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A Brushless Exciter Model Incorporating Multiple Rectier Modes and Preisachs Hysteresis Theory
Dionysios C. Aliprantis, Member, IEEE, Scott D. Sudhoff, Senior Member, IEEE, and Brian T. Kuhn, Member, IEEE
AbstractA brushless excitation system model is set forth that includes an average-value rectier representation that is valid for all three rectication modes. Furthermore, magnetic hysteresis is incorporated into the -axis of the excitation using Preisachs theory. The resulting model is very accurate and is ideal for situations where the exciters response is of particular interest. The models predictions are compared to experimental results. Index TermsBrushless rotating machines, magnetic hysteresis, modeling, simulation, synchronous generator excitation, synchronous generators.

I. INTRODUCTION

RUSHLESS excitation of synchronous generators offers increased reliability and reduced maintenance requirements [1], [2]. In these systems, both the exciter machine and the rectier are mounted on the same shaft as the main alternator (Fig. 1). Since the generators output voltage is regulated by controlling the exciters eld current, the exciter is an integral part of a generators control loop and has signicant impact on a power systems dynamic behavior. This paper sets forth a brushless exciter model suitable for use in time-domain simulations of power systems. The analysis follows the common approach of decoupling the main generator from the exciterrectier. Because of the large inductance of a generators eld winding, the eld current is slow varying [3], [4]. Therefore, the modeling problem may be reduced to that of a synchronous machine (the exciter) connected to a rectier load. For power system studies, detailed waveforms of rotating rectier quantities are usually not important (unless, for example, diode failures [5] or estimation of winding losses are of interest). Moreover, avoiding the simulation of the internal rectier increases computational efciency and reduces modeling complexity [6], [7]. The machine-rectier conguration may be viewed as an ac voltage source in series with a constant commutating inductance [8]; however, this overly simplied model does not accurately capture the systems operational characteristics [9][13]. The widely used brushless exciter model proposed by the IEEE represents the exciter as a rst-order system
Manuscript received October 28, 2003; revised September 29, 2004. This work was supported by the Naval Combat Survivability effort under Grant N00024-02-NR-60427. Paper no. TEC-00312-2003. D. C. Aliprantis is with the Greek Armed Forces (e-mail: aliprantis@alumni.purdue.edu). S. D. Sudhoff is with the Department of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907-1285 USA (e-mail: sudhoff@ecn.purdue.edu). B. T. Kuhn is with the SmartSpark Energy Systems, Inc., Champaign, IL 61820 USA (e-mail: b.kuhn@smartsparkenergy.com). Digital Object Identier 10.1109/TEC.2005.847968

Fig. 1. Schematic of a brushless synchronous generator.

[14]; it was originally devised for small-signal analyses and its applicability to large-disturbance studies remains questionable [15]. An average-value machine-rectier model that allows linking of a -axes machine model to dc quantities was derived in [16]. This model is based on the actual physical structure of an electric machine and maintains its validity during large-transient simulations. In this paper, the theory of [16] (which covered only mode I operation) is extended to all three rectication modes [17]. This is necessary for brushless excitation systems, because the exciters armature currentdirectly related to the generators eld currentis strongly linked to power system dynamics [3]. During transients, the rectiers operation may vary from mode I to the complete short-circuit occurring at the end of mode III [6]. The exciterrectier conguration is analyzed on an average-value basis in a later section. The incorporation of ferromagnetic hysteresis is an additional feature of the proposed model. Brushless synchronous generators may use the exciters remanent magnetism to facilitate self-starting, when no other source is available to power the voltage regulator. However, the magnetization state directly affects the level of excitation required to maintain a commanded voltage at the generator terminals. Hence, representation of hysteresis enhances the models delity with respect to the voltage regulator variables. Hysteresis is modeled herein using Preisachs theory [18], [19]. The Preisach model guarantees that minor loops close to the previous reversal point [20][22]. This property is essential for accurate representation of the exciters magnetizing path behavior. Hysteresis models that do not predict closed minor loops, such as the widely used JilesAtherton model [23], are not appropriate. To see this, consider a brushless generator connected to a nonlinear load that induces terminal current ripple.

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Fig. 2. Interconnection block diagram (inputoutput relationships) for the proposed model.

Fig. 3. Illustrations of the elementary magnetic dipole characteristic and the boundary on the Preisach domain.

