Generator Excitation Systems

ECE599 Control Systems
Generator Excitation Systems
David Piper
Fall 2015

Introduction: Exciter Overview
The purpose of a generators excitation system is to create a controlled direct
current source into a synchronous generators field winding. These systems control
the terminal voltage and reactive power output of the machine. Excitation systems
also include several protective control elements that help protect against potentially
damaging occurrences such as overheating due to over/under excitation and
insulation failure, which could be caused by high field voltage. Some of these limits
are time dependent, meaning that the limits may change with time. The over/under
excitation limiters for instance may allow for a short term overload capability.
Generator excitation systems help the power system by effectively controlling and
supporting system voltage during changes in system operating point. For example,
an excitation system may cause a generator to boost voltage during transient
events that cause voltage dips. This feature can help system performance. The
most modern excitation systems are able to force the field meaning that they can
quickly change field current, which can improve overall system stability. In addition,
auxiliary stabilizing circuits, namely power system stabilizers, have been
implemented with excitation control systems to improve small signal stability and
dampen power system oscillations.
Types of excitation systems

Excitation systems have evolved over time. Three broad categories of excitation
systems are:
1) DC excitation systems
2) AC excitation systems
3) Static excitation systems
DC Excitation Systems
Direct current excitation systems utilize dc generators to produce dc current on the
generator field via slip rings on the rotor. These exciters were initially developed in
the 1920s, and were popular through the 1960s. These types of exciters still exist in
the power system, but are either being replaced, or retired. New installations do not
generally use dc exciters.
AC Excitation Systems
An alternating current excitation system uses an alternator to provide excitation
power. These exciters are usually connected directly to the shaft of the generator.
The ac output of the exciter is rectified to dc using rectifiers that are either
controlled or non-controlled. These rectifier systems can be either stationary or
rotating, and can change the form of the overall exciter.
Static Excitation Systems

Static excitation systems utilize slip rings to provide current to the field. The rectifier
supply is provided from either the generator, auxiliary bus, or auxiliary windings in
David Piper
Fall 2015
the generator. Potential-source, compound source, and compound-controlled are

three types of static excitation systems.
Dynamic Performance Measures

Excitation systems can improve power system stability. This improvement can be
categorized in several areas (listed below) and depends on the characteristics of the
excitation system, the generator, and the power system. [1]
Stability performance is usually classified into two forms: Small Signal performance,
and Large Signal performance to account for system nonlinearities in the Large
Signal domain.
Large signal measures
1) Excitation system ceiling voltage: This determines the field forcing capability.
2) Excitation system ceiling current: This is important for sustained
disturbances.
3) Excitation system voltage time response: Effectively v_out(t)
4) Excitation system voltage response time: The time to attain 95% of [ceiling
voltage-rated load field voltage]
5) High initial-response excitation system: Characterized by having a response
time <0.1s
6) Excitation system nominal response: The rate of change of the excitation
output voltage.
Small signal measures
Typical feedback control system theory measures are used to characterize the small
signal response of an excitation system. Such measures include:
1)
2)
3)
4)
5)
6)
7)
8)
Steady state value

Rise time
Time to peak
Delay time
Overshoot
Peak value
Initial value
Settling time
Frequency response measures include.

Open loop response measures.
1)
2)
3)
4)
Low frequency gain

Crossover frequency
Phase margin
Gain margin
Closed loop response measures

1) Bandwidth
2) Peak value
David Piper
Fall 2015
It considered good design practice to maintain gain margin > 6 dB, phase margin
>40deg, 5%<overshoot<15%, and a peak value between 1.1 and 1.6. [1]
Excitation system protection functions

Modern exciters include protective functions to protect against undesirable effects.
Potential protective functions include:
1) Overexcitation limiter: Prevents small-signal instability that can occur
2) Underexcitation limiter: Prevents overheating that can occur
3) V/Hz limiter: This protects the step up transformer from over-flux damage and
overheating
4) Stabilizer circuits.
Typical Models Used In Stability Studies

In the WECC region of the United States, it is common to perform dynamic stability
studies to ensure that the system is planned in a manner that maintains voltage
and frequency performance within allowable limits. These studies are typically
performed for the 0-30 second timeframe, but more frequently, 0-10 seconds is
sufficient to capture the transient voltage and frequency response to system events
such as faults and/or transmission facility outages. Many power system components
are modeled explicitly in these simulations. Models for generators, turbines,
governors, exciters, and often power system stabilizers are represented in the
software, and simulate the machines response to the network conditions.
System Model, Simulation Methodology, and Results

