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Synchronous Generator

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Synchronous Generator
Published by
DIgSILENT GmbH, Germany
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reserved. Unauthorised copying
or publishing of this or any part
of this document is prohibited.
TechRef ElmSym V6
Last modified: 24.06.2010
Build 331

Synchronous Generator

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Table of Contents

Table of Contents
1 General Description .............................................................................................................................................. 4
1.1 Mathematical Description ............................................................................................................................................... 5
1.1.1 Equations with stator and rotor flux state variables in stator-side p.u.-system .............................................................. 5
1.1.2 Mechanics ................................................................................................................................................................ 7
1.1.3 Equations with stator currents and rotor flux variables as used in the PowerFactory model ........................................... 7
1.1.4 Saturation ................................................................................................................................................................ 9
1.1.5 Simplifications for RMS-Simulation ........................................................................................................................... 10
1.2 Input Parameter Conversion ......................................................................................................................................... 10
1.2.1 Reactances, Resistances and Time Constants ........................................................................................................... 10
1.2.2 Saturation .............................................................................................................................................................. 13
1.3 Input-, Output and State-Variables of the PowerFactory Model ....................................................................................... 14
1.4 Rotor Angle Definition .................................................................................................................................................. 15
2 Input/Output Definition of Dynamic Models ...................................................................................................... 17
2.1 Stability Model (RMS)................................................................................................................................................... 17
2.2 EMT-Model .................................................................................................................................................................. 19
3 References .......................................................................................................................................................... 21

Synchronous Generator

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General Description

1 General Description
The correct modelling of synchronous generators is a very important issue in all kinds of studies of electrical
power systems. PowerFactory provides highly accurate models which can be used for the whole range of different
analyses, starting simplified models for load-flow and short-circuit calculations up to very complex models for
transient simulations.
Basically there are two different representations of the synchronous generator:

The round rotor generator or turbo generator

The salient rotor generator

The generators with a round rotor are used when the shaft is rotating with or close to synchronous speed of
1500 min-1to 3000 min-1. These types are normally used in thermal or nuclear power plants. Slow rotating
synchronous generators with speed of 60 min-1 to 750 min-1, which are for example applied in diesel or hydro
power plants, are realized with salient rotors.
A schematic diagram of both types of machines is shown in Figure 1 and Figure 2. These figures are also
indicating the orientation d- and q-axis according to the theory of the synchronous machine developed in the next
section.

Figure 1: Schematic diagram of a three-phase round rotor synchronous machine

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General Description

Figure 2: Schematic diagram of a three-phase salient rotor synchronous machine

In the figures the three stator windings are shown as well as the rotor windings. The winding e is the excitation
winding fed by the excitation voltage ve supplied by the excitation system. Then one damper winding can be
defined for the direct (d-) axis and up to two damper windings can be included into the quadrature (q-) axes. All
these windings are shown in Figure 2. The rotor is rotating with its speed . Also the rotor angle is the angle
between the d-axis and the stator field.

1.1 Mathematical Description

To describe the generator equations it is common practise not to use instantaneous values leading to a threedimensional problem in the abc coordinate system, but to transform all value into a rotating reference frame. This
transformation is called dq0 or Parks Transformation [1].

1.1.1 Equations with stator and rotor flux state variables in stator-side p.u.-system
Stator voltage equations (the stator current are shown in generator orientation):

u d = rs id +

1 d d
n q
n dt

u q = rs iq +

1 d q
+ n d
n dt

u0 = rs i0 +

1 d 0
n dt

Synchronous Generator

(1)

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General Description

Rotor voltage equations, d-axis:

ue = re ie +

d e
n dt

d D
0 = rD iD +
n dt

(2)

Rotor voltage equations, q-axis, round rotor:

0 = rx ix +

d x
n dt

0 = rQiQ +

d Q

n dt

(3)

Rotor voltage equations, q-axis, salient pole:

0 = rQiQ +

d Q

n dt

(4)

The Flux linkages are calculated as follows:

d-axis:

d = ( xl + xmd )id + xmd ie + xmd iD

e = xmd id + ( xmd + xrl + xle )ie + ( xmd + xrl )iD
D = xmd id + ( xmd + xrl )ie + ( xmd + xrl + xlD )iD

(5)

q-axis, full-rotor:

q = (xl + xmq )iq + xmqix + xmqiQ

x = xmq iq + (xmq + xrl + xlx )ix + (xmq + xrl )iQ
Q = xmq iq + (xmq + xrl )ix + (xmq + xrl + xlQ )iQ

