92 IEEE Transactions on Energy Conversion, Vol. 8, No.

1, March 1993
ANALYSIS A N D A V E R A G E V A L U E MODELING OF L I N E C O M M U T A T E D
C O N V E R T E R - SYNCHRONOUS MACHINE SYSTEMS

S. D. Sudhoff, Member and 0. Wasynczuk, Senior Member

School of Electrical Engineering

Purdue University
West Lafayette, Indiana 47907

Abstract Analytical relationships are established which can
be used to predict the steady-state characteristics of line-
commutated converter - synchronous machine systems. In
particular, basic relationships are established in which the
average dc voltage and the average electromagnetic torque are
related to the converter firing delay angle. It is shown that
these average-value relationships predict the steady-state per-
formance with significantly higher accuracy than the classical
converter average-value equations in which the d-axis sub-
transient reactance is used as the commutating reactance.
Key Words: line-commutated converter, synchronous
machine, electric drives, inverter - motor,
alternator - rectifier.
INTRODUCTION
Line-commutated ac-dc converters connected to synchro-
nous machines are used in a wide variety of applications. For
example, alternator - rectifier systems are used in aircraft
power systems [l],in high-power dc supplies [2], and in excita-
tion systems of large electric generators [3] and [4]. In these
applications, the converter may consist of diodes connected as
a 6-pulse bridge rectifier (uncontrolled) or, if rapid control of
the output (dc) voltage is desired, the diodes may be replaced
by thyristor valves whereupon phase control can be used to
regulate the average output voltage. If a thyristor bridge is
used, the converter can also be controlled so that the direction
of power transfer is from the dc system to the synchronous
machine whereupon the converter - machine operates as an
inverter - motor. Thus, line-commutated converter - syn-
chronous machine systems can be used in variable-speed elec-
tric drive systems [5].
The fundamental-frequency or average-value characteris-
tics of line-commutated converters are generally established
by assuming that the converter is connected to an idealized ac
system in which the open-circuit ac voltages form a balanced
three-phase set and the source impedance is primarily induc-
tive. Under these conditions, relationships between the aver-
age dc voltage and current and the fundamental components
of the ac voltages and currents are readily derived (61 and (71.
The series reactance of the ac source is commonly referred to
as the commutating reactance and is generally assumed to be
constant when deriving the average-value relationships.
If the ac side of the converter is connected to a synchro-
nous machine rather than to an idealized ac source, the con-
ventional average-value relationships may be used to approxi-
mate the salient characteristics of the synchronous machine -
converter system if the commutating reactance is set equal to
the subtransient reactance of the machine [Z]. However, the
subtransient reactances of synchronous machines are, in gen-
eral, different for the q- and d-axes and it is not clear as to
which of the two reactances, or whether some weighted aver-
age of the two reactances, should be used in the classical
average-value equations. In [Z], empirical justification is given
for modeling the alternator by its d-axis subtransient reac-
tance during commutation.
In this paper, average-value relationships are derived for
the general case where the subtransient reactances are
different along the q- and d-axes. The resulting expression for
the average de voltage is similar to the classical expression
with the exception that the equivalent commutating reactance
is a function of both the q- and d-axis subtransient reactances
and of the converter firing angle. In addition, basic relation-
ships are established in which the average dc voltage and the
average electromagnetic torque are related to the converter
firing delay angle. The results are applicable either for
alternator-rectifier or inverter-motor operation. It is shown
that these average-value relationships are significantly more
accurate than the classical converter average-value equations
in which the d-axis subtransient reactance is used as the com-
mutating reactance.
MATHEMATICAL D E V E L O P M E N T
In order to set forth basic definitions and to define
nomenclature, it is useful to first examine the idealized source
- line-commutated converter system shown in Fig. 1.
Therein, the source impedance is purely inductive. The
three-phase source voltages are given by
eag = E cos 8, (1)
ebg = E cos(8, - 2)
ecg = E cos(8, + 2)
where E is the peak amplitude and 0, denotes electrical posi- .
tion. The inductance between the source and converter is
referred to as the commutating inductance L,. The indivi-
dual bridge valves are numbered 1-6.
Idc

