Advanced Power Systems

Dr. Kar
Sept. 16, 2010, U of Windsor
Dr. Kar
23 Old Drama
Tel: 253-3000 (ext.4796)
Email: nkar@uwindsor.ca
Office Hour: Thursday, 12:00-2:00 pm
http://www.uwindsor.ca/users/n/nkar/88-514.nsf

S. Hamidifar & J. Carcuimaru

B20 Essex Hall
Tel: 253-3000 (ext.4792)
Email: hamidif@uwindsor.ca & carcim@uwindsor.ca
Office Hour: -----
Course Text Book:

 Electric Machinery Fundamentals by Stephen J. Chapman, 4th Edition,

McGraw-Hill, 2005
 Electric Motor Drives – Modeling, Analysis and Control by R. Krishnan Pren.
Hall Inc., NJ, 2001
 Power Electronics – Converters, Applications and Design by N. Mohan, J.
Wiley & Son Inc., NJ, 2003
 Power System Stability and Control by P. Kundur, McGraw Hill Inc., 1993
 Research papers

Grading Policy:

Attendance (5%)
Project (20%)
Midterm Exam (30%)
Final Exam (45%)
 Course Content

 Working principles, construction, mathematical modeling,

operating characteristics and control techniques for synchronous
machines
 Working principles, construction, mathematical modeling,
operating characteristics and control techniques for induction
motors
 Introduction to power switching devices
 Rectifiers and inverters
 Variable frequency PWM-VSI drives for induction motors
 Control of High Voltage Direct Current (HVDC) systems
Exam Dates

 Midterm Exam:

 Final Exam:
 Term Projects
Group 1:
Student 1 (---@uwindsor.ca)
Student 2 (---@uwindsor.ca)
Student 3 (---@uwindsor.ca)
Project Title:
Group 2:
Student 1 (---@uwindsor.ca)
Student 2 (---@uwindsor.ca)
Student 3 (---@uwindsor.ca)
Project Title:
Group 3:
Student 1 (---@uwindsor.ca)
Student 2 (---@uwindsor.ca)
Student 3 (---@uwindsor.ca)
Synchronous Machines

 Construction
 Working principles
 Mathematical modeling
 Operating characteristics
CONSTRUCTION
 Salient-Pole Synchronous Generator
1. Most hydraulic turbines have to turn at low speeds
(between 50 and 300 r/min)
2. A large number of poles are required on the rotor
d-axis

N Non-
uniform air-
gap
D 10 m

q-axis S S

Turbin
e N
Hydro (water)

Hydrogenerator
Salient-Pole Synchronous Generator

Stator

l e ro to r
ent - p o
Sali
Cylindrical-Rotor Synchronous Generator

Stator

Cylindrical rotor
Damper Windings
 Operation Principle

The rotor of the generator is driven by a prime-mover

A dc current is flowing in the rotor winding which

produces a rotating magnetic field within the machine

The rotating magnetic field induces a three-phase

voltage in the stator winding of the generator
Electrical Frequency

Electrical frequency produced is locked or synchronized to

the mechanical speed of rotation of a synchronous
generator:
 
nm P
fe 
  120

where fe = electrical frequency in Hz

P = number of poles
nm= mechanical speed of the rotor, in r/min
Direct & Quadrature Axes

d-axis
Stator winding

N
Uniform air-gap

Stator

q-axis Rotor winding

Rotor

Turbogenerator
 PU System
Per unit system, a system of dimensionless parameters, is used for
computational convenience and for readily comparing the performance
of a set of transformers or a set of electrical machines.
Actual Quantity
PU Value 
Base Quantity
Where ‘actual quantity’ is a value in volts, amperes, ohms, etc.
[VA]base and [V]base are chosen first.
VA  base
I base 
V  base
Pbase  Qbase  S base  VA  base  V  base  I  base
V  base V  base
2
V  base
2
Rbase  X base  Z base   
 I  base S base VA  base
 I  base
Ybase 
V  base
Z ohm
Z PU

Z base
Classical Model of Synchronous Generator

 The leakage reactance of the armature coils, Xl

 Armature reaction or synchronous reactance, Xs
 The resistance of the armature coils, Ra
 If saliency is neglected, Xd = Xq = Xs

jXs jXl Ra
+
Ia
+
E  Vt 0o

Equivalent circuit of a cylindrical-rotor synchronous machine

Phasor Diagram

q-axis
E

IaXs


Vt
IaXl
 IaRa
Ia

d-axis
The following are the parameters in per unit on machine rating of a 555
MVA, 24 kV, 0.9 p.f., 60 Hz, 3600 RPM generator

Lad=1.66 Laq=1.61 Ll=0.15 Ra=0.003

(a)When the generator is delivering rated MVA at 0.9 p. f. (lag) and rated
terminal voltage, compute the following:

(i) Internal angle δi in electrical degrees

(ii) Per unit values of ed, eq, id, iq, ifd
(iii) Air-gap torque Te in per unit and in Newton-
meters
(b) Compute the internal angle δi and field current ifd using the following
equivalent circuit
 Direct and Quadrature Axes

 The direct (d) axis is centered magnetically in the center of the north
pole
 The quadrature axis (q) axis is 90o ahead of the d-axis
 : angle between the d-axis and the axis of phase a
 Machine parameters in abc can then be converted into d/q frame using 
 Mathematical equations for synchronous machines can be obtained
from the d- and q-axis equivalent circuits
 Advantage: machine parameters vary with rotor position w.r.t. stator, ,
thus making analysis harder in the abc axis frame. Whereas, in the d/q
reference frame, parameters are constant with time or .
 Disadvantage: only balanced systems can be analyzed using d/q-axis
system
 d- and q-Axis Equivalent Circuits

Xfd Xl q Ra
Ifd Id

Ikd1 Imd
+ +
Rfd
pkd1 Rkd1
Xmd p d Vtd
+ pfd -
vfd Xkd1
- -
d-axis
Imd=-Id+Ifd+Ikd1
Xl d Ra Imq=-Iq+Ikq1
Iq

Ikq1 Imq
+
pkq1 Rkq1
Xmq pq Vtq
-
Xkq1

q-axis
Small disturbances in a power system

o Gradual changes in loads

o Manual or automatic changes of excitation
o Irregularities in prime-mover input, etc.

Importance of steady-state stability

o Knowledge of steady-state stability provides valuable information about

the dynamic characteristics of different power system components and
assists in their design
- Power system planning
- Power system operation
- Post-disturbance analysis
 Related Terms

o Generator Modeling using the d- and q-axis equivalent circuits

o Transmission System Modeling with a RL circuit
o A Small Disturbance is a disturbance for which the set of equations
describing the power system may be linearized for the purpose of analysis
o Steady-State Stability is the ability to maintain synchronism when the
system is subjected to small disturbances
o Loss of synchronism is the usual symptom of loss of stability
o Infinite Bus is a system with constant voltage and constant frequency,
which is the rest of the power system
o Eigen values and eigen vectors are used to identify system steady-state
stability condition
The Flux Equations

 
 d   X md  X l id  X md ikd1  X md i fd

  
 kd 1   X md id  X md  X kd 1 ikd1  X md i fd 

 fd   X md id  X md ikd1  X md  X fd i fd 
 
 q   X mq  X l iq  X mq ikq1


 kq1   X mq iq  X mq  X kq1 ikq1 
Rearranged Flux Linkage equations

  d    X md  X l  X md X md   id 
    X  X md  X kd1  X md  i 
 kd1   md   kd1 
 fd     X md X md  X md  X fd    i fd 

  q
 
  
 X mq  X l  X mq
 
  iq 
 kq1  
    X mq 
 X mq  X kq1   ikq1 
 
The Voltage Equations

1
p  d   vtd  Ra id   q
0
1
p kd1    Rkd1 ikd1
0

1
0
 
p  fd  v fd  R fd i fd ……………..(1)

1
0
 
p  q  vtq  Ra iq   d

1
0
 
p  kq1   Rkq1 ikq1
The Mechanical Equations

d
   0
dt
d  0
 Tm  Te 
dt 2 H ……………..(2)

where
Te   d I q  q I d
Linearized Form of the Machine Model
1   q0
 d  vtd  Ra id   q  
0 0
1 
 kd 1   Rkd 1 ikd 1
0
1 
 fd  v fd  R fd i fd
0
1  
 q  vtq  Ra iq   d  d 0  ……………..(3)
0 0
1 
 kq1   Rkq1 ikq1
0

   
0
   Tm  Te 
2H
Te   d 0 I q  I q 0  d  q 0 I d  I d 0  q
Terminal Voltage

The d- and q-axis components of the machine terminal voltage

can be described by the following equations:

vtd  Vt sin  ………………………….(4)

vtq  Vt cos 
where, Vt is the machine terminal voltage in per unit.