(6)

q-axis, salient rotor:

q = (xl + x mq )iq + x mq iQ
Q = x mq i q + (x mq + x rl + xlQ )iQ

Synchronous Generator

(7)

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General Description

Electrical torque te in [p.u.]:

t e = d iq q id

(8)

1.1.2 Mechanics
The accelerating torque is the difference between the input torque (mechanical torque) tm and the out put torque
(electromechanic torque) te of the generator. The inertia of the generator-shaft system is then accelerated or
decelerated, when an unbalance in the torques occurs.
The equations of motion of the generator can then be expressed as

J n2 dn
dn
= Ta
= tm + te
2
p z Pr dt
dt

(9)

d
= n n
dt
The inertia of the generator and the turbine can then be expressed in a normalized per unit form as the inertia
time constant H in [s], with

H=

1 J02
2 p z2 Pr

(10)

where pz is the number of pole pairs of the machine.

The inertia time constant H can be given based on the rated apparent generator power, as shown in the equation
above, or based on the rated active generator power. The mechanical starting time or acceleration time constant
TA in [s] is then

Ta = 2 H

(11)

Both H and TA can be entered in PowerFactory based on Sr or Pr.

1.1.3 Equations with stator currents and rotor flux variables as used in the
PowerFactory model
Subtransient Flux:

d'' = ke e + k D D
q'' = k x x + kQ Q

Synchronous Generator

(12)

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General Description

with

ke =

xmd xlD
xd 2

kD =

xmd xle
xd 2

kx =
kQ =

(13)

xmq xlQ
xq2
xmq xlx
xq2

with

xd 2 = xle xlD + ( xmd + xrl )( xle + xlD )

xq2 = xlx xlQ + (xmq + xrl )(xlx + xlQ )

(14)

Using:

d = xd'' id + d''

(15)

q = xq'' iq + q''
and

u d'' =

1 d d''
n q''
n dt

''
1 d q
u =
+ n d''
n dt

(16)

''
q

Stator equations with stator currents and subtransient voltages:

u d = rs id +
u q = rs iq +
u0 = rs i0 +

xd'' did
nxq'' iq + u d''
n dt
xq'' diq

n dt

+ nxd'' id + u q''

(17)

x0 di0
n dt

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General Description

1.1.4 Saturation
So far saturation effects where not included in the description of the equivalent circuits. The exact representation
of saturation is very complex, but normally not necessary to obtain good results from simulations. Therefore in
most cases saturation is represented by the saturation of the mutual reactances xmd and xmq only.
Consideration of saturation of magnetizing reactance in d- and q-axis:

x md = k satd x md 0

(18)

x mq = k satq x mq 0
Saturation depending on magnitude of magnetizing flux:

m = ( d + xl id )2 + ( q + xl iq )2

(19)

The saturation of the mutual reactance xmq in the q- axis can not be measured. Thus the characteristic is
assumed to be similar to the one of the d-axis. For the round rotor machine the saturation is equal in d- and qaxis. In the salient rotor machine the characteristic is weighted by the ratio xq/xd.
If

m Ag :
Bg ( m Ag )

csat =

(20)

else:

csat = 0

(21)

The saturation coefficient ksat in d- and q-axis are calculated as follows:

k satd =

1
1 + csat
1

k satq =
1+

xmq 0
xmd 0

(22)

csat

Saturated magnetizing reactances applied to all formulas (5),(6),(7) and (12),(13),(14). Saturation in subtransient
reactances is not considered.
The saturation of the leakage reactance is not included in the model. This saturation is a current saturation, i.e.
high currents after short-circuits will lead to a saturation effect of the leakage reactance xl. Here it is common
practice to use unsaturated values only.

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General Description

Although to neglect this type of saturation may lead to an underestimation of the short-circuit currents. Hence
there is a way to model this effect explicitly. This saturation is an effect, which influences the SC current only in
the first milliseconds, i.e. it can be assumed to be a subtransient effect.
For the definition of the input parameter in the PowerFactory model please refer to section 1.2.2.