92 WM 294-9 EC A paper recommended and approved by

the IEEE Electric Machinery Committee of t h e I E E E
Power Engineering Society f o r presentation a t the I E E E /
PES 1 9 9 2 Winter Meeting, New York, New York, January 26-
30, 1 9 9 2 . Manuscript submitted August 3 0 , 1 9 9 1 ; made
available f o r printing January 1 3 , 1 9 9 2 .
Fig. 1 Idealized source - line-commutated converter system.
Typical voltage and current waveforms are plotted
versus @e in Fig. 2. The firing delay angle is denoted as cy, the
commutation angle as U, and the extinction angle as 7.
Assuming that U is less than 6 0 " , a condition classified as

0885-8969/93$03.00 0 1992 IEEE


Mode I operation [8],the average dc output voltage, vdc,
given by the classical expression [6]
-
vdc =
3 f i E
- 3 We
cos - --&Idc
7T Twb
where is the dc current, we is the electrical frequency
(dOe/dt ), CL+, is the base frequency, and X, is the commutat-
ing reactance (%LC). In this paper, the overbar is used to
indicate the average value of a variable.
Fig. 2 Waveforms for idealized source - line-commutated
converter system (Fig. 1).
In subsequent developments, an analogy will be made
between the idealized case reviewed here, to the case in which
a synchronous machine is connected to the converter. Since
the synchronous machine is most conveniently analyzed in the
rotor reference frame, it is instructive to transform the vol-
tage equations associated with the idealized source shown in
Fig. 2 into the rotor reference frame using Park's transforma-
tion. Symbolically [9],
fabcs = Ifas fbs fa]*
In (5)-(7), f may be a voltage, current, or flux linkage, and
+ F)
cos er cos(er - 2") cos(er
+
0, sin($, - 2") sin(@, $)
I
In (8), er represents the rotor position of the synchronous
machine. However, a rotor is not associated with the idealized
circuit shown in Fig. 1. Nonetheless, 0, may be viewed as a
variable which, in the steady state, differs from 0, by a con-
stant so that W, = dO,/dt is equal to we. Under this condi-
tion,
cp = 0, - 8, (9)
will be constant for steady-state conditions. If 0, represents
the rotor position of a synchronous machine, 4 is the rotor
angle relative to the angle of the source voltage, Be.
Applying Park's transformation to the idealized source
shown in Fig. 1 yields
93
is
(4)
In (10) and (ll), p denotes differentiation with respect to
time. The zero-sequence equation is not considered since
zero-sequence currents cannot flow in the circuit of Fig. 2.
Synchronous Machine Dynamics
The stator and rotor voltage equations of a three-phase
synchronous machine may be expressed in the rotor reference
frame as [9]
Rotor quantities are assumed to be referred to the stator by
the appropriate turns ratio. It is also assumed that the
damper windings are short circuited so that vkq = Vkd = 0.
The selected reference direction for stator currents is such
that positive currents flow into the machine (as shown in Fig.
1). The flux linkage equations may be expressed [9]
d& =Xi&', + +mq (17)
(7)
' h n d = xmd(irds + ikd + ifdl (23)
(8)
In per unit, the electromagnetic torque can be expressed as [9]
T e = &si& - %siis (24)
With the selected reference direction for stator currents, posi-
tive electromagnetic torque corresponds to motor action.
Voltage-Behind-Reactance Machine Representation
It is useful to express the stator voltage equations in
voltage-behind-reactance form when studying the commuta-
tion process. To achieve this goal, it is useful to define the q-
and d-axis subtransient reactances as
xh' =XIs + xmqxlkq
(25)
Xlkq +xmq
Throughout this work, the double prime (" ) will be used to
indicate subtransient quantities. Also, the q- and d-axis sub-
transient flux linkages may be defined as
94
instant the valve can be fired, (i.e. when its anode-to-cathode
(27) voltage becomes positive) even though it serves as an excellent
approximation of this angle. The firing delay relative to the
earliest instant a valve can be fired will be denoted as & and
*ir - Xmd(hd/Xlkd +
'lrdhlfd) will be related to ,b' in a following section.
(28)
d -
+
1 XmdFlfd Xmdhlkd +
Using these definitions, it can be shown by algebraic manipu- Average Output Voltape ,,
lation of (17)-(23) that Since, in general, X, fxd , (4) cannot be used to predict
vdc. In this section, an expression for the average dc vo1,age
GS= X i i & + $; (29) which is applicable for the general case where X i # & is
as = x:irds + *:
In the case of a machine with a different number of damper
(30)
derived. To accomplish this goal, the average value of Vdc
during one of the six converter switching intervals will be
evaluated. Due to symmetry of converter operation, the par-
windings than considered here, (29) and (30) and the follow- ticular switching interval selected is not important. In this
ing results are still valid; however, the definitions of the sub- derivation, the selected interval begins when valve 3 is fired
transient reactances and flux linkages, (25)-(28), must be and ends when valve 4 is fired. During this interval,
modified accordingly. 2n
T + B
If the rotor flux linkages are assumed to be constant in
the time during which commutation occurs, then the stator
equations of the synchronous machine may be expressed

