[BEE Transactions on Eneigy Comesion, Vol. 3, No.4, December 1985, ms [TECHNIQUES FOR TUNING EXCITATION SYSTEM PARAMETERS Rodolfo J. Koessler, Member, IEEE Poxer Technologies, Inc. Senenectady, Nev York 12305 = Size and detail of nodern power “eysten simulations demand “argo Sependitures of ‘tine and” energy for daca checking and verification. "Unie peper is Intended for the systans ‘engineer as an ald £0 understanding and correcting parameters in excitation ayaten models, Feeguency response Eechniques are used. Two. basic. types of odelavare analyzed sn the means of reducing Rost, models tov these are "shown, An application example is given. words - Excitation Control; Power Generation control, Excitation; Power system “INTRODUCEION Modern pover ysten simulation programs have the capabitity of detaiied Eepresentation “of nore than 3000 generating units, ‘Simuvations with 4000 and Sore huses are now routine in many ueilities. "A divest Consequence of these large and detailed Simulations is the great snsunt’ of tine and Ghergy spent in’ asta checking and veritleation : This paper is intended for the syetens engineer "who iz "confronted with che Shallenging™ task of checking Sxcitation Syeten data for hundreds of unite, inva short Eine, without any"test’ data, with no other Link’ “tothe actual equipment "but a apuractuvers data heat, oF some typical Boe, paper exenlnes the baste smal Rost, nodarn excitation ‘aystens, TR Zense approach to model tuning is suggested. ‘The procedure. {@ based on” emulation of he Spenscircuit step ‘vesponce test, & standard Control tuning practice for ‘several decades. Where simulations with excitation system and Generator node! “gate result in uneccoptable Zeaponses, guidelines aze provided for tuning Rodele. until well-behaved, and thus, Eeslistic) responses are achieved. Linike and other nonlinear parameters in exciter models are also very important when Sonducting simulations. “they ‘determine ‘the Sxciter’ responce following a” large perturbation to tne” system. "The: fonlinearities should be checked and tested igainet. overall” equipnent characteristi suchas the exciter. ceiling’ and. respon Eatio ‘az ‘a conplenent tothe gual signal EGning Vechaiques described In this papers Ts fees 1988 seer Meeting, ew tory ew Tore Tanuary 31 ~ February 5, 138i. sanasetipe sate [FREQUENCY RESPONSE TECHNIQUES ~ RODE DIAGRAMS Frequency response techniques are basic to control zysten tuning. an. excellent Fetresher on the subject may be found-in (2). For the purpose of this paper, the following Sbeorvations wilt euftice Figure’ fl hgue ithe biock, stagran and open-loop asymptotic gain and phase diagrane for a very’ Elnpie ‘second order feedback aysten Figure 1. Second order feedback system one interesting observation Ss, the relationship between gains and frequencies 2 fhe S27 Ropes. Prom Figure ty it le evident that! Yea{Gq)-199(Gp) = 109{t)-1690%9) acme Figure 2. Step response as a function of Phase margin (5¥ step in Input) (49860841200 THSS1.OO19H8 IEEETuning of the X value in Figure 1, and in general, tuning of ‘any control loop, 13a Compromise’ between” speed (high ersssover frequencies, high valuce of X) and staniiicy (high phase’ margin, low values of X). Phase SArgin In’ 30-40, degree ange are’ usually 200d compronise (Figure 2)" Given” the” separation” petween break points in Figure i, such ¢ compromise would Gall for" crossover’ at a frequency, someunat Below. the second “break, egy 1/(2R) Fad/sec.. Recalling the “1/1 elope’ property, this would call for a X gain oft ya iy The expected responce would be vell-danped With Saeguivalent tine ‘constant of i/o = 2 Seconds." “Figure 3) “corroborates "these Peaults, Uf Figure 3. step response of sample systen when Kesaa.s (st step in Inpat) EXCITATION sysTEM TUNING The small signal excitation system tuning procedure suggested” in this "paper is Based