1460 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, VOL. P.AS-87, NO.

6 JUNE 1968

voltage, kV
current, A
interrupting MVA
Cable-to-Machine Hall
type
insulation
direct burial run to dam
manufacturer
conductor (armored)
approximate length, ft
dam-to-machine hall
manufacturer
conductor (unarmored)
approximate length, ft
13.8
1200 Discussion
500.
F. L. Lawton (Atlantic Tidal Power Programming Board, Halifax,
3-conductor N. S., Canada): The author's interesting paper refers to the speci-
15 kV cross-line polyethylene fications for the generator windings expressing a preference for a bar-
type winding to eliminate the possibility of turn-to-turn faults and
simplify the protection system. It states that the price increase was
Kaiser Metals too great to warrant this feature. It would be useful to know, on a
#2/0 aluminum percentage basis, the difference.
3800 The paper also refers to the outcome of stability studies, and the
utilizationi of a high-speed generator dropping system, supervised by
liine loading. Could the author indicate the nature of this system?
General Electric
#1 copper
1300. Manuscript received July 18, 1967.

Load Centers in Machine Hall

manufacturer Federal Pacific Electric
transformer 3-phase dry-type
rated kVA 2000 Robert E. Mithoug: The price increase for a bar-type winding
voltage 13 800-480/277 would have been approximately eight percent of the total contract
price.
low-voltage circuit breakers metalclad, drawout ACB. The generator dropping scheme utilizes two overcurrent relays
connected to measure the total load on the transmission lines be-
Emergency Generator Set tween Boundary and Spokane. One relay is set for 960 primary
manufacturer solar amperes and the other for 1200. Operation of either relay arms a
type Gas turbine-driven control circuit such that operation of one of the fault relays protect-
ing the Spokane lines will trip, in addition to the transmission line
rated kW 750 breaker, two or three generator breakers, depending on which load
voltage 480 level had been reached prior to the fault. In either case, one generator
speed, r/min is left in service. Thus, the appropriate amount of generation is
turbine 22 300 dropped with the same speed required for fault clearing.
generator 1200
fuel diesel oil. Manuscript received September 14, 1967.

Computer Representation of Excitation Systems

IEEE COMMITTEE REPORT

Abstract-The availability of large digital computers has per- INTRODUCTION

mitted more extensive computation of power system stability, a sub-
ject of increasingly greater importance. This paper suggests a
common nomenclature and control system representation of the
various excitation systems now available. It can be used to define
input data requirements for computer programs, and can provide a
consistent format in which manufacturers can respond to requests
for excitation system data to be used for system studies.
Paper 31 TP 67-424, recommended and approved by the Power
Generation Committee of the IEEE Power Group for presentation at
the IEEE Summer Power Meeting, Portland, Ore., July 9-14, 1967.
Manuscript submitted April 7, 1967; made available for printing
May 1, 1967.
Members of the Working Group of the Excitation Systems Sub-
committee of the IEEE Power Generation Committee are: R. R.
Bast, Chairman; A. Hauspurg, F. W. Keay, R. L. Krahn, P. R. H.
Landrieu, K. R. McClymont, A. S. Rubenstein, J. W. Skooglund,
G. I. Stillman, M. Temoshok, and H. S. Wilson.
OWER system stability has been the subject of intensive
study in the United States and Canada since the 1920s and
1930s when the first large hydroelectric installations were being
developed. Long lines and relatively slow circuit breakers and
relay operation made transient stability a serious problem. Ana-
lytical studies generally considered no-control system response
and generators were represented as constant voltage behind
transient reactance. For many years, this procedure was followed
and machine swings were calculated step-by-step with an ac net-
work calculator.
The availability of large digital computers in the late 1950s
permitted more rapid and economical computations, and many of
the ac network calculator functions were transferred to computer
programs. Included were system load flow and transient stability.
The first digital programs merely performed the same functions
as the ac network calculator (constant voltage behind transient
IEEE COMMITTEE REPORT: COMPUTER REPRESENTATION OF EXCITATION SYSTEMS 1461

VT
ItsTR ISA E T
OTHER VR MIN
SIGNALS- SKF -I
+ sTF

Fig. 1. Type 1 excitation system representation, continuously

acting regulator and exciter.
Fig. 3. Type 3 excitation system representation, static with ter-
minal potential and current supplies.
SE zf(EFd
rVREF VR MdAX