If stator resistance is neglected, then

1
Vbs = - P'hs (39)
w,
1
where E; and E: represent the q- and d-axis subtransient vcs = - P*CS (40)
voltages which are defined as
w,
Substituting (39) and (40) into (38) yields
(33)

Equations (31) and (32) are similar in form to (10) and (11) if To evaluate (41), it is necessary to find As - '$cs at each
integration limit. In order to determine this, it is first neces-
E = v(E;)' + (E:)' (35) sary to specify the stator currents at each limit of integration.
In particular,
and
q5 = atan(E: ,E;) (36)
where atan(y,x) is the arc tangent function which includEs
quadrant information. If r, can be neglected and X i = X ,
then (31) and (32) are identical in form to (10) and ( 1 4 . L J

Thus, the average-value equation, (4), is valid even when the 0

source is a synchronous machine. Although r, may be
neglected, the subtransient reactances are not generally equal (43)
whereupon (4) does not apply when the converter is connected
labcs
* Is.=ljl+B =
h c
to a synchronous machine.
Before develoejng ?, more general version of (4) which is
valid even when X, #xd , it is necessary to consider thyristor
firing briefly. There are numerous methods of generating the
logic signals for gating the thyristor valves. For example,
these signals may be established by filtering the terminal vol-
tages of the synchronous machine and using the cosine-
comparator firing control strategy [lo]. Alternatively, the
firing signals may be based upon sensed rotor position using
Hall-effect devices, optical encoders, or sensor windings.
Whatever the method, the signals from which the firing logic
is derived can be related mathematically to rotor position. In
this regard, it i s convenient to define the converter firing
angle ,8 in terms of rotor position such that valve 3 (Fig. 1) is
fired when 0, = 7r/3 +p. The remaining valves are fired This expression is similar to the classical expression (4); how-
sequentially at 60' intervals. As shown in Fig. 2, valve 3 is
+
fired when 0, = 1r/3 a. Therefore, ever, the commutating reactance is a function of the firing
delay angle. In particular,
CY=p-4 (37) 1
where q5 is given by (36). The angle p should not be confused
= Z(X; + x:) + (xi xi)
- sin(2p + (45)
with the ignition angle which is sometimes symbolized as p If the q- and d-axis subtransient reactances are equal,
[6]. Also note that for a synchronous machine - converter (44) is identical to (4) with X, = X i EX:, The effects of sta-
system, the angle a, as defined by (37), does not represent the tor resistance may be approximated by subtracting 2rsIdc
delay in firing of a given valve measured from the earliest
 95
from (42)
-
(51)

Given the rotor flux linkages (thus E:, E:), the dc current
and the firing control parameters ( cy or p ), the average dc
voltage may be computed using (46).
It is interesting to examine the variation of commutating
reactance as a function p, as depicted in Fig. 3, for
X i = 0.328 pu and X i = 0.172 pu. At p = 0 or T , the com-
mutating reactance is equal to the d-axis subtransient reac-
tance. When p = 7r/2, the commutating ;eacta?,ce is equal to
the q-axis subtransient reactance. For Xq > X d the commu-
tating reactance takes ?? a minimum at p = 7r/6 where it is (53)
equal to 3Xi/2 -X,/2, and a maximum value of
3X:/2 - X i / 2 at p = 2 ~ / 3 . In the case that X i < X i , the
roles of maximum and minimum are interchanged. It is
important to note that the commutating reactance can be %+a
much greater than either the d-axis subtransient reactance or ;r 3 3
the average of the q- and d-axis subtransient reactances, Ids,cond =- iis(er) der (54)
T ,A+ @ + U
which are used to approximate the commutating reactance of
the synchronous machine.
In (49)-(54), U is the commutation angle, the subscript "com"
designates the commutation interval in which valves 1, 2 and
3 are conducting, and "cond" designates the conduction inter-
val which occurs after commutation from valves 1 to 3 has
taken place and only valves 2 and 3 are conducting. During
the conduction period, the stator currents are given by (43).
Transforming these currents into the rotor reference frame
and substituting into (53) and (54) yields, after simplification

