New method for measuring Xd and Xg based on the P-Q diagram of the lossy salient-pole machine

A.Ah. Fock. B.E.. and P.M. Hart. B.E., M.Eng.Sc.

Indexing terms: Synchronous motors, Reluctance motors Abstract: The P-Q diagram of the lossy salient-pole synchronous machine is derived from the familiar machine voltage phasor diagram. The diagram contains a reluctance circle with a centre and diameter which are dependent on machine loss resistance. Steady-state stability limits are determined for the lossy salient-pole machine, and it is shown that it is not possible to operate on the extreme motoring point of the reluctance circle. A method of measuring Xd, Xq and R for the lossy salient-pole synchronous machine or lossy reluctance machine is presented which involves measuring three convenient characteristic points on the reluctance circle of the P-Q diagram. This method is found to have better accuracy than the slip test for smaller machines. The theory presented in the paper is applied to a 5 kVA test machine and is found to give accurate results.

List of symbols Eo V Xd Xq R

= = = = =

per per per per per

phase phase phase phase phase

internal voltage of machine generator terminal voltage direct-axis reactance quadrature-axis reactance machine series resistance

pole synchronous machine with nonnegligible armature resistance are presented which form the basis of the measurement method described in Section 3. Using these expressions a modification to the P-Q diagram as given by Walker [1] is presented which accounts for armature losses. The expressions for P and Q given below can be

Z S P

6
Q T /

/d = (X\ + R2)112 = phase angle between 0 and V (load angle) = per phase real power at the generator terminals per phase reactive power at the generator terminals = maximum (generating) power on the reluctance circle = minimum (motoring) power on the reluctance circle = maximum reactive power on the reluctance circle = minimum reactive power on the reluctance circle = per phase shaft torque of machine = synchronous speed, rad/s = armature phase current

Fig. 1

Vector diagram of lossy salient-pole synchronous machine

obtained by using trigonometry on the phasor diagram (Fig. 1) for the salient-pole synchronous machine: P= ZE0 V sin W + 3) V\Xd - Xq) sin 2<3 V\Xd + Xq) V2R

1 Introduction The authors' interest in testing small (less than 10 kVA) three-phase salient-pole synchronous machines and reluctance machines has led to an investigation of the effects of machine loss resistance on steady-state performance. Small machines are affected proportionately more than larger machines by loss resistance, and it may be necessary to account for these effects when analysing steady-state performance. The results presented in this paper are applicable to balanced lossy salient-pole synchronous machines or reluctance machines for which the losses are represented by a series resistance which is independent of rotor angle. The method of measuring Xd, Xq and R presented in Section 3 was developed as a result of the authors' dissatisfaction with the accuracy of the slip test when applied to small machines. 2 P-Q diagram for salient-pole machine allowing for machine series resistance

(1)

Q=

ZEn V cos V\Xd - Xq) cos 2b

(2)

where

Z = JX2n + R2.
Fig. 2 gives the P-Q diagram corresponding to eqns. 1 and 2. The diagram has a reluctance circle which is shifted into the motoring halfplane. Machine excitation is proportional to length AB which may be found once point C is located. Point C is independent of excitation and machine angle 3. Lawrenson and Agu [2] have presented an impedance diagram for the lossy reluctance machine which can be inverted to give the reluctance circle of Fig. 2. However, they use a definition of load angle which is different from ours [3], and their diagram is valid only for zero excitation.
259

In this Section expressions for the real power, reactive power and electromagnetic torque of a polyphase salientPaper 3460B (PI), received 3rd April 1984 The authors are with the Department of Electrical Engineering, Monash University, Clayton, Victoria, Australia 3168

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By substituting eqns. 1 and 2 into the expression for shaft electromagnetic torque T = P + I2R ' (3)

and current
;

_ (P2 + Q2)112 V

(4)

the torque is found to be T = {2E0 VZ(XdXq - R2) sin {\jj + 3) - 2E0 VZR(Xd + Xq) cos W + < ) 5 + 2E0 VZR(Xd - Xq) cos ( A - 5) + 2RZ2E2 + V\Xd - Xq) x l(XdXq - R2) sin 23 - R(Xd + Xq) cos 25] + V2R(Xd - Xq)2}/2cos[R2 + XdXq-\2 (5)

limits applying to the 5 kVA test machine at 1 p.u. voltage for both K = 0 O a n d i ? = 2 Q (0.06 p.u.) with Xd = 42.5 Q (1.23 p.u.) and Xq = 14.5 ft (0.42 p.u.). The reactance values and the second resistance value correspond to measurements presented in Section 3. Inclusion of the loss resistance has an appreciable effect on the position of the reluctance circle and on the stability loci which are rotated anticlockwise from the no-loss position. For the special case of zero excitation, it can be shown that the stability limits are given by 2<5 = \\i + I 90c (6)

This represents two diametrically opposite points on the reluctance circle as shown in Fig. 4. The point on the regenerating
stability unit