VT
KA
FD ,&VT; IQ,.V R VR MAX
z -
VT- ~~T AVTZ-KV,VR=VR MIN VR I+EX
OTHER VR MN
SIGNALS _ sKF IVWVTk< KV -VR V RH -VR
A VT> 0.VH-
KE + STE
(1 sTFIVo+sTF2)
#
Ia < O.VRH
Fig. 4. Type 4 excitation system representation, noncontinuously
Fig. 2. Type 2 excitation system representation, rotating rectifier acting regulator. Note: VRH limited between VR mi and VR max.
system. Time constant of rheostat travel TRH.

reactance), but did permit representation of more machines and
large power networks.
Additional development of digital programs in the 1960s then
included the representation of machine control systems such as
the speed governor and excitation systems. It is no longer neces-
sary to assume a constant voltage behind a reactance and more
realistic and accurate machine representations are now available.
A number of individuals and organizations worked concur-
rently, but independently, to develop these programs. This re-
sulted in excitation system representations that are generally
similar but with some significant differences. Fortunately, the
differences are primarily in the form of input data, rather than
control system representation.
The purpose of this paper is to suggest a common nomenclature
and control system representation of the various excitation sys-
tems now available. This can then be used to define input data
requirements for computer programs and provide a consistent
format whereby manufacturers can respond to users' requests
for excitation system data. It should be strongly emphasized that
the present discussion deals with the representation of excitation
systems solely for system studies.
BASIC EXCITATION SYSTEM TYPES
After considering the different types of excitation systems now
in service in the United States and Canada and contemplated
for the immediate future, the Working Group has defined four
excitation system types to be used in computer representations
(Figs. 1-4). These should be adequate to represent all modern sys-
tems. Some oldei systems must be approximated with one of the
four types or it must be assumed that the machine has fixed exci-
tation. The symbols used in the four excitation system represen-
tations are listed in the Appendix.
Per Unit System
In the development of the excitation system block diagrams, it
has been necessary to establish a per unit voltage base. For the
following discussion, one per unit generator voltage is defined as
rated voltage. One per unit exciter output voltage is that voltage
required to produce rated generator voltage on the generator air
gap line.
Type I-Continuously Acting Regulator and Exciter
The excitation system designated type 1 is shown in Fig. 1.
The type 1 excitation system is representative of the majority of
modern systems now in service and presently being supplied. This
includes most continuously acting systems with rotating exciters
such as:
Allis Chalmers Regulex regulator
General Electric Amplidyne regulator
Alterrex
Alterrex-thyristor
Westinghouse Mag-A-Stat regulator
Brushless (1967 on)
Rototrol
Silverstat regulator
TRA regulator.
Fig. 1 shows the significant transfer functions which should be
included for satisfactory representation in computer studies.
Many other system types may be represented if excitation system
ceiling voltage is assumed to be independent of generator terminal
conditions.
The transfer functions and nomenclature of type 1 will be
described in detail, referring to Fig. 1. VT is the generator termi-
nal voltage applied to the regulator input. The first transfer func-
tion is a simple time constant TR representing regulator input
filtering. For most systems, TR is very small and may be con-
sidered to be zero.
The first summing point compares the regulator reference with
the output of the input filter to determine the voltage error input
to the regulator amplifier. Most computer programs do not require
an input of VREF, but rather internally calculate the proper value
by assuming VT at t = 0 is at the proper value.
The second summing point combines voltage error input with
the excitation major damping loop signal.
The main regulator transfer function is represented as a gain
KA and a time constant TA. Following this, the maximum and
minimum limits of the regulator are imposed so that large input
error signals cannot produce -a regulator output which exceeds
practical limits.
1462 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, JUNE 1968

The next summing point subtracts a signal which represents

the saturation function, SE = f(EFD), of the exciter. That is,
exciter output voltage (or generator field voltage EFD) is multi- EFOD
plied by a nonlinear saturation function and subtracted from the
regulator output signal. The resultant is applied to the exciter
transfer function 1/(KE + sTB). UO A B A
When a self-excited shunt field is used, KE represents the set-
ting of the shunt field rheostat and provides a positive feedback 5 SEf(EFD) -
=
B- -1
of exciter output.
To establish initial conditions, KE is often chosen such that it
is equal in magnitude to the saturation function at the initial
value of EFD. At this value, the shunt field exactly compensates
for exciter saturation and no regulator output is required to es-
tablish the initial value of EFD. For those systems with a sepa- B EXOTER FIELD
rately-excited exciter, regulator output is required to supply the A
CURRENT

exciter field and establish the initial value of EFD.