0 1 I 1
0 7l)6 7112 243 7r During the commutation interval, the stator currents may be
expressed as
P, rad
Fig. 3 Variation in commutating reactance as a function of p.
(57)
Calculation of Stator Currents
It is useful to relate the average q- and d-axis stator
currents to the dc current. This can be accomplished using Transforming these currents into the rotor reference frame
(4) and equating the instantaneous real power on the ac and yields
dc sides of the converter as described in [7]. However, an
alternative approach is given here.
The q- and d-axis currents are periodic with a period of
6 4 . The average over the 60' switching interval beginning
when valve 3 is fired may be written
,+2rr
a
7 3 During the commutation interval, the a- and b- phases are
lqs =- J i'ps(er1der (47) connected together. Neglecting stator resistance,
?r 4 + a

2rr
-+a
-I 3 3
ids = J iis(4) der (48)
where K is a constant. Now, '$= and As
can be expressed in
" A
-+a terms of i,, Idc, $;, and '$i
by transforming (29) and (30)
The previous expressions can be broken down into two com- into abc variables and using (57) to eliminate ibs and i,.
ponents corresponding to the commutation and conduction Substituting the resulting expressions into (61) and solving for
intervals ias yields
7 7
1qs = lqs,com + c s , c o n d
7 9 7
(49)
1,s =
K-fi[$i cos(^,
( X i - X i ) C0S(2Or
+ $1 + 4; sin(er + +)
+ +) + (Xh' + X i )
I
Ids = lds,com + lds,cond
where
96
[(xb'-Xf)cos(261 + $) + +(Xh' + X'd)]IdC
- (62)
(Xi - xf ) C O S ( 2 4+ I)+ (Xi + X'd)
where
K = fi(-+isin /3 + +;cos p)
Equation (62) represents an explicit expression for the stator
current during the commutation interval. Commutation is
complete when iaS(OI) = 0. Setting the left-hand side of (62)
to zero and substituting + +
P U for 6, on the right-hand
side yields an implicit expression for the commutation angle.
After simplification,
Equation (64) may be solved numerically for the commutation
angle U. Once the commutation angle is known, (62) can be
substituted into (58) asd (59) whi$ are then substituted into
(51) and (52) to find iqs,eomand id,,". Unfortunately, the
resulting integral is difficult to evaluate in closed form. Alter-
natively, using Simpson's method, with four integration inter-
vals, yields
The values of i& and izs on the right-hand sides of (65) and
(66) are obtained by evaluating i,, using (62) and substituting
the result into (58) and (59).
Equations (65) and (66) represent closed-form expressions
for the average stator currents corresponding to the commu-
tation interval while (55) and (56) are closed-form expressions
corresponding to the the conduction interval. Summing these
components as indicated in (49) and (50) yields the q- and d-
axis components of the stator currents averaged over a com-
plete 60' switching interval.
Minimum a n d Maximum Firing Delay Angle
If the firing angle /3 is set too small, it is possible that the
anode-to-cathode voltages are negative when the valves are
gated. In this case, the valves will not conduct until they
become forward biased. The value of P, which corresponds to
the operating condition where each valve is fired at the
instant its anode-to-cathode voltage becomes positive, is
designated as pmin. If P < Pmin,the converter operates as if
Pminwere applied so that Pminreplaces p in (38) through (66).
It can be shown by differentiating (62) that the following
function has the same sign as the derivative of i,,
fmin cos^ + q!~: sin@)
(p) = fi(+:
+ 21de(Xi - x:)sin(2~ - T ) (67)
If fmin(P)> 0, then the-valves turn on when gated. Other-
wise, solving fmin(Pmin)= 0 yields the effective or actual firing
angle. Since Bmin represents the earliest instant a valve can
be turned on, the firing delay angle & may be defined as
& = P - Pmin (68)
Here, & represents the delay in firing of a given valve meas-
ured relative to the instant its anode-to-cathode voltage
becomes positive.
For motor operation, it is important that the delay angle
not exceed a maximum value, p, to allow sufficient time
for commutation to take place. If p>pm,, a converter misfire
will occur requiring a momentary shut-down of the dc source.
Thus, if the given system is used in a variable-speed electric
drive, it is important to predict whether the commanded
delay angle p exceeds the maximum allowable value, P.,
This is accomplished using (64). In particular, if for a given
value of p, (64) yields a positive value for U less than 60',
then commutation will occur normally. On the other hand, if
(64) fails to provide a positive solution for U, then p exceeds
PmaXand a smaller value of P must be used.
MODEL V E R I F I C A T I O N
The validity of the average-value relationships set forth
in the preceding section is established by comparing the
steady-state performance of a synchronous machine - con-