This ripple transfers to the exciters magnetizing branch current, and in the steady-state, a minor loop trajectory is traced on the plane. If the loop is not closed, the ux can drift away from the correct operating point. This paper begins with a notational and model overview. Next, a brief review of Preisachs theory is set forth. Then model development begins in earnest, with the development of the Preisach hysteresis model, a reduced-order machine model, and the rotating-rectier average-value model. The paper concludes with a validation of the model by comparison to experimental results. II. NOTATION AND MODEL OVERVIEW Throughout this work, matrix and vector quantities appear in bold font. The primed stator quantities denote referral to the rotor through the turns ratio, which is dened as the ratio of . The electrical rotor armature-to-eld turns position and speed are times the mechanical rotor , and speed where is the number of poles. position The analysis takes place in the stator reference frame (since the eld winding in the exciter machine is located on the stator). to stationary variables is The transformation of rotating dened by [24] (1) where1

The rotating-rectier average-value model computes the , based on average currents owing in the exciter armature , the voltage-behind-reactance (VBR) -axis ux linkage and the (varying) VBR -axis inductance . (The -axis VBR inductance is also used, but is considered constant.) These voltage-behind-reactance quantities are computed from the reduced-order machine model. The hysteresis model performs the computations and bookkeeping required to use Preisachs hysteresis theory. Its only input is the -axis magnetizing cur; its output is the incremental magnetizing inductance rent that represents the slope of the hysteresis loop at a given instant. The integrations of the state equations are performed inside the reduced-order machine model block. The states are and the -axis magnetizing ux . The aforementioned variables will be dened formally in the ensuing analysis. Notice that the proposed model is applicable whether hysteresis is represented or not; in case of a linear magnetizing path, the hysteresis block is replaced by a constant inductance term. III. HYSTERESIS MODELING USING PREISACHS THEORY Preisachs theory of magnetic hysteresis is based on the concept of elementary magnetic dipoles (also called hysterons). These simple hysteresis operators may be dened by their up and down switching values and , respectively (Fig. 3). Equivalently, they may be dened by a mean value and a loop width . The behavior of a ferromagnetic material may be thought to arise from a statistical distribution of hysterons. The function which describes the density of hysterons is known as the and is denoted by Preisach function. It is dened on or , depending on which set of coordinates is used. The Preisach function is zero everywhere except on the shaded domain of Fig. 3. To explain the shape of this region, it is rst . The other constraints originate from the obnoted that servation that a nite applied eld will fully saturate the . Considmaterial. Thus, all dipoles must obey eration of saturation in the opposite direction yields . These three inequalities lead to the triangular domain depicted in Fig. 3. The domain is divided into two parts: the upper part corresponds to dipoles with negative magnetization; the lower , corresponds to positive magnetization. A value for part

(2) . Since a neutral connection is not present, The components of the proposed excitation model are shown in Fig. 2. The exciter model connects to the main alternator and current ; it also model through the eld voltage . The voltage regulator model provides the voltage requires to the exciters eld winding , and receives the current . The exciter model is comprised of three separate models, namely, the rotating-rectier average-value model, the Preisach hysteresis model, and the reduced-order machine model.
1The minus sign in the second row and the apparent interchange of the second and third columns from Parks transformation (as dened in [24]) arises from using a counter-clockwise positive direction for the rotor position coupled with the location of the ac windings on the rotor.

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Fig. 4. Visualization of Preisach diagrams. (a) Increasing magnetic eld. (b) Decreasing magnetic eld.

the total magnetization of the material may be obtained by taking into account the contribution of all elementary dipoles. Hence, the magnetization is (3) The formation of the domains boundary may be visualized using the Preisach diagram, as shown in Fig. 4. First, assume that and is increasing, forcing all the magnetic eld has the value to switch to the plus dipoles with upper switching point state. The switching action is graphically equivalent to the creation of a sweeping front, represented by a line perpendicular to the -axis, that moves toward increasing . The shaded area . When the eld that the front sweeps past becomes part of is decreasing, dipoles with a lower switching point are forced to switch to the negative state. A new front is created, this time perpendicular to the -axis and moving toward decreasing , claiming the area from and adding it to . The resulting boundary is formed by orthogonal line segments and is often termed a staircase boundary. The shape of the boundary depends on the history of the magnetic eld. The Preisach model possesses the deletion and the congruency properties. According to the deletion property, magnetic history is completely erased when the front sweeps past previous reversal points. This property is responsible for the creation of closed minor loops. The congruency property states that the shape of the minor loops depends only on the reversal points, and is independent of the materials magnetization history. Both properties may be proven using geometric arguments [19]. The statistical distribution of hysterons may be approximated by the normal distribution [19] (4) or, in terms of ,

Fig. 5. Simplied diagram of exciters magnetic ux paths (d-axis on top, q -axis at the bottom), and the corresponding magnetic equivalent circuits.