Major loop damping is provided by the feedback transfer func- Fig. 5. Exciter saturation curves showing procedure for
tion sKF/(1 + STF) from exciter output EFD to the first summing calculating the saturation function SE.
point.
It should be emphasized that there is an interrelation between It is suggested that SE be specified at the following voltages:
exciter ceiling EFD max, regulator ceiling VR max, exciter saturation
SE, and KE. The following expression must be satisfied under
steady-state conditions: Voltage Saturation
EFD max SE max
VR - (KE + SE)EFD = 0, EFD min< EFD < EFD max. (1) 0.75 EFD max SE 0.75 max

(The sign of KE is negative for a self-excited shunt field.)

At ceiling, or EFD = EFD max,
VR max - (KE + SE max)EFD max = 0.
KE is always specified, either as input data or program logic,
to permit automatic calculation. In addition, of the remaining
three constants VR max, SE max, and EFD max, the specification of
any two establishes the third. Since different programs may use
different input data, care should be taken to make sure that (2)
is satisfied.
For some systems employing noncommutating-type exciters,
the minimum value of EFD is zero and cannot be negative.
Type iS-Controlled-Rectifier Systems with Terminal Potential
Supply Only
(2) A special case of type 1 is a system employing an excitation
source from terminal voltage with controlled rectifiers only. A
system of this type responds quickly, but with ceiling voltage
proportional to generator terminal voltage. Referring to Fig. 1,
VR max is not assumed constant but rather is computed as a pro-
portion of terminal voltage.
VY max = KpVT.
In general, the constants for this type of system are such that
KE = 1, TE = 0, and SE = 0.

Saturation Function Type 2 Excitation System-Rotating Rectifier System

The exciter saturation function SE is defined by the Working
Group as a multiplier of exciter output EFD to represent the
increase in exciter excitation requirements because of saturation.
Fig. 5 illustrates the calculation of a particular value of SE. At a
given exciter output voltage, the quantities A and B are defined
as the exciter excitation to produce the output voltage on the
constant-resistance-load saturation curve and air gap line, re-
spectively.
The type 2 system, Fig. 2, applies for units with the major
damping loop input from the regulator output. An example is
the Westinghouse brushless system put into service up to and
including 1966. The transfer function includes one additional time
constant to compensate for the exciter which is not included
within the damping loop. Other characteristics of type 2 systems
are similar to type 1.

A B Type 3 Excitation System-Static with Terminal Potential and

AB-
The exciter constant-resistance-load saturation curve has been
used in this definition of SE.
Different computer programs have represented exciter satura-
tion in different ways but, in general, the saturation function can
be defined by two points. To be consistent, the procedure sug-
gested is to establish two voltages at which to specify SB and use
them as data for computer input. The form of the saturation
function is not defined here, but rather considered to be a part
of the particular computer program used.
Current Supplies
Some static systems cannot be represented by type 1 or 1S
because generator terminal current is used with potential as the
excitation source. An example of such a system is the General
Electric SCPT. The type 3 system has been developed to repre-
sent this particular static system. The manufacturer should be
contacted to establish the applicability of the type 3 representa-
tion to other excitation systems.
Fig. 3 gives the transfer functions making up a type 3 system.
The regulator transfer functions are similar to type 1, up to and
including the regulator output limiter (VR ma-VR min). The fol-
IEEE COMMITTEE REPORT: CONIPUTER REPRESENTATION OF EXCITATION SYSTEMS 1463