verter system, as predicted using these average-value relation-
ships, with that of a detailed valve-by-valve simulation. It is
shown that, by using these average-value relationships, it is
possible to predict the steady-state performance with
significantly higher accuracy than by using the classical rela-
tionships in which the d-axis subtransient reactance is used as
the commutating reactance.
The machine parameters are summarized in Table 1. In
the following studies, it is assumed that the dc current Idc is
equal to 0.9 pu and that the field excitation
(exfd=vfdXmd/rfd) iS equal to 2.15 pu. The firing delay angle
p is varied from zero to a maximum value which is deter-
mined by the commutation limit. The resulting steady-state
characteristics are Gown in Figs. 4-6. The average magnetiz-
ing or air-gap flux Gm is shown in Fig. 4 (the magnetizing flux
@ defined as q!Jm = v-), the average dc voltage
v d c is shown in Fig. 5, and the average electromagnetic
torque T, is shown in Fig. 6. The solid lines depict the
steady-state characteristics calculated using the average-value
relations set forth in this paper, the points marked "+"
represent values established using a detailed representation of
the synchronous machine - converter system, and the dotted
lines portray the steady-state characteristics calculated using
the classical average-value equations in which the d-axis sub-
transient reactance is used as the commutating reactance.
T a b l e 1. Machine P a r a m e t e r s
As shown in Figs. 4-6, qm, qd,., and T, do not immedi-
ately change when P is increased from zero. As described in
the previous section, when ,# is less than Pmin=3O0,the system
b_ehav_esas if the firing angle is equal to Pmin. Consequently,
q!Jm, T,, and v d c will not change until P >/?,in. As P is
increased from ,!?"in, the average dc voltagcdecreases and the
average torque increases (here, negative T, corresponds to
generatofaction). As P is increased further, the average d c
voltage vdc becomes negative and the average torque T,
r
 97
becomes positive corresponding to motor operation. The
I........................
n..
maximum delay angle /3 as predicted using the method
described in this paper is 105" which is within a degree of the 2-
value established using the detailed representation. The max- -
imum delay angle predicted using the classical approach is
112.5'. Va,
As shown in Figs. 4-6, the average-value relations set p.u.
forth in this paper portray the steady-state characteristics of Yy.,
the synchronous machine - converter system with a much P
higher degree of accuracy than the classical average-value 0-
relations. In fact, it is difficult to distinguish the steady-state
performance calculated using the relations set forth in this
paper with that of the detailed valve-by-valve representation.
This improvement in accuracy compared with the classical
relationships is further illustrated in Figs. 7 and 8 in which + Detailed Simulation
the instantaneous values of the stator and dc voltages, the - ProposedModel
stator current, and electromagnetic torque are plotted. Fig- I -.-e Classical Model
ure 7 corresponds to generator-rectifier operation while Fig. 8
depicts motor-inverter operation. Superimposed upon these -2 -
waveforms are the average values of these waveforms as
predicted using the previously described method (dashed line)
and the classical average-value equations in which the d-axis
subtransient reactance is used as the commutating reactance Fig. 5 Average dc voltage versus firing angle p.
(dotted line). Using the classical method, the error in average
torque is approximately 4.2% in Fig. 7, and the error in aver- 1.5
age dc voltage is approximately 3.8%. In Fig. 8, @ is set to
105' which represents the maximum permissible value
without causing a commutation failure. Using the classical -
-1 + Detailed Simulation
method, the error in average torque is approximately 24.4%
and the error in average voltage is approximately 16%. This
Te
p.u.
- ProposedModel
e-.. Classical Model
inaccuracy of the classical model can lead to an overly conser-
vative or an inadequate system design. It has been observed
that some improvement in accuracy for motor operation can
be achieved by using the arithmetic mean of the q- and d-axis 0
subtransient reactances as the commutating reactance; how-
ever, the resulting model less accurate when used to predict
steady-state response for generator operation. On the other
hand, the average values calculated using the method set
forth in this paper are nearly identical, in all cases, to the
values established using the detailed valve-by-valve represen-
tation. Clearly, the average-value relations presented in this
paper are significantly more accurate with only a minor
increase in complexity. -1.5 -