The linearized form of Vtd and Vtq are:

vtd  Vt cos  0   ……………………….…(5)

vtq  Vt sin  0  
Substituting ∆Vtd and ∆Vtq in the flux equations:

1   q0
 d  Vt cos  0    Ra id   q  
0 0
1 
 kd 1   Rkd 1 ikd 1
0
1 
 fd  v fd  R fd i fd
0
1  
 q  Vt sin  0    Ra iq   d  d 0  ……..(6)
0 0
1 
 kq1   Rkq1 ikq1
0

   
0
   Tm  Te 
2H
Te   d 0 I q  I q 0  d  q 0 I d  I d 0  q
 Rearranging the flux equations in a matrix form:
 
 X    S  X    R  I    B  U 
………………...…..(7)
 
where,
  
  d 
     d 
 kd 1     
    kd 1   Id 
 fd 
    fd  
   I kd1 

       X         v fd 
 X     q     q   I    I fd 

 U    
          Tm 
    kq1     I
  kq1 
 q 
   
        I kq1 
     
  
   
and…
0 0 0 0 0 0 0 
0 0 0 0 0 0Vt cos  0  q0 
 
0 0 0 0 0 0 0 
 
 S    0  0 0 0 0  0Vt sin  0  d 0 
0 0 0 0 0 0 0 
 
0 0 0 0 0 0 1 
 0  0 I q 0 0 I d 0 0 0 
0 0 0 0  0
 2H 2H  0 
 
 B   0 0 
 
 0 R fd 0 0 0 0  0 0 
0 
 0 0 Ra 0 0 0  0
   2H 
 0 0  0 Rkd 1 0 0 
 
 R   0 0 0 0 Ra 0 
 0 0 0 0  0 Rkq1 
 
 0 0 0 0 0 
 0 0 q 0  0 d 0
0 0 
 2H 2H 
Flux Linkage Equations (from the d- and q-axis equivalent circuits)

  d    X md  X l  X md X md 0 0   id 
    X  X md  X kd 1  X md 0 0  i 
 kd 1   md   kd 1 
 fd     X md X md  X md  X fd  0 0   i fd 
  X mq  X l 
    
  q   0 0 0 X mq   iq 
 kq1   0 0 0  X mq   X mq  X kq1   ikq1 

Linearized flux linkage equations:

  d    X md  X l  X md X md 0 0   id 
    X  X md  X kd 1  X md 0 0  i 
 kd 1   md   kd 1 
  fd     X md X md  X md  X fd  0 0   i fd 
  X mq  X l 
    
  q   0 0 0 X mq   iq 
  kq1   0 0 0  X mq   X mq  X kq1    ikq1 
and thus,

 id    X md  X l 
1
X md X md 0 0    d 
i    X  X md  X kd1  X md 0 0   
 kd1   md   kd1 
 i fd     X md X md  X md  X fd  0 0    fd 
  X mq  X l 
     
 iq   0 0 0 X mq    q 
 ikq1   0 0 0  X mq   X mq  X kq1     kq1 
  d 
   X md  X l  X md X md 0 0 0 0  kd1 
 X  
 X md  X kd1  X md 0 0 0 0   fd 
 md 
   X md X md  X md  X fd  0 0 0 0    q 
 
  X mq  X l 

 0 0 0 X mq 0 0   kq1 
  X mq  X kq1  0
  
0 0 0  X mq 0   
  
  d 
 
 kd1 
  fd 
  X reac    q  ………………………………………...(8)
1

  kq1 
 
  
  
   d 
 id    
i   kd1 
 kd1    fd 
 I    i fd    X reac  1   q    X reac  1 X  : from (8)
 
  iq    kq1 
 ikq1   
  
  

 
 X    S  X    R  I    B  U 
 
  S  X    R  X reac  1 X    B  U  : inserting (8) into (7)

  S    R  X reac 
1
 X    B U 
  A X    B  U 

where,

 A   S    R  X reac  1  ………..(9) : system state matrix

System to be Studied

Vt

It
Generator

Infinite Bus
System State Matrix and Eigen Values

System State Matrix:  A   S    R  X reac  1 

Eigen Values: 1 , 2    j
j

1




2
Eigen Values

o Eigen values are the roots of the characteristic equation

 
 X    A X    B  U 
 
o Number of eigen values is equal to the order of the characteristic
equation or number of state variables
t
o Eigen values describe the system response (e 1 ) to any disturbance
Analyzing the Eigen Values of the System State Matrix

o Compute the eigen values of the system state matrix, A

o The eigen values will give necessary information about the steady-state
stability of the system
o Stable System: If the real parts of ALL the eigen values are negative

1 , 2  0.15  j 2.0
Example:
3  0.0005

o A system with the above eigen values is on the verge of instability

Machine Parameters

Salient-pole synchronous generator

3kVA, 220V, 4-pole, 60 Hz and 1800 r/min

Machine parameters Per unit values

d-axis magnetizing reactance, Xmd 1.189
q-axis magnetizing reactance, Xmq 0.7164
Armature leakage reactance, Xl 0.100
Field circuit leakage reactance, Xfd 0.276
First d-axis damper circuit leakage reactance, Xkd1 0.181
First q-axis damper circuit leakage reactance, Xkq1 0.193
Armature winding resistance, Ra 0.0186
Field winding resistance, Rfd 0.0058
First d-axis damper winding resistance, Rkd1 0.062
First q-axis damper winding resistance, Rkq1 0.052