oh the open-eiseuit step responce test Ehat most modeen” exestation systens undergo uring startup. ‘Me Unit is brought to nominal voltage with Qpenccirouit generator terminals, anda Enall’ step is” applied to the voltage Feference. “Field and terminal voltage Fesponses are recorded.” If the responce of the Voltagerreguiating loop “is inadequate (G00 “stow "or too oscillatory), the field Engineer retunes whatever tunable paraneters the "excitation systen hasy so "that. the Fesponse is. within expected “performance, With "the “unit on-alne, the "closed-loop Fesponse of voltage, ae affected by tisk Changes only (no chatge in rotor angles) , ie horaaily nore stable than under open-cireuse Sonaitions{2) “The proposed tuning method tries to omulate. this” real-life “test. with a tinos Simulation open-cizcuit step response ‘test of the nathematienl model: If the responses of the model to the step test are judged Unacceptable, and ‘no Additional Cast data is avaliable, the systen engineer modifies parameters of” the excitation aysten model” that can be tuned’ by the field “angineer: ‘although ‘the. nodes Fesponse will probably not natch exactly thet of (the actual equipment, “this “ie a’ much Detter. practice than ts use values uhich are obviously wrong. Euciter tuning ebjectives (2) Figure 4 depicts 9 very sinpiiriea yoltagesregulating loop for an open-circulted Unit, Aueonatic voltage Requiator (Ac¥.Re id yeiter are represented with a gain and & ingle tine’ constant (iq” and” Tay the Generator is represented vith the fii opens eireult time constant Ivo.” Typical. values of field and modern static exeiter’ tine Constante “ares” and. 0.05 seconds Fespectively, Figure 4. Block diagram of simplified Yoltage-regulating loos with Bachine on open circuit. Recelling the previous second order example, recognizing the “two-decade Separation between time’ constants, and thus Choosing "crossover "erequancies, ‘close “fut Tower ‘than the second break frequency, the steady-state geln iy te limited tor a steady-state gain values are Limited to lese'then'S0 for a typical static exciter. This inposes a restriction on exciter performance ‘because “steady-state gain is Girectiy related to exclter regeiation® Under steady-state (=-0) and open-cireust oF interconnected conaitions, voltage error (Vp ‘Vuue) will be equal to the chenge in Eyo/&,s Lot us assume a 2.7 pur full load ta a no 1e8d Bop of 1 pus and aX of 20. This Beans tense? vith conatant refgronce voltage, ESeminal voltage will. change by 100(271) 50 duet, fron gero to “fulieioaa conditions. Such “regulation values are unsccopeable ip forma practice, “Regulation of less than ie'usualiy required: ‘Pranaien€ goin’ reduction is one widely used method the indusery has’ used tov resolve this Conflict of objectives betwean a stable and well-anped voltage-regursting leop, and Siow value of exeiter regulation. ihe way Exansient gain reduction fa implemented hag given origin to two of the most popular types Sf excitation systen models that can be Found in the power industry 12]The iagshead Cite: type of excitation system Pigure 5 {2 an Ace IEEE excitation system node: described in (3). None Unearities are ignored and the generator ts Included. “Figure e anowe “AVR © Exciter frequency response “for. a well-cuned excitation aysten: petoneee eorete Figure 5. tag-lead fiiter type excitation syaten nodel Figure 6. Bode diagram of a well-tuned lag Yead filter ‘type ‘eveltation aysten odel, nen 1/%e 1s considerably snaiier than croestnal tfafuaney "End Setchs “pela sesen Sra Voutegeete Minti Now WA be Plait, "the ftraneiones dads han Tae pretiose cranpie, vith t $alb SES ie. '= Mo, Pay Ee Stas ES BREE Sine (S"Ra° Pinas ala Unah Srettover Peogaedy, Ta, See seals 2d Ge ase Boon’ {8 ots Nassar” OEM son Eee EieThatlon thetsn regulation wilt oe2.7/509 sear htpeStly Salve. the teanchene Gait Wh MeO ee