .6ET in the interarea case) will be nearly
zero over the useful range as shown in Fig 8.
The gain curve will also be reasonably flat over
this range. Readjustments of time constants .
may be made and the check rerun, if neces-
sary. Note that with the gain curve nearly flat,
unlike in the initial frequency response run,
it will not be necessary to increase the input
signal as the frequency is increased. However,
care will again be necessary to ensure that signal
limiting does not occur at the higher frequen.

21

EVALUATION OF EXCITATION CONTROL SYSTEMS
L - REGUlATOR
r-EU£RHll SOURCE
DIlIVEN BY -----001+- WITH
DAMPING ostlllATIOH___ ...
(J
REGUUTCJI AlOME - - . - STABIliZER AIUD
Fig 10
Field Test Data - Damping of a Forced Oscillation with a Power System Stabilizer
Many excitation systems with power system
stabilizers which could not perform effectively
I' I in the local-mode frequency range can never-
theless perform effectively at the comparative-
ly slow oscillation frequencies (around 0.3 Hz)
I which trouble some interconnected power sys-
tems. Hence, it is important to evaluate perfor-
mance of individual controlsin this lower fre-
quency range.
Correct performance ,of individual installa-
tions may be verified while operating on the
system by recording two important quantities:
the deviation of frequency or speed; and
terminal voltage deviation. The experience of
utilities in the western United States has
I~ shown that within a reasonable period of time,
I
small random disturbances on' the system are
likely to produce a few swings in the frequen-
cy range of interest. A section from such a re-
cording, with a power system stabilizer operat-
ing on frequency deviation, is shown in Fig 11.
Although the swings are somewhat irregular
and have periods of about 2 s (frequency of 0.5
Hz or 30 c.pm)~ terminal voltage is shown to
correctly respond in phase with the frequency
deviations of these swings. Response at lower
frequencies would also be in phase (but not
necessarily at higher f,equencies). However, if
the gain of the power system stabilizer were
23
IEEE
Std 421A-1978
POWER SYSfiM
zero, the phase relation between voltage and~
frequency, deviation could range from ze~o'
where voltage is held constant through random
relations to an oppositely phased relation. The
clear correspondence in Fig 11 results from the
gain of the power system stabilizer beinghigii
enough' to dominate. At lower gain 'settings or
where a 'tinit with a power system stabilizer
is among several uncontrolled ,units, the rela-
tion may be less ,clear, but comparisons with,
the control on 'and off should show ,whethe~
the control effort is correctly modifying the.
phase relation between frequency and terminal'
voltage deviations. ..
It should also be recognized that during tn;e,
slower, more sustained deviations of frequen-
cy on the system, the action of the signal
washout function of the power system stabilizer
will obscure its response, and the recording
will appear to show little, if any, relation.
Proper influence of the power system stabili-
zer can best be observed Jor the frequency
deviations with periods of 2 to 4 s.
In order to assist verification of performance
of individual power system stabilizer installa-
tions and to determine the aggregate influence
of all power system stabilizers on damping of
power system swings, a few modest disturbances
of the system may be arranged from time to