lowing summing point combines the regulator output with the TABLE I
signal representing the self-excitation from the generator termi- TYPiCAL CONSTANTS OF EXCITATION SYSTEMS IN OPERATION
nals. Kp is the coefficient of the shunt excitation supply propor- TODAY ON 3600-R/MIN STEAM TURBINE GENERATORS
(Excitation system voltage response ratio-0.5 p.u.)
tional to terminal voltage. Similarly, K, is the coefficient of the
supply obtained from terminal current transformers. The multi-
plier (MULT) accounts for the variation of self-excitation with Self-Excited
Exciters,
change in the angular relation of field current IFD and self-excita- Commutator Self-Excited Rotating
tion voltage VTHEV- or Silicon Commutator Rectifier
The VB max limiter sets the excitation system output to zero Diode, with Exciter with Exciter with
Amplidyne Mag-A-Stat Static
when A > 1, that is, when the field current exceeds the excitation Voltage Voltage Voltage
output current. Excess generator field current bypasses the Symbol Regulators Regulator Regulator
excitation supply by flowing through the output rectifier. 0.0 to 0.06 0.0 0.0
The transfer function 1/(KB+ sTE) represents the constants KA 25* to 50* 400 400
of the excitation transformer. Damping is provided by the feed- TA VR max
0.06 to 0.20
1.0
0.05
3.5
0.02
7.3
back transfer function sKF/(A + sTF)- VR min -1.0 -3.5 -7.3
KF 0.01 to 0.08 0.04 0.03
Type 4 Excitation System-Noncontinuously Acting TF 0.35 to 1.0 1.0 1.0
KE -0.05 -0.17 1.0
The systems discussed previously are representative of the TE 0.5 0.95 0.8
modern high-gain, fast-acting excitation sources. The type 4 SE max 0.267 0.95 0.86
SB 0.75 max 0.074 0.22 0.50
system is used to represent other systems, in particular those
that were used inmmediately before the development of the con- *
For generators with open-circuit field time constants greater
tinuously acting excitation systems. Examples are: than four seconds.
General Electric GFA4 regulator
Westinghouse BJ30 regulator. voltage error and are indicated in Figs. 1-3 as other signals.
Usually the stabilizing signal is inserted through a transfer func-
These systems respond at basically two different speeds, de- tion providing gain adjustment and a lead-lag compensation for
pending upon the magnitude of voltage error. For small errors, phase shifting.
adjustment is made with a motor-operated rheostat. Larger Since the use of stabilizing signals is still in the development
errors cause resistors to be quickly shorted or inserted and a stage, the Working Group does not recommend a specific repre-
strong forcing signal applied to the exciter. sentation at this time.
Fig. 4 illustrates this action. The exciter representation is
similar to the previously described systems except that no major TYPICAL EXCITATION SYSTEM CONSTANTS
damping loop is represented.
Depending upon the magnitude of voltage error AVT, different Table I lists typical excitation system constants supplied to
regulator modes are specified. If voltage error is larger than the the Working Group by manufacturers, current as of January
fast raise/lower contact setting Kv (typically five percent), 1967.
VR max or VR min is applied to the exciter, depending upon the sign To obtain data for a specific generator, the manufacturer
of the voltage error. For a voltage error less than Kv, the exciter should be contacted. It should be emphasized that the data of
input equals the rheostat setting VRH. The rheostat setting is Table I are generalized and do not necessarily represent any
adjusted up or down, depending upon the sign of the error. The specific generator.
time constant representing the slow adjustment of exciter field It is not intended that the representations reflect the response
voltage is TRH. of individual components comprising the excitation system or
Other Systems that the data of Table I be used for confirmation of excitation
system performance. When used as part of a system study, the
Several excitation systems in use on older units and some representations provide the proper response of the generator
smaller-sized turbine generators currently being installed have excitation system.
not been discussed. They include some systems no longer in Most generators operating in the United States have been
manufacture. Because their use represents only a small fraction supplied by three manufacturers. The manufacturers have fur-
of the generating capacity in service or being installed, no unique nished similar excitation systems but with sufficient differences
excitation system type has been designated for their representa- in design and operation to warrant individual numerical repre-
tion. They can be represented by type 1 or type 4 systems with sentations. Commutator exciters have been furnished with rotat-
the proper choice of constants. ing-amplifier voltage regulators, with magnetic-amplifier voltage
regulators, and with combinations of magnetic-amplifier and
Other Regulator Input Signals rotating-amplifier voltage regulators. Recent exciters utilizing
In the last several years increased emphasis on the study of, silicon diodes, in place of the commutator, have deviated more in
and system design to improve, dynamic stability has resulted in design concepts. One design retains a self-excited exciter with
the use of other regulator input signals in addition to terminal silicon diodes and a rotating amplifier regulator; another design
voltage. These signals are chosen to provide positive damping of is a rotating-rectifier exciter with pilot-exciter supply to a con-
power system oscillations to improve generator stability and trolled-rectifier voltage regulator. There are slight differences in
damp tie line oscillations. operation design and in details that affect methods of representa-
Some of these signals are: accelerating power, speed, frequency tion. Table I provides a comparison of the numerical variations
and rate-of-change of terminal voltage. When used, they are that can be expected for similar equipments, due to the different
added, at the voltage reference summing point, to the terminal philosophies of representation.
1464 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, VOL. PAS-87, NO. 6, JUNE 1968