sol taieh a Beatie hae! Seat ent “oaestsecty aaspen selzage-regelating Seep Bae Bast TS ‘Ricerabay matter than cxosstler Pajuenty "the tanelnd ares a) The lagriead filter phase lag Conteibution should be "ewell “et Srossover: frequency b) TE exciter ceiling is low (5 pau. or Tess), and significant. anoint” oF Roniiniear’ “operation. (eweiter mitting Selling). ie expected, then “ie iz Sevisable to increase T beyond wnat 1s Suggested “by a); This will avoid Grossing. over In a region” of higher Phase angle when the effective gain 1s Fedueed aus to nonlinear operation. nen confronted with a lag-leag type excitation ‘systan, and’ am open-circuit Seep Fesponse. sinviation shoving "an ‘unstable oF Seetllatory” voltage-roqulating “loop, the foilawing Zoning proceaure is stogestod: co 9) coppare T and ido with typical data characteristics and T'do is generally in fhe order of 5 eo 20 seconds). IE they are typical, they are probably accurate nd untunable because they are’ generally feleted to equipment eizea and Gharacterietics ‘ahd hot easily moditiea- Because of voltage, raguiation Rigner. Although ateaay-etate gain ie easily” modified in modern excitation Systens, it is not a significant factor for dynamic performance. ence, if Eeasonabie, ie may” be considered accurate and untunabla. onthe other hand, are tere, and ie may be Sltuned ‘that the field enginesr could nodity then to atabilize the voltage Feguisting Loop. b) calculate maximum transient gain by? me @ ©) caleutate ey Transient cain Reduction iaaaae ° 4) calculate desired crossover frequency: ‘®) choose 1/%q 2 to 6 times smaller than On” expected nonlinear cy #) Based on the required transient gain Feduction calculated in c), Obtain Tp: 6 ‘The Rate-Feedback fxeltation systen Type Figure 7 Ss a Del TERE exeitation eysten nodet described ih {3}. Nonsiineariies. are Tgnored, ‘Te and Ty are assumed to be squat, cancelling each other, and the generator i Sneluaea, “Figure a’ shove AVES Exciter frequency response for. a. voll-tuned excitation ayeten, Shown in the diagram are fhe inverse of the internal feedback path Yh, Tety, Gta (ak) and the internal Voop “forward path gy tre-y Ka/ (se(2+8Tp/ Ke) (28T4))Figure 7. Rate-teednack System model type excitation Figure 8. ode diagram of a veli-tuned rate~ feedback type exeitacion” system nodel. Te closed loop response of such a g-h control Loop tat ios Gan Ie g << a/h, thon: approxinately =a: If 1m << gq) then: approvinately = i7h: gh << 2 and CLLR i gh >> 1 and CaR, is Hence, the closed 1oop response may be approxinated by plotting both g and 1/h and Choosing the lovast of noth gain sesponsos at fany| frequency as the closed “Loop response at Shae frequency.” acerring ts Figure’ 8, the Overall voltage-regulaeing loop will soc= Ehis internal loop as an’ equivalent aysten with a frequency response described by 9° from Zero through the first intersection between 9 and 1/h, then described by I/h throughs the Second intersection between q and 3/h) and again described by g for frequencies Mighee Ehan “the frequency, of “the” second Intersection. if When. this equivalent response i compared to that of the lag-aced iiiter in Figure 6, it ia seen ‘that the rate-Tocdback Serves ‘the sane purpose sa" the” ag-tend Filter, that fey eetnslent gain reducticn ‘Tining of fais type” of exciter wust fake care, fot omy of the woitage-rosclating Loop Stability, Bue also ‘ot the internal’ isc seapuliey: The voltagerregulating loop willbe stabie "as “long. as thie “Loops, crossover Occurs about halfway between the 1/Ty and the Gecond “Intersection frequanciee. "Halfway Between those frequencies, the” phase ing Contributed by the AUKckxo(eer syste should be"snail, the, main paase iag contribution a Crossaver ‘being the -90 “dagrece due” to generator, tleid tine constant. The internal loop will be stable as long as its gh phase margin upon internat