EVALUATION OF EXCITATION CONTROL SYSTEMS
IEEE Transactions on Power Apparatus
and Systems, vol PAS-92, Jan/Feb 1973,
pp 64-75.
[13] IEEE COMMITTEE REPORT. Applica-
tion of Instrumentation for the Evalua-
tion of Power System Dynamic Per-
fonnance. IEEE Transactions on Power
Apparatus and Systems, vol PAS-91,
I Jul/Aug 1972, pp 1379-138l.
I [14] McCLYMONT, K. R., MANCHUR, G.,
I ROSS, R. J., and WILSON, R. J. Ex-
perience with High·Speed Rectifier Ex-
I' citation Systems. IEEE Transactions on
Power Apparatus and Systems, vol PAS-
87, June 1968, pp 1464-1470.
I·
, [15] DANDENO, P. L., KARAS, A. N., Mc-
CLYMONT, K. R., and WATSON, W.
Effect of High-Speed Rectifier Excita-
tion Systems on Generator Stability
Limits. IEEE Transactions on Power
Apparatus and Systems, vol PAS-87,
Jan 1968, pp 190-201.
[16] SHIER, R. M., and BLYTHE, A. L.
Field Tests of Dynamic Stability Using
a Stabilizing Signal and Computer Pro-
gram Verification. IEEE Transactions on
Power Apparatus and Systems, vol PAS·
87, Feb 1968,pp 315-322.
[17] HANSON, O. W., GOODWIN, C. J., and
DANDENO, P. L. Influence of Excita-
tion and Speed Control Parameters in
Stabilizing Intersystem Oscillations.
IEEE Transactions on Power Apparatus
and Systems, vol PAS-87, May 1968,
pp 1306-1313. . M. E., GRIFFIN, J. D. A., and WATSON,
[18] SCHLEIF, F. R., HUNKINS, H. D.,
MARTIN, G. E., and HATTAN, E. E.
Excitation Control to Improve Power-
line Stability. IEEE Transactions on
Power Apparatus and Systems, vol
PAS-87, June 1968, pp 1426-1434.
[19] SCHLEIF, F. R., HUNKINS, H. D.,
HATTAN, E. E., and GISH, W. B.
Control of Rotating Exciters for Power
System Damping: Pilot Applications and
Experience. IEEE Transactions on Power
Apparatus and Systems, vol PAS-88,
Aug 1969, pp 1259-1266.
[20] DeMELLO, F. P., and CONCORDIA, C.
Concepts of Synchronous Machine Stabil-
ity as Affected by Bxcitation Control.
IEEE Transactions on Power Apparatus
and Systems, vol PAS-88, Apr 1969,
pp 316-329.
25
IEEE
Std 421A·1978
[21] BYERLY, R. T., KEAY, F. W., and
SKOOGLUND, J. W. Damping of Oscil-
lations in Salient-Pole Machines with
Static Exciters. IEEE Transactions on
Power Apparatus and Systems, vol PAS-
89, Jul/Aug 1970, pp 1009-102l.
[22] WARCHOL, E. J.,. SCHLEIF, F. R.,
GISH, W. B., and CHURCH, J. R. Aline-
ment and Modeling of Hanford Excita-
tion Control for System Damping. IEEE
Transactions on Power Apparatzis and
Systems, vol PAS-90, Mar/Apr 1971,
pp 714-724.
[23] KEAY, F. W., and SOUTH, W. H. De-
sign' of a Power System Stabilizer Sens-
ingFrequency Deviation. IEEE Trans-
actions on Power Apparatus and Sys-
tems, vol PAS-90, Mar/Apr 1971, pp
707-713.
[24] KLOPFENSTEIN, A. Experience with
System Stabilizing Excitation Controls
on the Generation of the. Southern
California Edison Company IEEE Trans-
actions on Power Apparatus and Sys-
tems, vol PAS-90, Mar/Apr 1971, pp
698-706.
[25] GERHEART, A. D., HILLESLAND, Jr,
T., LUINI, J. F., and ROCKFIELD, Jr,
M. L. Power System Stabilizer: Field
Testing and Digital Simulation. IEEE
Transactions on Power Appacatus and
Systems, vol PAS-90, Sep/Oct 1971, pp
2095-2100.
[26] MANCHUR, G., LEE, D. C., COULTES,
W. Generator Models Established by Fre-
quency Response Tests on a 555 MVA
Machine. IEEE Transactions on Power
Apparatus and Systems, vol PAS-91,
Sep/Oct 1972, pp 2077-2085.
[27] WATSON, W., and MANCHUR, G.
Experience with Supplementary Damp-
ing Signals for Generator Static Excita-
tion Systems. IEEE Transactions on
Power Appciratus and Systems, vol PAS-
92, Jan/Feb 1973, pp 199-203.
[28] WATSON, W., and COULTES, M. E.
Static Exciter Stabilizing Signals on
Large Generators - Mechanical Prob-
lems. IEEE Transactons on Power Ap-
paratus and Systems, vol PAS-92, Jan/
Feb 1973, pp 204-211.
[29] HAYES, D. R., and CRAYTHORN, G. E.
Modeling and Testing of Valley Steam

