Two-Reaction Theory or Synchronous Machines Xith Any Balanced Terminal Impedance

By C. CONCORDIA
MEMBER AIEE

Introduction
R

H. PARK"23 has presented a general analysis of salient-pole synchronous machines* in terms of Zii = w(p)/y(p) (3 direct, quadrature, and zero axis quantities. Thiszjj = v(p)/y(p) analysis is very well adapted to the case of a machine with for i, j = 1, 2, 3; i 46 j where w(p), v(p), y(p) are polybalanced series inductance and resistance in the armature nomials in the operator p. For example, let circuit, but requires modification for any other terminal impedance. S. B. Crary4 has recently extended the w(p) = do + dip + d2p2 + ... (4) method of Park to include the effects of balanced armature v(P) = b + Clp + b2p2 + circuit capacitance. In the present paper the same method of analysis is further extended to include the effects Further, let of any balanced impedance network connected to the armature terminals. Every concept (impedance operators, n(p) = w(p) + 2v(p) = eO + eap + e2p2 + per-unit quantities, d and q axis quantities, etc.) of the previous synchronous machine theory is preserved unThen it may be shown that the general equations of a changed in this extended theory, and every problem sol- machine, to the terminals of which the balanced impedance vable by the previous theory is now susceptible to an has been connected, are exactly similar solution in the extended case. Such problems are, e.g.: 3-phase short circuit, sudden application boD + aOid + p(b,D + alid) -(po)(b,Q + aii) + or change of load, self-excitation, asynchronous operation, [p2 - (pO)2](b2D + a2id) -[2(pO)p + (p2o) ](b2Q + a2i6) + hunting, pulling into step, any prescribed change of field [p3 - 3(po)2p - 3(po)(p2) ](b3D + a3id) [3(po)p2 + 3(p2o)p - (po)3 + (p3o) ](b3Q + a3iq) + or armature voltage, torque under any of the conditions [P' -+6(pO)2p2 - 12(po)(p20)p + (pO)4-3(p2o)2-4(pO)(p8o)] X given above. (b4D a4id) Application of the present theory has been made to the [4(po)p3 + 6(p26)p2-4(pO)3p +4(p30)p-6(pO)2(p20) + (p4o)] X (b4Q + a4i.) +. = 0 determination of the regions of self-excitation occurring (5a) in induction and synchronous machine circuits containing series capacitors. This is described in a related paper.6 boQ + aoiq + p(b,Q + auiq) + (p0)(b1D + alid) + [p2 (po)2](b20 + a2iq) + [2(po)p + (p2o) ](b2D + a2id) + [p3 [3(po)p2 + 3(p2o)p - (po)3++(p30) ](b3D + Results _3(po)2p - 3(pO)(p20) ](b3Q a3iq) + asid) + [p4 - 6(po) 2p2 - 12(po) (p2o)p + (po)4 - 3 (p2o)2- 4(po) (p3o) I X The results of the analysis may be stated as follows: (b4Q+ a4i,,) + First let [4(po)p3 + 6(p20)p2 - 4(po)'p + 4(p3o)p - 6(po)2(p20)+ (p4O) X

arbitrary way there is, by ordinary circuit theory,

ances, resistances, and capacitances connected in any

Nd + rid + 4a(Po) eq - I4 + ri6 - td(PO) eo-P,O + rio

ed
-

(b4D + a4id) + .

= 0

(5b)

=
=

(1)

boN + eoio + p(biN + e,io) + p2(b2N + e2io) +. . =

(5C)

where D = 0, Q = 0, N = 0 are recognized as the 3 equations 8, 9, 10 of reference 2. Next let the voltage of phase a due to the external network be
Zliia + Z12ib + ZiaC Z13iC +

or the zero-sequence equation may be written as y(p)N + n(p)iO = 0

(5d)

12ib

(2)

The derivation of these general equations is given in the appendix. 8, Equations 5 may 2 toused directly intransient equations 9, 10 of reference be determine the place of
performance of a synchronous or induction machine with any connected balanced network.
Discus io

with similar expressions for the voltages of phases b and c. For any balanced, 6-terminal network containing inductA paper recommended for publication by the AIEE committee on electrical machinery. Manuscript submitted March 13, 1937; released for publication July 22, 1937. C. CONCORDIA is in the engineering division of the central station department,

General Electric Company, Schenectady, N. Y.

references given at the end of the paper.