The stability limit loci can be obtained by equating dT/83 to zero. Fig. 3 shows the computed theoretical stability

min

Fig. 4

Reluctance circle showing stability limits

Qmin

V l - '

luctance circle with real power Pmin cannot be reached in the steady state. Generally the difference between P min and the motoring power at loss of stability is small. Fig. 5 shows the reluctance circle for V = 200 obtained
P

mox J 0.8

Fig. 2
radius =

P-Q diagram of lossy salient-pole machine y'iX.-X,)

-V2(Xd
; l g

Z 0 K
-V2R
^ "jriin. _1 0

Qo =

2.01.5J

E = 2.0

(-) / I 1 (i)
LOT / 1.0 0.57/0 .5

ys

2 0
15 1. 0 o!
Q.

Fig. 5 Reluctance circle from measurements made on the test machine with V = 200

^=^ \
i II
-2.5l

- 0. 5
i i i

from measurements on the test machine. The ease with which P m i n , (2min a n d Pmax can be measured encouraged the authors to develop a method, which is presented in the next Section, for measuring Xd, Xq and R using these values.
1.0

i
-2.0

Ki

'

x-1.5 -1.0J

-0.5

0.5 - -0 5 - -1 0 - -1 5

Measurement of Xd, Xq and R

/
o 5

,p. -

\ \ 0.5
15

i.o\ \i.O \

- 2 .0

The preceding theory suggests a method of measuring Xd, Xq and R which the authors have found to give better accuracy than the slip test for small alternators and reluctance machines. We refer to this method as the 'circle method'. Referring to Fig. 2 and using eqns. 1 and 2, it is easily shown that if Eo = 0 then
2 \Qmln\
I ^max I +
I Vimin I

2.0

E .: 2 .0

(7)

Fig. 3 Theoretical P-Q diagram of the test machine showing the computed stability limits
(i) neglecting loss resistance (ii) accounting for loss resistance (R = 2 Si) 260

=1+

(8)

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and {(R/Xq)2(Xq/Xd) (9)

Hence the impedances Xd, Xq and R can be determined once Pmin, Pmax and gmin are known. These latter quantities can be measured using the arrangement shown in Fig. 6. After setting a convenient voltage level (at which

for. The effects are accounted for in the proposed new method based on the assumption that resistances are not dependent on machine angle. This involves an approximation as core losses are likely to be less for the q-axis alignment than for the d-axis alignment. The resistance value obtained will be that applicable at the terminal voltage for which the test is conducted. Fig. 8 gives a comparison of measurements taken on the
50

I"
Fig. 6 Measurement connections for application of the circle method

48

<44 42 40

slip current is not excessive) the power input is controlled in both motoring and generating directions until the limiting powers Pmax and Pmin are reached. Because the rate of change of power with machine angle approaches zero at the top and bottom of the reluctance circle, the wattmeter indicates a clear extreme value before their readings collapse when slip occurs. The slip test, which is the conventional test for determining XJXq, has serious shortcomings when applied to small machines. Fig. 7 shows current and voltage oscillo-

140 160 180 200 220240 260 a

140 160 180 200 220 240 260 b

16 .15 14 13
140 160 180 200 220 240 260 c 140 160 180 200 220 240 260 d

Fig. 8 Comparison of test results made using the circle method, slip test and open short-circuit test
a Xd against V b R against V c Xq against V

d XJXq against V

Fig. 7 (phase)

Slip test oscillograms conducted on the test machine at 150 V

top trace: line current 7.1 A/major division bottom trace: line voltage 200 V/major division slip frequency = 2 Hz