EVALUATION OF EXCITATION CONTROL SYSTEMS
Stabilizer -Design Using Root Locus
Methods. IEEE Transactions on Power
Apparatus and Systems, vol PAS-94
Sep/Oct 1975, pp 1484-1488.
[48) SAITO, 0., MUKAE, H., and MURO-
TANI, K. Suppression of Self-Excited
Oscillations in Series-Compensated
Transmission Lines by Excitation Con-
( trol of Synchronous Machines. IEEE
Transactions on Power Apparatus and
\ Systems, vol PAS·94, Sep/Oct 1975,
pp 1777-1788.
I
\.
27
IEEE
Std 421A-1978
[49) WALKER, D. N., JACKSON, R. 1.,
HODGES, D. A. and BOWLER, C.E. J.
Results of Subsynchronous Resonance
Test at Mohave. IEEE Transactions
on Power Apparatus and Systems, vol
PAS-94, Sep/Oct 1975, pp 1878-1889.
[50) DANDENO, P. L., and KUNDUR, P.
Practical Application of Eigenvalue
Techniques in Solving Power System
Stability Problems. Proceedings of the
Fifth PSCC Conference, Cambridge,
England, 1975.
 Appendix A
Basis Underlying the Concept of Response Ratio

(These Appendixes are not a part of IEEE Std 421A~1978, Guide for Identification, Testing, and Evaluation of the
Dynamic Performance of Excitation Control Systems.)

In order to appreciate the usefulness of the [5]. The flux linkages do change slowly and
excitation system response ratio as a measure in the direct axis are described by the relation-
of the ability of the excitation system to affect ship:
transient stability, consider a synchronous gen-
erator with only a single rotor circuit in each d
axis and no saliency. The phasor diagram, dt E'q -
which must be satisfied under both transient
and steady-state conditions, is shown in Fig
Al. E~ = T,l [fE FD dt -fEr dt]
dO
Since the flux linking the rotor'circuits and
th~ stator cannot change instantly, the elec- The term including E r is determined from
trical torque can be conveniently expressed as: generator and power system characteristics.
E'E, The effect of the excitation system is deter-
T e = X' + X sin ~ mined bytheE Fo term.
E Following a severe power system disturb-
( Under the assumption of "constant" flux link- ance, the generator rotor angle undergoes large
ages (sometimes referred to as "classical") this excursions at a frequency determined by the
torque is not a function of time, and a greatly rotational inertia and the electrical stiffness of
simplified analysis is possible. the power system. The maximum angular swing
Currents however can change instantly, and will normally peak between 0.4 and 0.75 s
components are induced in the rotor circuits after the disturbance initiation, an(i the excita-
to balance those in the stator circuit in order tion system must act within this time period
.'
"'I-
,'>:' to satisfy the constant flux linkage theorem to affect transient stability considerations. Ac-
cordingly, 0.5 s was chosen for the definition
time period of response ratio. The response
FigAl ratio is the slope of a straight lin,! (in per,
Phasor Diagram of a unit ,per second) constructed to encompass
Simplified Synchronous Generator the same area as the actual exciter voltage
Against an Infinite Bus curve over the 0.5 s period. It may be expressed
as:
D.5 05

J E FD dt =1' (Eo + Kt) dt

°Area °
under actual voltage-time response
curve equals area under the constructed straight
line.
\ This reduces to:
\
\ ItX s K =
response ratio = E E81°.5 E FO dt - 4

~\~r-~"t}j
o 0 °
Al. Nomenclature for Appendix A [5]
X' = transient reactance of the machine
\
\ I~E X, = synchronous reactance of the machine
\ E~
\
\ NOTE: The assumption is made that both the transient
\ and synchronous reactances are constant regardless of
\ the angular position of the rotor with respect to the
\ armature reaction, X' ="XD' XQ' and Xs = Xv = X Q .
t::

\ This assumption is made to facilitate analysis of rela-

\ d AIls tively simple -eases of transient stability.