*tis asmd that the reader is completely familiar with the first 4 of the

results as special cases.

It may be shown that equations 5 yield all the previous

For example, if hr
sn x

1. For all numbered references, see list at end of paper.

1124

ternal impedance, all the constants a,

c, d,& e are zero,

while

Concordia-Two-Reaction Theory

ELECTRICAL ENGINEERING

bo may be any constant number. Then equations 5 reduce Examples

to D 0 o Q =0 (6) 1. Suppose the external impedance is simply a balanced series self- and mutual inductance and resistance, the phase a voltage being ( + Ps)ia - m( + C) then
= rs
=

which are exactly Park's equations.2 Similarly, if there is series capacitance in the armature circuit,
w(p)

(=) -,

xc v(p)

w(p) )=Osv(p)

y(p)

-msp 1

+ isp

so do = aO = eO = xc, bi = 1, while all other constants vanish. Then equations 5 reduce to

Therefore,
ao
=

rs,

al

(I -

m),

a2

0,

. .

Xc6d + pD - (pO)Q =0 x.i. + pQ + (pO)D =0 = 0 xcio + pN

(7)

bo = 1,

bi

0.

and by equations

5,

which are exactly Crary's4 equations. The present analysis has been restricted to the case of balanced circuits. This is because the balanced case is the only one for which the use of d, q, 0 axis quantities offers any simplification in the actual solution of problems. In all cases of operation with unbalanced impedances in the armature circuit, e.g., unbalanced faults, the phase quantities should be used directly. The phase voltage equations are given in the appendix and the expressions for phase flux linkages -in terms of phase currents are given in equations 10, 11, 12 of reference 1 or equations 2 of reference 2. From the point of view of the practical engineer one reason for the use of d, q, 0 axis quantities is that such use results in the formulation of his problem as a set of linear differential equations with constant coefficients. These equations may be simply solved by the ordinary operational methods with which he is familiar. However, when the armature impedances are not balanced the machine voltage equations have variable coefficients regardless of the co-ordinate system used. Thus, it is usually simpler in such cases to use phase quantities for voltage, flux, and current; on the other hand the machine impedances should always be expressed along the d and q axes. For a large class of problems the armature and its connected circuits may be treated as operating in the steady state and only the rotor circuit transients need be considered. This form of treatment is the basis of the practical utility of the definitions of transient and subtransient reactances and is analytically equivalent to the neglect of the p4 terms of the voltage equations. It is obvious that when the armature circuits are in steady state operation the presence of any connected impedance does not complicate the fundamental equations, and equations 6, with p46 - 0, will apply to any case of balanced armature impedance. From this point of view the exact equations derived here are seen as a refinement and needbe sed nlyfor exceptional cases. However, in these exceptional cases the refinement iS all-important, as entirely misleading and useless results may be obtained without it. Such, e.g., was the case in the calculation of the regions of self-excitation in references 4 and 6.