1.1.5 Simplifications for RMS-Simulation

Stator voltage equations (see Eq.(17)):
Neglecting stator flux transients:

u d = rs id xq'' iq + u d''

(23)

u q = rs iq + xd'' id + u q''
with:

u d'' = n q''

(24)

u q'' = n d''
Assumption that magnetizing voltage is approx. equal to magnetizing flux (for saturation):

m um =

(u

+ rs id xl iq ) + (u q + rs iq + xl id )
2

(25)

1.2 Input Parameter Conversion

1.2.1 Reactances, Resistances and Time Constants
The set of input parameters is specified as follows:
d-axis:

xd'' , xd' , xd , xl , xrl , Td'' , Td'

q-axis, round rotor:

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General Description

xq'' , xq' , xq , xl , xrl , Tq'' , Tq'

q-axis, salient pole:

xq'' , xq , xl , xrl , Tq''

The internal model parameters are:
d-axis:

x d'' , xl , x rl , xle , xlD , re , rD

q-axis, round-rotor:

xq'' , xl , xrl , xlx , xlQ , rx , rQ

q-axis, salient pole:

xq'' , xl , xrl , xlQ , rQ

Auxiliary variables:

x1 = x d xl x rl
x 2 = x1

(xd

xl )
xd

x1 x d''
xd
x3 =
x d''
1
xd

(26)

x2

xd ' xd xd
Td + 1 ' + ''
x d'
xd xd
T2 = Td' + Td''

T1 =

''
Td

(27)

T3 = Td' Td''

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General Description

a=

x2T1 x1T2
x1 x2

(28)

x3
b=
T3T3
x3 x2

a
a2
+
b
2
4

Tle =

(29)

a
a2
TlD =

b
2
4
Calculation of internal model parameter:

Tle TlD
T1 T2 TlD
+
x1 x2 x3

xle =

xlD =

TlD Tle
T1 T2 Tle
+
x1 x2 x3

re =

xle
nTle

rD =

xlD
nTlD

(30)

q-axis, round rotor machine:

- analoguous to d-axis parameter
q-axis, salient pole machine:

xlQ =
rQ =

(x

xl ) xq'' xl
xq x

''
q

xq'' xq xl + xlQ
xq

)
(31)

nTq''

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General Description

1.2.2 Saturation
Figure 3 shows the definition of the saturation curve of the mutual reactance. The linear line represents the airgap line indicating the excitation current required overcoming the reluctance of the air-gap. The degree of
saturation is the deviation of the open loop characteristic from the air-gap line.

Figure 3: Open loop saturation

The characteristic is given by specifying the excitation current I1.0pu and I1.2pu needed to obtain 1 p.u respectively
1.2 p.u. of the rated generator voltage under no-load conditions. With these values the parameters sg1.0
(=csat(1.0pu) ) and sg1.2 (=csat(1.2pu) ) can be calculated.
Calculation of internal coefficients based on

s g1.0 =
s g1.2

ie (1.0 p.u )
1
i0

i (1.2 p.u )
= e
1
1.2i0

(32)

For quadratic saturation function

1 .2 1 .2
Ag =
1 1 .2
Bg =

s g1.2
s g1.0

s g1.2
s g1.0

(33)

s g1.0

(1 A )

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General Description

1.3 Input-, Output and State-Variables of the PowerFactory

Model
Per-unit system of rotor-flux and rotor currents:
Rotor currents:

~
ie = xmd 0 ie
~
iD = xmd 0 i D
~
ix = x mq 0 i x
~
iQ = x mq 0 iQ

(34)

Rotor-flux:

~e =

xmd 0
e
xe 0

~D =

xmd 0
D
xD 0

x
~x = mq 0 x
xx 0

~Q =

xmq 0
xQ 0

(35)

With

xe 0 = xmd 0 + xlr + xle

xD 0 = xmd 0 + xlr + xlD
x x 0 = xmq 0 + xlr + xlx

(36)

xQ 0 = xmq 0 + xlr + xlQ

Rotor voltage equations, d-axis:

d~e
~
u~e = ie + Te 0
dt
d~D
~
0 = iD + TD 0
dt

Synchronous Generator

(37)

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General Description

Rotor voltage equations, q-axis, round rotor:

d~x
~
0 = ix + Tx 0
dt
d Q
~
0 = iQ + TQ 0
dt

(38)

Rotor voltage equations, q-axis, salient pole:

d~Q
~
0 = iQ + TQ 0
dt

(39)

With

Te 0 =

xe 0
ren

TD 0 =

xD 0
rDn

(40)

x
Tx 0 = x 0
rxn
TQ 0 =

xQ 0
rQn

1.4 Rotor Angle Definition

The actual position of the rotor d-axis with respect to the network voltages is monitored and is important for the
behaviour of the machine and for assessing its stability. It is expressed as the rotor angle. In PowerFactory the
rotor angle is available with several reference angles. The angles available are:

fipol / [deg]:

Rotor angle with reference to the local bus voltage of the generator (terminal voltage)

firot / [deg]:

Rotor angle with reference to the reference voltage of the network (slack bus voltage)

firel / [deg]:

Rotor angle with reference to the reference machine rotor angle (slack generator)

dfrot / [deg]:

identical to firel

phi / [rad]:

Rotor angle of the q-axis with reference to the reference voltage of the network
(=firot-90)

All rotor angles are shown in Figure 4.