grams which were obtained from a slip test performed on the test machine at 150 V (phase). It is seen that the current envelope is not sinusoidal, but, rather, has a sharp dip associated with the d-axis alignment position. This results from the relatively small rotor inertia with the consequence that the rotor accelerates quickly through the d-axis alignment position, overshoots it and decelerates more slowly through the g-axis alignment position. Although it may be possible to improve accuracy by increasing rotor inertia this is considered to be inconvenient. The slip test gives inaccurate results because the current waveform does not have time to settle to a true minimum and is affected by the transient as well as the steady-state machine behaviour. Dissatisfaction with the application of the slip test to small machines has also been reported by Lawrenson and Agu [2]. A further criticism of the slip test, although of lesser importance, is that resistance effects cannot be corrected
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test machine using the circle method, the slip test and values of Xd taken from short-circuit and open-circuit tests. The slip test was performed at the minimum slip speed possible. It is seen that the slip test gives values of saliency ratio which are significantly lower than those obtained from the circle method. Furthermore, the slip test results are more voltage sensitive. This is the result of acceleration through the d-axis alignment position increasing with voltage, and thus the current has decreasing time to reach a true minimum. It is also seen that the values of Xd obtained from the circle method and from OC/SC tests compare well. The resistance values obtained are somewhat scattered, but are higher, as expected, than the DC winding resistance values. The resistance measurements are sensitive to errors due to the minus sign in eqn. 7. The authors have sucessfully applied the circle method to several small synchronous and reluctance machines. As discussed in Section 2, the bottom of the reluctance circle Pmin cannot be reached if the machine resistance is large. The authors have found that the difference between the slip power and the true point Pmin is negligible for normal resistance values. However, if necessary, it is possible to estimate Pmin (and Qmin) by scribing a circle through a number of conveniently measured P, Q points. The authors are aware of two other synchronous-speed methods which have been proposed for measuring Xq. These are the IEEE 'method 2' [4] which involves measuring Qmax by operation along the Q-axis inside the reluctance circle until instability is reached, and secondly the method used by Lawrenson and Agu which involves use of a synchronous machine with a rotatable stator. We have attempted to use the first method without success, as it has
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proved impossible to accurately measure the current (or Q) at slip because of needle overshoot occurring on meters once instability occurs. The second method requires special equipment not available to the authors. Machine inductances can also be measured with the machine stationary using fiuxmeter-bridge methods [5, 6] or by measuring time constants of responses to step inputs [7]. These methods allow the variation of self or mutual inductances of coils to be measured as a function of rotor position. Xd and Xq may then be computed using two-axis theory. Although of definite importance these methods must be applied with some caution as '... for accurate results the inductances must be measured under conditions approximating as closely as possible to those of normal operation' (Reference 5, p. 15). The flux and eddy current distributions and the state of saturation of the machine under test will vary according to the nature of the test applied, and results must be interpreted accordingly. The circle method presented here is advantageous in that conditions within the machine are those applying to steady-state operation for which Xd and Xq determine machine behaviour. Practical investigations of small machine inductances have been presented by Carter, Leach and Sudworth [8] and Barton and Dunsfield [9]. Deviations from behaviour predicted by the two-axis theory have been reported in both papers due to harmonic gap MMF components, the nonsinusoidal variation of inductances with rotor angle, and deviation from assumed equality of various self and mutual inductance coefficients. Two-axis theory remains widely applied to small machines and in the authors' experience can be applied to small machines with reasonable accuracy. Deviation from the circular of the reluctance machine P-Q locus as given in Fig. 5 gives a convenient visual indication of the likely accuracy of steady-state performance as predicted by two-axis theory. 4 Conclusions

The steady-state stability limits are also affected by loss resistance. Although no simple formulas exist to predict the machine angle at loss of stability for the lossy salientpole synchronous machine, the lossy reluctance machine loses stability when 2(5 = \\i + X 90 A method of measuring Xd, Xq and R for the lossy machine which uses the measured values of three characteristic points on the reluctance circle is proposed. The method has been successfully applied to a small test machine and found to have superior accuracy compared with the slip test.
5 Acknowledgment

The authors are indebted to Associate Professor W.J. Bonwick for his encouragement and assistance.
6 References

The P-Q diagram of a lossy salient-pole machine has been presented (Fig. 2) and is shown to contain a reluctance circle which has a radius and centre which are affected by loss resistance. The reluctance circle is shifted into the motoring quadrant when compared with the lossless machine. This shift may be significant for smaller machines which have proportionately large resistance effects.

1 WALKER, J.H.: 'Operating characteristics of salient-pole machines', Proc. IEE, 1953,100, Pt. II, pp. 13-24 2 LAWRENSON, P.J., and AGU, I.A.: 'Theory and performance of polyphase reluctance machine', ibid., 1964, 111, (8), pp. 1435-1445 3 STEPHENSON, J.M., and LAWRENSON, P.J.: 'Average asynchronous torque of synchronous machines, with particular reference to reluctance machines', ibid, 1969,116, (6), pp. 1049-1051 4 IEEE test procedures for synchronous machines, 1965, IEEE publication 115, p. 52 5 JONES, C.V.: 'The unified theory of electrical machines' (Butterworths, 1967) 6 PRESCOTT, J.C., and EL-KHARASHI, A.K.: 'A method of measuring self inductances applicable to large electrical machines', Proc. IEE, 1959,106A, pp. 169-173 7 KAMINOSONO, H., and UYEDA, K.: 'New measurement of synchronous machine quantities', IEEE Trans., 1968, PAS-87, pp. 19081918 8 CARTER, G.W., LEACH, W.I, and SUDWORTH, J.: 'The inductance coefficients of a salient pole alternator in relation to two-axis theory', Proc. IEE., 1961,108A, pp. 263-269 9 BARTON, T.H, and DUNSFIELD, J.C.: 'Inductances of a practical slip-ring primitive, IIan experimental study', IEEE Trans., 1966, PAS-85, pp. 145-151

Appendix

Test machine: 415 V, three phase, 5 kVA, 1500 rev/min salient-pole alternator having a near sinusoidal waveform: Xd = 45.5 Q (SC/OC tests) R = 1.83 Q (DC) Made by McColl Electric Works Ltd., Australia.

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