29
 Appendix B
Frequency Response Characteristics of Typical Excitation Control System Elements

0
GAIN
I:----~~---==:.:::::=---
L '., AIN
AShMPTOTES
/SlOPE OF
'!P.I 3dO " -20db/OECAOE

-5 -
~

:::
i:j
0 PHASE ANGlE------~'
IVI I""
I
I
I
....
1-6db/OCTAVEI
,
"-
I ",
-10 '",
:1;-
I

z I
-15 "'
u I
I
I
I
I
-20 I
I
I I
W =Ol fl.25 RAO/SEC
w IN RADIANS/SECOND I

0.1

~ .t\ Fig B1
Element with a Single Time Constant

400
50 Vi Vo 40
II+JwO.8111+JwO.021 0

:;
40 0

- 30
~
I~I -40
m
~
i:j m
0

20 ~ -80
'"
~
> >
PHASE ANGLE
0

'"
~
I 0
10 z -120
z <
"'
0
~
~
<
z
~
0 180
0
wiN RAOIANS/-iECONO :;
0.1 10 100 1000

FigB2
J V Element with Two Time Constants

31
 IEEE
EVALUATION OF EXCITATION CONTROL SYSTEMS Std 42IA-I 978

25 100
0

:::
20 80

15 80

.,"'
~

~
0

'HAS! AHGl!--------------r"
~

10 ~
~
40
z
<
~
~
<
z
~
20

01--==::::::....---- 0

wiN RAOIANS/SECONO :'>

~

0.1 10 100 1000

FigB5
Lead-Lag Network

10
i yl
V -1I+JW(2C }+{JWl2T2
TIME CONSTANT T=0.5
r vo

=
~ 40
OAMPING FACTOR C~0.3

-10
PHASE ANGlE--------'\
-20 ~ -80

-30

-40 ~ -160

WIN RADIANS/SECOND
--~--2....1:'>

0.1 10 100

Fig B6
Element Having a Transfer Function with Undamped Complex Poles

33
 IEEE
EVALUATION OF EXCITATION CONTROL SYSTEMS Std 421A-1978

50 100
0
YI PHASE ANGLE
;
40 80

::;
30 = 8G
~
= *
20
~
0 '"
~
0
z 40
'"
~I> ~I
VI
c
~
c
z
~
10 20

0 0
0

'" IN .AOIANS/SECONO ~

0.1 10 100 1000

FigB9
Twin Lead-Lag Network

'1)
100
-25 Vi
~ l+Jw Vo
; 80
-30
~ 80
-35
~
I:: I =
t3
0

=
-40
U
C PHASE ANGLE '"
0
z
40

'"
~I>
c
~
~
c 20
z
~
-45

0
-50
0
~
'" IN .AOIAHS/SECONO -20

0.1 10 100

Fig B10
.Rate Circuit with Washout Time Constant

Q
35
 IEEE
EVALUATION OF EXCITATION CONTROL SYSTEMS Std 421A-1978

KEY' 125
-- UNCOMPENSAH~ Yt/YR. Vs'O
---- ..... -.
-
0
10 - - - COMPENSATED t/VS ;--
-. ; 100

--- -;--
;-
75
"
",,
GAIN
0 50

--------- ..... \ 25
------ ----
PHASE ANGLE
-10 -. ~ 0
"
",,,
~

Iil
0 -25
-20 ::l PWR. SYS. 0 -50
S STABILIZER z
c

-30
..
~
z
G3
\
\
\
\
~
c
z
~
-75
-100
"
0
VR ...... \
\
\
-125
-40 0
-ISO
:: -175
w-RA01AN$ SECOND