Synchronous Generator

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General Description

Additionally there is the variable dfrotx available at each generator, which is indicating the maximum value of
dfrot for all generators in the system. This variable can assist you to indicate, if a generator is falling out of step
with respect to the reference machine angle.

Figure 4: Rotor Angle Definition

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Input/Output Definition of Dynamic Models

2 Input/Output Definition of Dynamic Models

2.1 Stability Model (RMS)

psie
psiD
psix
psiQ
xspeed
phi
ve

fref
ut/utr/uti

pt

pgt
ie

xmdm

pgt
outofstep
xme
xmt
cur1/cur1r/cur1i
P1
Q1

Figure 5: Input/Output Definition of the synchronous machine model for stability analysis (RMSsimulation)

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Input/Output Definition of Dynamic Models

Table 1: Input Definition of the RMS-Model

Parameter

Description

Unit

ve

Excitation Voltage

p.u.

pt

Turbine Power

p.u.

xmdm

Torque Input

p.u.

Table 2: Output Definition of the RMS-Model

Parameter

Description

Unit

psie

Excitation Flux

p.u.

psiD

Flux in Damper Winding, d-axis

p.u.

psix

Flux in x-Winding

p.u.

psieQ

Flux in Damper Winding, d-axis

p.u.

xspeed

Speed

p.u.

phi

Rotor Angle

rad

fref

Reference Frequency

p.u.

ut

Terminal Voltage

p.u.

pgt

Electrical Power

p.u.

outofstep

Out of step signal (=1 if generator is out of step, =0 otherwise)

xme

Electrical Torque

p.u.

xmt

Mechanical Torque

p.u.

cur1

Positive-sequence current

p.u.

cur1r

Positive-sequence current

p.u.

cur1i

Positive-sequence current

p.u.

P1

Positive-sequence active power

MW

Q1

Positive-sequence reactive power

Mvar

utr

Terminal Voltage, real part

p.u.

uti

Terminal Voltage, imaginary part

p.u.

Synchronous Generator

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Input/Output Definition of Dynamic Models

2.2 EMT-Model

psie
psiD
psix
psiQ
xspeed
phi
fref

ve

ut/utr/uti
pt

pgt
ie

xmdm
pgt
outofstep
xme
xmt
cur1/cur1r/cur1i
P1
Q1

Figure 6: Input/Output Definition of the HVDC converter model for stability analysis (EMTsimulation)

Table 3: Input Definition of the EMT-Model

Parameter

Description

Unit

ve

Excitation Voltage

p.u.

pt

Turbine Power

p.u.

xmdm

Torque Input

p.u.

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Input/Output Definition of Dynamic Models

Table 4: Output Definition of the EMT-Model

Parameter

Description

Unit

psie

Excitation Flux

p.u.

psiD

Flux in Damper Winding, d-axis

p.u.

psix

Flux in x-Winding

p.u.

psieQ

Flux in Damper Winding, d-axis

p.u.

xspeed

Speed

p.u.

phi

Rotor Angle

rad

fref

Reference Frequency

p.u.

ut

Terminal Voltage

p.u.

pgt

Electrical Power

p.u.

outofstep

Out of step signal (=1 if generator is out of step, =0 otherwise)

xme

Electrical Torque

p.u.

xmt

Mechanical Torque

p.u.

cur1

Positive-sequence current

p.u.

cur1r

Positive-sequence current

p.u.

cur1i

Positive-sequence current

p.u.

P1

Positive-sequence active power

MW

Q1

Positive-sequence reactive power

Mvar

utr

Terminal Voltage, real part

p.u.

uti

Terminal Voltage, imaginary part

p.u.

Synchronous Generator

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References

3 References
[1] P. Kundur, Power System Stability and Control, McGraw-Hill, Inc., 1994.

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