To analyze the impact of changing exciter parameters, a simple system was created
in GEs PSLF software, and models were created to represent a generator, exciter,
load, and transmission system.
System Model
A three bus system model was developed to analyze the impact of a generator
excitation system. A ten MW constant impedance load was modeled to create load
flow through the system. The system used in each simulation is shown below.
Figure 1: System Model
Machine Model
The block diagram below shows the ST1A exciter model that is used to represent
the EXST1 model in PSLF. This model contains several parameters. Some of these
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Fall 2015
parameters are adjustable, and others are inherent to the exciter and cannot be
adjusted. One adjustable parameter is the Voltage regulator gain (Ka).
Figure 2: GE PSLF EXST1 model (IEEE ST1A) [1]
A generic round rotor generator model was used with typical parameters to
represent the generator. A constant impedance load model was used to represent
the 10 MW load. Generator governor response and power system stabilizer models
were not used in this study. The model parameters that were used to model the
exciter are shown below:
tr
vimax
vimin
tc
tb
ka
ta
0
0.1
-0.1
1
10
variab
le
0.025
vrmax
vrmin
kc
kf
tf
tc1
5
-4
0
0
1
0.1
tb1
vamax
vamin
xe
ilr
klr
0.1
5
-4
0.05
5
1
Simulation
To analyze the exciter response, and the impact that the voltage regulator gain has
on the exciter output, stability studies were performed for differing values of Ka.
Specifically, Ka was simulated at 100, 500, 1000, 2000, 3000, and 4000 while
keeping other model parameters constant.
A standard fault analysis technique was used to perturb the system. A 6 cycle fault
was applied at bus 3 with a 0.25 pu fault resistance using the following procedure:
1. 1 second flat run
2. 6 cycle fault with Rf=0.25pu at bus 3.
3. Continue the run to 10 seconds.
David Piper
Fall 2015
Results
The machine responded in very different ways as the voltage regulator gain was
adjusted. The field voltage, which is controlled by the exciter is shown below for
each value of Ka that was simulated. It can be seen that increasing the value of Ka
resulted in a
Field Voltage vs Time

2
Per Unit Voltage
ka=100
0
0
10
Time (seconds)

6
4
Per Unit Voltage
ka=500
2
0
0
10
Time (seconds)

6
4
Per Unit Voltage
ka=1000
2
0
0
Time (seconds)
10
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Fall 2015

10
5
ka=2000
Per Unit Voltage

0
-5
10
Time (seconds)

10
5
ka=3000
Per Unit Voltage

0
-5
10
Time (seconds)

10
5
ka=4000
Per Unit Voltage

0
-5
10
Time (seconds)
The change in field voltage response with each value of Ka analyzed resulted in a
corresponding change in the generator. This change resulted in the terminal voltage
response of the machine changing as the different values of Ka were changed. The
figures below show the terminal voltage response of the machine.
David Piper
Fall 2015
Terminal Voltage vs Time

1.05
Terminal Voltage (pu)
ka=100
0.95
0 0.5 1
1.5 2 2.5
3 3.5 4
4.5 5
Time (seconds)

1.05
ka=500
0.95
0 0.5 1
1.5 2 2.5
3 3.5 4
4.5 5
Time (seconds)

1.05
ka=1000
0.95
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)
David Piper
Fall 2015

1.05
ka=2000
0.95
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)

1.05
ka=3000
0.95
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)

1.05
ka=4000
0.95
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)
Conclusion
This paper discussed the various types of excitation systems that are present in the
electric power system. One model was chosen to analyze how changes in the
exciter gain can change the resulting field voltage and terminal voltage of the
machine. It was shown that low gain levels result in a slower rate of rise of the
terminal voltage and a longer settling time. Higher values of exciter gain result in a
faster rate of rise of the terminal voltage, faster settling time, but come at the cost
David Piper
Fall 2015
of higher transient voltage overshoot. This appears to be a classical case where

proper tuning of the excitation system parameters can result in optimal response
from the generator, minimizing transient overshoot, and shortening settling time.
This study also found that choosing extremely high or low values of exciter gain
resulted in steady state instability from the generator. It is unclear if this response is
possible in a real excitation system, or if this condition is an artifact of the
simulation. In either case, it is Power System Planners often encounter situations
where generator owners provide the Transmission Planner with machine parameters
that result in instabilities in the simulation. It is the job of the Transmission Planner
to analyze the data that is provided by these generator owners, and to determine
whether or not the machine parameters are valid for use in system studies.
David Piper
Fall 2015
References
[1 IEEE Recommended Practice for Excitation System Models for Power System
] Stability Studies, 2005.
[2 P. Kundur, Power System Stability and Control, New York: McGraw-Hill, 1994.
]

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ECE599 Control Systems