0.1 1.0 10 100

Fig B13
Calculated Frequency Response of a Typical Excitation Control System,
Off-Line, with and without Power System Stabilizer

37
 IEEE
EVALUATION OF EXCITATION CONTROL SYSTEMS Std 421A-1978

" · I
I

·
~
,,
,"-WITH POWfR SlSTfM
I STABllIWl

,I
" ·•
.t'
,,
I

,,,
I

---~-- ........yWITK CONSTANT UCmHOH

~WlTHOUT 'P;WfR SYSTfM SlAalllUR

,.
" FRfQUUICY IN HERTZ

,., lO.
A
" ~' ., ...

WITH CONSTANt (.XClTATlOH 'J

.. " ... -- .........

~--
... .-.:..::-WlTK PQW{R SYSTEM STABILIZEIl

. ':'

-----
~WIT~OUT POWEll SYSTEM ST.l.BtlllfR
---------
~~
FR£QUEHCY IN HfAll

_lO

B
"

~WlTHOUr ~fR SYSTEM STABILIZER

" '~
lG ---
~_~-WITH CONSTANT EXCITATION
" o ,
" · ~wnH PQWl:R SYSTEM S1ABltllEIl
,,
,,
, ,,
,,
,,
" ,
--_ ...
FRIOUlHCY IN HERTl

" lG
"
C

Fig C2
Synchronizing and Damping Functions for a Typical Excitation Control System:
A - Synchronizing Torque; B - Damping Torque; C - Ratio of Successive Oscillation Peaks

39
 IEEE
EVALUATION OF EXCITATION CONTROL SYSTEMS' Std 421A·1978 .

1,111 _

~:___---1------
"
L Wl1KOIlT POWEft mIUI STUlll!U
11 0=-2.11

l~ltl __ .... 1~1I)

-- --------D3.. -----::-.=-..+ _

wnK COIiSTAIII
11 0::2.31
nClTl1101l/~
"
WIIK POWEll usn_ STAIlUlU
110":11.31

G.OI L-_L-_.l-..l.....L._..l-_-L_-'-_ _
o 3 I '
mil III SfCDIlIl$

FigC5
NormaIized Envelope of Rotor Angle Oscillations .

and quadrature axis components ~ quadrature axis open-circuit

~ generator stator current, direct transient time constant (1.50 s)
and quadrature axis components ~ generator inertia constant (2.60
~ generator field current (one per. s except for the data Fig C2
unit field current is the value for where H is a variable)
one per unit terminal voltage on Hs ~ external system inertia constant
the air gap line, open circuit) (=)
~ quadrature axis damper current ~. equivalent generator inertia con-
~.direct and quadrature axis stator stant (2.60 s)
leakage flux linkages D ~ damping coefficient (assumed
~ direct and quadrature axis ex- , equal to zero to more clearly
ternal flux linkages show the damping associated
~equivalent external system react- with the electrical circuits of the
ance (0.820) model assumed)
~ stator Leakage Reactance(0.216) ~ angle between quadrature axis
~ direct axis magnetizing reactance and infinite bus (0 ~ 72°, E s ~
(1.649) 1.025, P ~ 0.614, Q ~ 0.131 for
~ quadrature axis magnetizing re- the data above)
actance (1.627)· ~ electrical torque.
~ generator field reactance (0.160) ~ time constant of the envelope
~ quadrature axis damper reac- of oscillations (in seconds)
tance (1.847) Tos e ~ period of oscillations (in seconds)
~ generator field resistance Ks ~ synchronizing torque coef-
~ quadrature axis damper resis- ficients equal to !>.TE/!>.o
tance ~ damping torque coefficient equal
T Do ' ~ direct axis open-circuit transient !>.Ts
time constant (5.63 s) to - -
!>.w

.43
 IEEE
EVALUATION OF EXCITATION CONTROL SYSTEMS Std~21A'1978'
•
a gain margin of about 10 dB). This gain margin maximum gain t;,hat. the control signal does not limit
is greater than the generally accepted minimum before the oscillation is sustained. Limiting diminishes
the influence of the power system stabilizer and will
value of 6 dB, given in Table I, 4.4, to provide, result in a false indication of allowable gain.
, additional safety margin as system conditions
and configurations' change, making it very dif- IUs desirable that this test for usable gain be
ficult to determine the worst case conditions.' made under "the' most sensitive conditions to
NOTE: Care must be exercised during this test for_ which the unit will be exposed in service.
.' t:;". .! .