(9) N + rsio + p(l + 2m)io = 0 It is evident that these equations may be reduced at once to the elementary form

D + rsid + p(l - m)id - (po)(1 - m)i, = 0 Q + r,iq + p(l - m)iq + (p0) ( - m)id = 0

D' - ed' + ri + ' '(PO) = = eq - P4Pq' + r'iq - 4d'(P0) = 0 Q' N' = eO - pPo' + r'io = 0

(10)

where the primed quantities are of the same nature as the

= r + rs Qd' = #d - (I - M)id lq' = {tq - (I - m)iq

r'

= {0 - (I + 2m)io 2. Suppose the external circuit consists of an inductance coil (having also resistance) in parallel with a capacitor in each phase. Then
o

(11)

w(p) = Y(P)
and

1 r1 + xlp

+p

xG

xc + rip +

xcrz + XcXIP xIp2

(12)

v(P) - 0

Y(P) Therefore

eo

aO =
=

bo = xc,

x,r,,

x.rz,

e, = xcxl, bi = r1,

a, = XCXl,

a2 = 0,

e2 = 0, b2 = xI,

...

b3 = 0,

...

and by equations 5 XcD + xCrdid + p(r,D + XcXi$d) -(po)(r,Q + XcXiq) + [p2 - (pO)']xzD - 2(pO)p + (p'O) JX1Q = 0 xcQ + xcrliq + p(r,Q + xcxii) + (po)(rzD + XcX:$d) + Pr - (PO)']x,Q ++[2r(pO)p +(p'0i)]x1D o (3
These equations may be used to determine the transient performance of, e.g., a synchronous machine supplying an open-circuited transformer and shunt capacitor. In many
1125

SEPTE3MBER 1937

Concordia-Two-Recsction Theory

cases it will be possible to neglect the transformer resist-

If the impedance network has, in addition, mutual effects which cannot be eliminated by the use of an equivalent circuit there is ance, thus effecting a considerable simplification, also a v(p) is a polynomial as 3. Let the external inductance be zero in the previoUS shown mutual impedance v(p)/y(p) where balanced all the mutual in equation 4. Since the circuit is case. Then coefficients are the same. The phase a voltage equation now becomes xcD + xerlid + prjD - (pO)r,Q = 0 (14) xCQ + xcrzii + pr1Q + (pG)r,D = 0 (p) (x,, (xc + rzp)N + xcriio + rip) N + x,rlio 0 =0 ea - PKa + ria +~ ~ ~ w(p ia + v(P) (ib + ic) = 0 (21) y (p) y(p) These equations, when put in the form By the substitution
=

(rp D + ++
rz/

XCid
=

0
O

(po)Q = b +

ic

3io

ia
clearing of fractions,

(22) (23)

Q + xi$ + (pO)D

we obtain after

p +

(h~i\Nxi ~c) N + x.io

nl

=0
=

y(P)(ea - PVPa + ria) + [w(p) - v(P)]ia + 3v(p)io = 0

are seen to be of exactly the same form as Crary'S4 equa- tuted directly for (ea- PPa + ria) in 23. Then tions but with p replaced by (p+x,/ri) wherever it operates on the elementary functions D, Q, N. Putting the resis- y(p) I [ed - P; d + rid + Vlq(pO) I cos a - [e. - p q, + ri7 - Vld(PO) I X tor in shunt with the capacitor thus does not complicate sin 0 + [eo - pqo + rio] + [w(p) - v(p) I(id cos - i. sin 0 + io) + 3v(p)io = 0 the problem but only introduces the ratio xl/rl where (24) may be interpreted as the time constant of the re- By equations 1 rl/x, sistor-capacitor circuit considered by itself. y(p)(D cos a-Q sin 0 + N) + [w(p)-v(p) I X (25)

The result of the previous section for the special case of no external impedance can still be used now, i.e., expression 18 can be substi-

Appendix I

and by (4)

(idcos 0 - i,qsin 6 + io) + 3v(p)io = 0

(ao+ alp + a2pi +
3v(p)io = 0

1. We first derive Park's equations in their original form from the phase equations. We have

(bo + bip + b2p' +

. .)(D cos 6 - Q sin 6 + N) + .)(id cos -iq sin + io) +

(26)

ea

Pa + ria

(16)

with 2 similar equations for phases b and c. There are also the 9 transformation equations (equations 14, 15, 16 of reference 2).
a = id cos 6 ed cos 0 - eC sin 6

As before, perform the differentiations required to segregate the trigonometric coefficients. -D bo(D cos 6 - Q sin O + N) + bi [(pD) cos O sin 0(po) - (pQ) sin 6-

sin a + io, etc.