I
Fig. 6 Average electromagnetic torque versus firing angle p.
-
1ym are related to the converter firing delay angle and dc current.
p.u. It is shown that these relationships accurately predict the
steady-state characteristics of synchronous machine - con-
verter systems for either alternator - rectifier or inverter -
motor operation with a significantly higher degree of accuracy
than the classical average-value equations in which the d-axis
subtransient reactance is used as the commutating reactance.
This improvement in accuracy is achieved with only a minor
increase in complexity.
+ Detailed Simulation

i
ACKNOWLEDGMENTS
- ProposedModel
Classical Model This work was performed as part of contract N61533-89-
D-0037 DO5 "Electric Driver Modeling and Performance Stu-
0 - O0 60' 1200 dies" with David Taylor Research Center, Annapolis, Mary-
land.

Fig. 4 Air gap flux versus firing angle p. REFERENCES

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Scott D. Sudhoff (S'87) was born in Columbus, Indiana on
May 17, 1966. He received his BSEE and MSEE at Purdue
University in 1988 and 1989, respectively. He is currently a
visiting Assistant Professor in the School of Electrical
Engineering at Purdue University. His interests include elec-
tric machines, power electronics, and automatic control.
Oleg Wasynczuk (M'76-SM188) was born in Chicago, Illinois
on June 26, 1954. He received the B.S.E.E. degree from
Bradley University in 1976 and the M.S.E.E. and Ph.D.
degrees from Purdue University in 1977 and 1979, respec-
tively. Since 1979, he has been with the School of Electrical
Engineering at Purdue University where he is a Professor.
Dr. Wasynczuk is a member of Eta Kappa Nu, Tau Beta Pi,
and Phi Kappa Phi.

PJ.
-1.2
I
-
"as,
p.u.
1.2p\
0 .\ &fl
-1.2 J
- ..........ss
U
.#'
- .
...
.. .:
.1
:

-1.L 2

0
Te
p.u.
9 T,, 2
........................................................
p.u.
-1.2 -

2- 0 ,

p.u.
01 I I I I I I
0 60 120 180 240 300 360

e,, deg

Fig. 7 Steady-state operation as a generator-rectifier; solid
line - instantaneous variable; dashed-line - average
value established using method presented in paper;
dotted line - average value established using classical
approach.
Fig. 8 Steady-state operation as a motor-inverter at max-
imum permissible delay angle; solid line - instantane-
ous variable; dashed-line - average value established
using method presented in paper; dotted line - aver-
age value established using classical approach.
 99
APPENDIX A List of Symbols

vdc dc voltage
hc dc current
x, commutating reactance
a firing delay relative to subtransient voltage
P firing delay relative to rotor position
4 angle of subtransient voltage relative to rotor
U commutation angle
vag,vbs, vcs stator voltages
vis ,vss q- and d-axis components of stator voltages
in the rotor reference frame
i,,, ibs, i, stator currents
,iis q- and d-axis components of stator currents
in the rotor reference frame
Gag, As, $-stator flux linkages
PqS,@ds q- and d-axis components of stator flux linkages
in the rotor reference frame
E; ,E: q- and d-axis subtransient voltages
E magnitude of subtransient voltage
X i ,Xi q- and d-axis subtransient reactances
h q q-axis damper flux linkage
h d d-axis damper flux linkage
hd field winding flux linkage
*ms q-axis magnetizing flux linkage
*md d-axis magnetizing flux linkage
4m net magnetizing flux linkage
tkq q-axis damper current
lkd d-axis damper current
ifd field winding current
Te electromagnetic torque