Differences may be observed in the variety of time constants, regulator stabilizing circuit gain
gains, and feedback. The large differences are due to methods of K* current circuit gain of type 3 system
representation and of the per unit systems used. Each of the Kp potential circuit gain of type IS or type 3 system
typical systems illustrated has been provided for similar applica- KV fast raise/lower contact setting, type 4 system
tions and designed to existing industry standards. SE exciter saturation function
The purpose of Table I is to indicate that even though the block T1A regulator amplifier time constant
diagram representations of the various excitation systems and the TE exciter time constant
identification of the various portions of the diagrams are the 1TF regulator stabilizing circuit time constant
same, there is a marked difference in the numbers that represent TF1, TF2 regulator stabilizing circuit time constants (rotating
the actual systems. Each is correct if consistency is maintained rectifier system)
in the per unit system and the constants of the overall regulator- TR regulator input filter time constant
exciter system. TRH rheostat time constant, type 4 system
VR regulator output voltage
APPENDIX VR max maximum value of VR
VR min minimum value of VR
NOMENCLATURE VREF regulator reference voltage setting
EFD exciter output voltage (applied to generator field) field rheostat setting
IFD generator field current VTH generator terminal voltage
IT generator terminal current VTHEV voltage obtained by vector sum of potential and
KA regulator gain current signals, type 3 system
KE exciter constant related to self-excited field AVT generator terminal voltage error.

Experience with High-Speed Rectifier

Excitation Systems
KENNETH R. McCLYMONT, SENIOR MEMBER, IEEE, GERALD MANCHUR, MEMBER, IEEE,
R. JOHN ROSS, MEMBER, IEEE, AND RONALD J. WILSON, MEMBER, IEEE

Abstract-Excitation systems which utilize controlled rectifiers
supplied directly from the generator terminals for the main exciter
are in service at four remote generating stations. Due to the nature
of the power system, these excitation systems were designed to
withstand high ac overvoltages and to provide simultaneous control
of a number of parallel generators. Experience in testing and operat-
ing these excitation systems is described.
INTRODUCTION
W
jr ITHIN the last six years, Ontario Hydro has installed 550
MW of hydro generation located within 50 miles of James
Bay on the Moose River system in Northern Ontario. This gene-
ration is incorporated into the main system over a single-circuit
500-kV transmission line. Seven of the ten generators on this
system have been provided with exciters utilizing controlled rec-
tifiers. This type of excitation system can provide a decided im-
provement in steady-state and transient stability limits because
of its ability to change generator field voltage nearly instan-
taneously.
Paper 31 TP 67-19, recommended and approved by the Power
Generation Committee of the IEEE Power Group for presentation
at the IEEE Winter Power Meeting, New York, N. Y., January 29-
February 3, 1967. Manuscript submitted November 1, 1966; made
available for printing August 16, 1967.
The authors are with the Hydro-Electric Power Commission of
Ontario, Toronto, Ont., Canada.
The seven generators are located in four separate generating
stations and the excitation equipment has been provided by three
manufacturers. One type of exciter employs single-anode mer-
cury-arc rectifiers (ignitrons), two use multi-anode mercury-arc
rectifiers, and the fourth uses silicon-controlled rectifiers (SCRs).
Three excitation systems were placed in service in 1963, two in
1965, and two in 1966.
The paper proceeds as follows:
1) A brief description of the Moose River generation is given
to provide a background for the special problems associated with
these excitation systems.
2) The main features of the excitation systems using mercury-
arc rectifiers and the major differences between these and a type
using SCRs are described.
3) Special requirements for withstanding overvoltages and
line energization are outlined.
4) Excitation system response and the telephone influence
factor as obtained from test results are presented.
5) Maintenance requirements and forced outage experience
are outlined.
MOOSE RIVER GENERATION
Ontario Hydro's generation on the Moose River system is
located about 450 miles north of the system load center at
Toronto and about 50 miles south of James Bay. This generation