'.'J

i· ......· " ~.

" .~ ...

'." r
',';:': . y,',"!,
• ¥ ,.

",J., .:

-,- " . :.'Jl,; .~

":: ;.1._ ,
,:

I: .. \t.: -', r
. '. T' • }

. .- ~. . '.~
. f · ",. ':"

••• - 0 . . . ." .

-."., :.' i.: .. :.) . :"") '.,

,"'. ..,. .:i ."J. ",.

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:',47
 IEEE
EVALUATION OF EXCITATION CONTROL SYSTEMS Std 42IA-1976

NOTES:' (1) stability, arymptotic - A system exhibits

(1) A network for which the transfer function ex'~'
press~d as a function of s has neither poles nor zeros'
asymptotic stability if the output approaches
in the righthand S-plane. Networks (elements) or sys- a constant value within an arbitrarily small tol"
tems having either poles or zeros in the right half 8- erance after a sufficiently long period of time
plane do not have minimum phase characteristics,
assuming there is no right-hand S-plane pole-zero NOTE; Asymptotic stability generally refers to sys-
cancellation. tems which are excited by a constant signal. The out-
(2) Elements where response is described oy' tranS°' pu.t approaches il fixed steady-suite leveL" ,
fer functions having transport lags also exhibit: non-", '. . ". . ...•
minimum phase characteristics.. The frequency ..re- (2) stability, bo~ndedinput--,bo.und~d out."
sponse -'characteristics of a typic81 eiement with trans-;
port lag is given in Fig B3, Appendix B. ~ .. r' .. \· ~'" put. . - A,· systemex!lilJits lJounded input"
bounded output (BIBQl stability if the outPt1t
perfonnimce' index.' With respect to"a control is bounded for every bounded input .'-) "~''-U~11
, . ~ , ,.-......
system, a perfoI"jl1ance iridex is,aS'caiaiinea"
NOTE-~ ,BIBO :stability is: also ·known- as stability in, the'
sure of the quality of system"behavioL' It is
sense, of Lyapunov, and.i~ .r~!e;rs. to forced syste~;, In,
frequently a function of systeill'dutput'-and nonlinear systems, a' bounded limit cy~le ap'pea'iing:
control input over some specified\]T,ne' int'er" in ·'the output signal isari 'example of BIB0 stability,'