loop Siossovel ie’ adequaeely igh, Since incernal gh is equal to 1) the points of intersection Between g and i/n ‘in Pigure @ are internal Toop crossover ‘pointe. the internal loop AIT then be adequately damped aa long ae the ‘econd intereaction occurs at frequencies at oe below 1, Wien “sh open-circuit step response simintion shows "an oscillatory Gr unstable Behavior, ‘the suggested tuning procedure. te a) Compare Kay Tay Tey and ido with Eypleal asta “y/ket’snocld be nsgher han. 200, ith Kyvclose to ero or 2) Ty and Ty. are" dependent on ‘AVE and Excite Gharagteristics, and Tido should bein the order of 8 to"10 seconds). Tf they seen reasonable, st may be secuned that Ehene ‘values are accurate and uneunabie: ‘ypleal tuning parameters are Ty" andy particularly, fy >) As an initial guese, aesune that the Internal "loop crossover" occurs exactly SOT7t. Thi sean thats ytog fy = Loa o ‘thus, this initiat guess assumes that: ae ) ©) Under the b), assumption, define an ize "pisteau” for the external o @) Within this plateau, crossover of the externar loop "muse occur. ‘me exact logarithmic halfway point Between 1/7 and i/Ty 4s calculated by:External Loop crossover will occur at Ehis frequency as long as: Figure 9 reproduces ‘Type ACL model in (21, UKs" wetore, nonlinearities are Sxdiuded, “fe se assumed ‘equal te Ty, and the Senerstor 15 included. 2 1054) © tog te) -t09( 21 0) ia ‘Tao eo agree replacing: me AE aa ge SEE tan? Pee _ Figure 9. TBEE ACI Excitation system Model. © Me, atm value of fy Se now compared with the one assumed in b) “ fone renaining non-tinesrity, a, Figure 9 uy ct tg to ciate ve tamayits) with 2 tne ipfoy prodded) alelarent\ation sr the ) 22 my fe close fo (aems/Uieta) els, produce Se"Es8 quanticies reslts int Euning parameters Sr any combination or 4148) 7 AcGB + Bodh Traand My as long as the 1m, ratio is. Figure 10 shows the ACL model using Fey Shin he vile Canceisens 18 or Gnioris QUEL EO 1, Maa, te the maximum, and not Recensney eee tah an tana ‘Figure ta enolS’ the recult of applying een). vetichnouy book alagran reduce von eachhiguey €2) If My is much nigher than (1/10) /Clyta) SonGleiopes witnoul generator seeurecion, ry try the values suggested in el). Et"the h"'p.u. de equal to terminal voltage). Sklp. response: ie still too. oscillatory, fe ia PEELE he’ only aleeraat ive is to" check eneehee Rei acjustamie, and if cor caajust ie eC : £5 Gein) tah and ase the! wr and 3p Waudel Biggehtla Teepe 03) Tf Ky is lowor than 0.7 (Tp) /(Ket4) « | Eh Sudha $n 1hTinearsotel on Talk | occur at values lover than 3/%~ | This second intersection can be chosen RH emg? . “200 aa) e Figure 10. pirat reduction of the Act model and nev ty and fy values can be Eo Bho Pate ESoasn yes Bheultea! 5 11.18 = a EEE ited on "ana F400 Ae in et), these Ty and fy valves can Bren "be Good se ning. palranetersr oF Shy" cetbinetion of ay ang hy, as long ae TEE SOME TIES ane "tne"dane and oe Boa" Seeke used ay fs greater’ than the tnevcateutstes ‘eduction tothe tag-tend_or_ine_xass= : Etedoaak ae Figure 11. second reguct on of the ACI Rodel ALL exciter modele describes in (3) (excebt ene non inear Dep ype node) my be [Ghieba fo one of the tuo types previously Sescribed fo the ratecteedback type-0 Recognizing that voltage loop crossover winz ‘Socur, at “trequencies “much, higher than Ytido, “and “that ‘the critical "internal leop grosecver will ‘occur at even nigher frequencies, "the pareliel “paths containing (Gsattdo) “terms in’ thelr dertominatocs nay. be Regiectea. "For example, até Tadiane per Second, a typical, voltage’ loop crossover, the Sttemuseion due toa {isetdo) ters lens Eypical t"do of > tec. Se" about 1/50 he mentioned in [3}, the exciter ih the Act qxcleston "nose ddan“ not” employ sete= excitation, and thus, Ke = "i the nodel then bas been reduced tod site-focaback type, and Gdenticai rules. shoud be folloved ‘for ite tuning Figures 12 and 22 display block asagran, gta ‘and opencctrevit ‘step ‘response. for 's Sistuned o@foxciter. as ith the hea ‘cose! Ero iy,Talahal can, "be" ‘reduced. to Fy ovsivgo) in parsiter with the ty foodba Bith,""and' ies" influence ‘may’ he netected at Erosdover frequencies’ " the euning’ techniate Shon reduces ‘to that Sf a Tate-feotnack Cyge fe = Sq = 540.15 0.75 tieverg? _ 11.1440.0225 gee ew TR REE = 0.0503 Fae 3 tyre 078 08 o.0500.18 Figure 12. Sample IEEE st2 excitation systen Figure 13. openccircuit step response of Staple sta model (St etep in Yar) The actual Ky 18 120, and is assunod to be a Unagjustaples Hence, gone” unavoidable we, intemal “loop oscillation will occur. Ty is Meo found to be untunable at sect, £5 Fy Bust we chosen at: senna = Hono Shee Figure 14 displays the open-circuit step response when this value ts Geed for fy. the Enall irregularity ‘inthe Bq, trace “ie the Eesult of very slight “internal” loop oscillation, Figure 14. openccizcutt. step response of gue Mo Ganple S12 nodel after toning (38 step in Var) ‘other tuning Anproaches there is a discussion in the sndustey wnetnar transient gein reduction is necessazy Or not, particulariy” Inthe cage ‘of nigh Very low ‘tine constant exciters) lussione at the end of (2) provide an Gecellont overview of argunents In" favor and Sgaince T.c-k hel seadce, should then, be aware of alternative tuning philosophies which, in General, ca1l for lover phage mazgine, "with Srossovers “slighty “shove the ‘second’ break (aine. up. to. 4(t'do/2T%)), somewhat Sseiietery’ open-circuit test” responses, and ho transient gain reduction. The velaeively high transient gaine will generaliy require the use ‘of Paver Syston Stabilizersin TM EGAGHE should also be aware that gain Teduction at higher” frequency may Be. used to nininize ‘the negative’ impact of Bhort tine constant, high gain. exaltation Systems on aysten” rotor “angio” damping, perticslatly in the absence of Power syste Stabitizers(2]." ‘Honce, the actual transient gain may be Lower’ ‘than’ tha value required 6) Spen-cireuit regulator constraints: ‘ scoxcuustoNs A eystonatic way of data checking and noaitying control parameters in excitation Systons go acto obtain credible similation Eeaulte “te ans inportant step in dynamic performance studies of pover systens. Guide Files tor tuning voutage regulator peranctars Eecnnigues. "mis can make the task nore analytical and less subject to trial “and AciwowtEocEnEr The author wishes to express nis appreciation for the help and encouragement Fecelved fron Me. Francizca P. de Mello of Power Technologies, ‘Inc: REFERENCES (2) IEEE commzree RepoRT, "Excitation Syston Dynamic. characteriet ice, IEEE ‘Hensactione on Power -Appatvcde “and Systens, Vol, PAS-e2, Nos Ty Sanuary/Fobruary 1973, ppr 66-75; (2) Francisco P, de Mello and chartes Concordia, concepts "of Synchronous Machine “’stapitity as” agractea” by Excitation control”, igEE “Pransactions ea soice™ apparatus’ ond —ayatens, tot PRS-ee, No. dy Apral 1960, ppe ai6-209, 12) ZEEE COMMITTEE REPORT, "Excitation System Noselz for over system seabiliey Studies", JEL Zrensactions™_ on” Rover ‘Auparatud ald syaten=, vol: PAS=100, No. BerPobruary 1981, pp. 494-509, Rodolfo J. Kooasler (i'86) vas Ga kay" ie, 1953. ie received ESctromechanics from the Argentina and’ the WEs Segres ih Rensselaer. Polytechnic ban respectively ron 1978 to 1981 ne was with servicios EiSlest2S8 Gh g2an enol hades working in fh. Hover, Syaceng soning” Sayarterts Hn be ne Gounod "pores Sechnotaulcey ne. ee ae anllyeSen enginees in 1980 Mev! Yowseter Socal to “Myeneipa” fora. Eecyeae [Nisin ‘Vien Ge" elee tecneneovectoes Hite Ssopendcing wien, Prt, Tn ne peoieens pce” than” no Tage nea, “gaged ee Sitsheaton of anige “scnte Sond ioe on Gosia abaeld dad "tho “etnauee os! dynamic performance “studies of regional Titer onnoct ions