(17)

Substitute 17 in 16 and obtain

Qcose(p0) 0-id +. . +aO(id cos --iqsin6 0(pO) + al [(Pid) COS +pN1 sin 0(p) (pi,,) sinG -i icos +io) + pio] + . . . + 3v(p)io = 0 (27)
-

P(GId cos 0 - VI,, sin 6 + Vlo) + r(id cos 6

+ eo -

- iq sin 6 + io) = 0

Perform the indicated differentiations and segregate the coefficients of the trigonometric functions.
[

ldeP,/'d +
[eC
-

rid + 4
+

pfto

rio-d(P6) ] sin +(18)

c d(pO)]os 6 -

Again utilizing the result of the previous section, the coefficients of cos 0, sin 0, and the constant term are equated separately to zero. The result is the set of equations 5. These equations have been given explicitly for polynomials of up to the fourth degree in p, but further terms may be formed as indicated in equation 27. It is probable, however, that the mathematical complexity encountered will preclude the solution of the equations for polynomials of any

By combining equation 18 with the 2 similar equations for phases b and c it may be shown that the coefficients of 18 must be separately equal to zero. Then,

higher degree and perhaps even for the fourth degree. It is therefore believed that the equations given are as complete as will be necessary for any practical case.

eq

notation is otg e The =amtr in general the same as that of Park1'2'0 and Crary.4 which are the familiar stationary axis equations. 2. Now suppose there is connected to the terminals of the ma- * = armature current chine a balanced impedance network containing inductances, re-=artuefxlikg sistances, and capacitances connected in any manner. The network ay bereprsente by he opratioal epresson ~d, q, 0 = subscripts denoting direct-axis, quadrature-axis, and zerosequence quantities, respectively s r\ . . .~~~~WP,fkP where w(p), y(p)X arez polynomials in p as shown in equations 4. p, = d/dt =amtuepseeitnc Equations 16 are now replaced byr 6 = rotor angular displacement (20) a, b, c = subscripts denoting the 3 armature phases e- P0a + nia + (P a = 0 XC y(p) = capacitive reactance

eo - p,to + rio

ed - PV'd + rid + ,&0(pO) = 0 =0 pq + riq lbd(PO)

-

0 o

(19)

Appendix 11
Nomenclature

1126

Concordia-Two-Reaction Theory

ELECTRICAL ENGINEERING

Appendix III
In the last few years considerable interest has been shown in the application of tensor analysis to electrical engineering problems.5 A derivation of the general equations of this paper in tensor symbolism is therefore appended below. It is believed that this form of derivation has the great virtue that, to one familiar with the notation, the principal and necessary steps of the derivation stand out clearly. That is, the main line of reasoning is not obscured by lengthy algebraic manipulations. The voltage equations 21 in terms of phase quantities may be written as: C7l* C=

11 0
0 0 1 0

0
0 1

(37)

d3C _ dC d5C C -da = -C'-1-*-- = C-l *d- = etc. =

0

1 0

-1 o

(38)

- 1C

e+R-i-pl+Z-i = 0

(28)

do'

d8C d4C d2C = C-l - = -C-1 - = etc., d04 do'

0

where Z is the impedance tensor of the outside network having components specified by equation 3. Now if voltage and current are expressed along the d, q, 0 axes by transforming e, i, i by Park's transformation C, where C is the tensor whose components are the coefficients of equations 14, 15, or 16 of reference 2, equation 28 becomes:

0 10
1
0

(39)

0 0 0 The final equation is thus

boP + bl[J * Pp1 + pPj +.

where

C e'+R-C i'-pC

4'+Z C-i' = 0

(29)

+ Ao i' + Alm- i'po +All'-*pi' +

. . .