(3) $tability, conditional - Of a linear f~:.;r

val or frequency range, or both. A quadratic
performance index: is aqnadratfc' 'fu;:'c'tion' or
back control system,. a 'propertysuch that the'
system states, and thls-fonn finds':wide appli"
catons to line'ai' sy'steniS: . 1', !"j[;.' (, j" system is stable for presi,ribedopera'tihg vil.!(i<\s
. . ," , . r' . :! . lL-; j;; . '; 'l ;-:' .• of the frequency"invariant factor of the"loop
phase margin.. Of the loop trans£erjUI;\ctiqll for. gain and bec·omesunstable· not:only ''for· higher-
a, stable. feedback .cont,rol sy$.tem,Jllpi de~~es values;but also forsonie- lowervalue'l3].' '.'
state variable fonnulation, (eigenvalu~,;e~er;:"
minus. the. ab~olute. val.ue of. the .lo,?,!, ,pJ;1;!se
angle at a frequellcy ,wh~re th~d~PJl' !lab:,!, ll;,
unity [3]. .. vector, characteristi<: equatiQn~.. A .sY$temmay.
.)' "'. ,.,,1,1.\ ",.;-. . ~·Tr··", be mathematicaliy' modeled by assigning 'van:"
NOTE: Phase margin.is a convenient. w.ayiof:exp:ressing ap'~~s.<?:a,,:.x~, .. :.".xn:~_to~~ ~J:7~~~ P¥~et~rs;
relative stability: 'of. a Jinean; system' :iJnd.er .p~meter'
changes, ,in ,Nyquist, ..Bode, .or N~<:hols, ,d:iagrams.i :In-.ra W,lt~lf th,'(s,e.",s, <00mp'rise ,the .miqimuJ:,l< m,lII].p!!r,
conditionally stable feedback control systieJ3k.;w:b.ere:·the· ~parMp":t.!'~ :)",hic);\ "cPIn2IetelYj;pecify.the sy:s,
loop.. gain becomes .·unity :,at-~seve~ fx:~q\lEm~\e!?IJ:he tem, they are te1"II].e.d "states" or . ~',state van,"-
term is ,unrlerstood to apply. t.o t-h~ y',alue'Qf lPhase'm4l''''
gin at-the highest of .these frequenc!es [·3:].. ~ " ,
abies." System states arirolged '-IIi . s:veCtor an
", - - . - . ,;" . ' ! '.. .:; _ " j '':;'-~l:, .;( :~::'·I.-·:.
fol'ln a:state·...v'OCtor.. The "jnltthematical·mbdel:
root locus. Cpnsider a linear, stationary,.sy~tlHil. of'the· system 'may be· 'mafidputated ., into the
with dosed-loop transfer flmttion C{S)!~("S)' fonn .. '; >: ' .... ;....,.,
where'R(S)' is the aplace 'rransfQi'iri'of:t1i~ex"
cit"tipn (jnput)dn"ingfu;:'cticin p~"£h~~i9-ieEr dx/dt = x = AX + bu
loop system and C(S) is the Laplac'e 'rransforln· J'" : .• '1 Y. =;;.cx,:+: du I·· ". .. ,
•. (",-"~.,, .' I; d'
of the.response (output) function of thecl,9~~d"
loop system. 'When C(S)jR(S) i$.a f\u1ctiqn 'of.
thegaiil(K), Of one element in~jt1ie.r the)Qr~.
ward ~~re~e';;esi!lnal flath, the,p,,?les 9lC(l~1!
R(S) in the S:plane will iil' geri'eril.! bE" ,dune:
tion of -K. A plot"in the S plane Of'thEi'lOC! of
poles of the closed-loop trimsfer' flincti6'n ''as'K
;.:.'i '. :;~, . ....
varies is' known as-a,root-locus. , .. :~ii:!,~~; ,', The·n'"' orde't'polynOniihallri':\;'"
"
• -' •. '1 .. ' '~'. '. ' ~ • '. . : . -. ( ...' ;
stilble:Possessing 'stability, where., foi·': feed'
back c6ntr~1 syst~n'. in ~leme;"t,-st;;:i:5iliH;;
thep~;pertys;"ch:thatiI:; outpu<is asyfnpfutic, '~ '. '~1 :'.~~.,," ',:,-' .,: " . :-,-.- •.
that is,will ultirtlately attain a: stiiady";tH,,;' is:called tl),I" ch~act~ri>t;ic. eqi,tatiqn anc;\ has .n.
within the linear .range. ,and without corttinuing roots. which "re'c;J,llec\l'igen~alues[det( ~ J.cll'r
external stimuli. 'For certain nonlinears'ystems notes determinant];.. When'" eigenva!ue~ ,Wl',
or elements; th'eprope'rty suc:\"that the otftput real, they are the negative ,inverses of closed
remains' hounded; tit at is, in a limit' 'cyC'le Of loop system ti.meco!,stin'1~f,E,i~envalu,!s.'3t{
coritinued oscilfation, 'when the' input 'is also the P9le locations of t!m c).o~ed Iboptrap..s;,
bounded [3]. ferfunction.'· ::: ::', ::., .n,:t.

49