=0

(40)

where the primed quantities are measured along the d, q, 0 axes. By multiplying the first 3 terms of 29 by C * C-1, where C-1 is the inverse of C, equation 29 becomes:

Ao'

C-1 . Ao. C =

ao
o

0
0

| 0 0
eo

CP+Z.C.i' =0 where

(30)

. P = e' + R

i'-p4'-J''po

(30a)

A,'= C1 -A,

dC dO
-

0a 0 = | a, |I-al I0 0
0
a, 0 0

01

P is seen to be the expression which in Park's analysis is equal to zero. The tensor J is

Al'=C-1 * A,C =

a, j 0
I

C1

.-d

dC

0 1 0

-1 0 01 0 0| 0

(31)

The external impedance Z may be expressed as 1 Z =-A

taining the power e * i as an invariant, while in the former the only requirement has been that the trigonometric functions be eliminated

applied to both e and i, rather than applying the transformation Ct-1 to e. The latter transformation has the property of main-

It will be noted that here the same transformation C has been

Y(p)

(32)

where A is the tensor whose elements are ai i j. Then 30 becomes

-

w(p), a= v(p)
(33)

from the differential equation e = Z i, without regard to the formula for power. A transformation tensor can, of course, easily be found which will resemble as nearly as possible Park's transThformation yet which has the further property of invariance of power. transformation tensor is:

y(p)C P + A C*
-

-=

But this may be expressed as

cos 02 -sin 0 | 02 3-sin

Cos

cos 0,

-sin Al |71

(bo + bp+. . .)C P + (Ao+Ap+. .)*C i = 0

where

(34)
I

03

1- sin 031V"

(41) (41)

Ao=
result is

do |co | co co do co

co Co do

Al

cl

di |cl |cl cl di cl

_______________

Cof the equations.

where 02 = 01 - 120', 0O = 01 + 120. It will be found that now C1-1 = C, so that it is immaterial which is used in the derivation

etc.

cl dI I

(35)

ReFerences

If in equation 34 the indicated differentiations are performed, the

FdCC

boC'P + bi[yd. PPO+JrC.pP j+ .. . +

A, C it +

June 1928, pages 332-4. 2. Two-REAmTON THEORY OF SYNCHRONOUS MACHINE;S-GENERALIZED METHROD OF ANALYSIS-PART I, R. H. Park. AIEE TRANSACTIONS, volume

ARMATUREa FLUx LINKAGIES, R. H. Parir. General Electric Review, volume 31,

1. DEFINITION OF AN

IDEAL SYNCHRONOUS MACHINB

AND FORMULA

FOR

THB

A~do it a +. -C

dC

(36)

T ~~~~~~3.WO-REACTION THEORY OF SYNCHRONOUS MACHINES-IT, AIEE TRANSACTIONS, volume 52, June 1933, pages 352-5.

48, July i929, pages 716-27.

R. H. Park.

since:

It remains only to multiply the whole equation 36 by the inverse transformation tensor C'1 to obtain the set of equations 5. The elements of C-1 are the coefficients of the set of equations 3, 6, or 7 of reference 2. That this multiplication eliminates the C's is evident

4. TWO-REACTION THEORY OF SYNCHRONOUS MACHINES, S. B. Crary. TRICAL ENGINEERING, volume 56, January 1937, pages 27-31 and 36.

ELEC-

975-88.

6f. ANALYSIS SE:RIES CAPACITOR APPLICATION PROBLEMS, J. W. Butler and C. ConCordia. OP ELECTRICAL ENGINEERING, volume 56f, August 1937, pages

bginnig Apri95

5. THE APPLICATION OF TENSORS TO THEB ANALYSIS OF ROTATING ELECTRICAL MACHINE3RY, Gabriel Kron. A serial article in the General Electric Review,

SEPTEMBER 1937

Concordia-Two-Reactction Theory

1127