Fig. 6. Exciters equivalent circuit and interface mechanism to the voltage regulator and main alternator models.

however, for or , is practically zero. The magnetization at saturation may be obtained by 2 integrating (4) over the right-half of Preisach plane (6)

IV. PROPOSED MODEL The exciters magnetic equivalent circuit is depicted in Fig. 5. The -axis main ux path reluctance is comprised of , the pole iron reluctance the stator back-iron reluctance , the air-gap reluctance , and the rotor body reluctance . In the proposed model, it is assumed that all hysteretic magnetic effects are concentrated in the region of the poles; . All hence, magnetic nonlinearities are incorporated into other reluctances are considered to be linear, including the and . The -axis reluctances of the leakage ux paths magnetic paths are also considered to be linear. The magnetic equivalent circuit of Fig. 5 is translated to the electrical T-equivalent circuit of Fig. 6. The exciter machine does not have damper windings. As in [16], a reduced-order machine model is utilized, wherein the (average) armature currents
2The

(5) is a magnetization constant, and are standard deviations, and is a mean value. Since for all , the triangular Preisach domain extends to innity;

error function is dened by erf (x) = (2=  )

d .

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are injected by the rectier model. The state variables are seand . There are no states associated with the lected to be -axis, because its equation is purely algebraic. The hysteresis model determines the incremental magnetizing inductance. In the following sections, the submodels are presented in detail. A. Hysteresis Model For the purposes of machine modeling, it is convenient to work with electrical rather than eld quantities. Hence, by analogy to , the machines -axis magnetizing ux linkage is written as the sum of a linear and a hysteretic component (7) The Preisach model is now expressed in terms of the magneti, and the magnetizing zation component of ux linkage (instead of the magnetization , and the magnetic current eld ). The inductance corresponds to the slope of the magnetizing characteristic at saturation. The hysteresis models input is the magnetizing current and its output is the incremental inductance (8) It will be useful to note that by combining (7) and (8) (9) The assumed normal distribution of hysterons given in (5) leads, after the manipulations detailed in [19], to

denote upwards and downwards moving (increasing and decreasing) magnetic elds; an additional superscript denotes that the material is initially demagnetized, so that the initial curve is being traversed. The appropriate equation is selected based on the direction of change of the magnetizing current. Since the exciters complete magnetic history is unknown, it is assumed that it is initially demagnetized. From (10)(13), at the reversal points and at the origin of the initial is everywhere else. thus depends only curve, and , , and the direction of change of (in accordance on with the congruency property). The Preisach model constantly monitors the direction of , and adds the reversal points to a last-in rst-out change of stack. The crossing of a previous reversal point signies a minor loop closure. In this case, the two points that dene this minor loop are deleted from the stack (as dictated by the deletion property). B. Reduced-Order Machine Model This model is termed reduced-order because the (fast) transients associated with the rotor windings are neglected. Its inputs are the -axes rotor currents (which will be approximated ,3 the exciters eld winding voltage by their average value), , and the incremental inductance . In this block, the integrations for the two states and are performed. Out, the VBR puts are the magnetizing current -axis ux linkage , and the VBR -axis inductance . In this model, an overbar is used to emphasize the approximation of a quantity by its fast-average value (its average over the previous 60 ). Often, in such cases, it is appropriate to average the entire model, thereby yielding a formalized average-value model. However, because of the nonlinearities involved with the hysteresis model, formal averaging of the model would prove awkward. Therefore, the interpretation applicable herein is that quantities indicated as instantaneous (without overbars) are also being approximated by their fast-average value. The description of the reduced-order machine model begins with the eld winding ux linkage (14)

(10)

(11)

Substitution of (9) and the currents relationship , into (14) and consideration of the eld voltage equation (15) yields

(12)

(16) (13) is a constant with dimensions of ux linkage, where is the previous reversal point, , , , and . The , superscripts The inductance term of the left-hand side is positive since . Hence, the sign of the right-hand side determines the magnetizing currents direction of change and which expression
3The q -axis current is not utilized by the reduced-order machine model, since its dynamic behavior only involves the d-axis. However, i is computed for completeness.

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for is to be selected from (10)(13). The state equations may be obtained from (9), (15), and (16)

C. Rotating-Rectier Average-Value Model This section contains the derivation of the rotating-rectier average-value model, which computes the average currents from , the VBR -axis owing in the exciter armature ux linkage , and the VBR -axis inductance . (The , which computation also uses the VBR -axis inductance is assumed constant herein.) The analysis is based on the classical separation of a rectiers operation in three distinct modes [17]. This type of rectier modeling is valid for a constant (or slow-varying) dc current. The transformation of the no-load versions of (25) and (26) to the rotor reference frame yields the following three-phase voltage set: (27) (28) (29) where .4 It is useful to dene a voltage angle so that the -phase voltage attains its maximum value when (i.e., ). The voltage and rotor angles are thus related by for for . (30)

(17) and (18) The derivative is estimated from the variation of . It is convenient to approximate it by the following relationship, written in the frequency domain: (19) If is relatively small (so that ), a good low-frequency estimate is obtained. This approximation is justied by and consequently of . Equation the slow-varying nature of (19) is readily translated into a time-domain differential equais thus tion, and the problematic numerical differentiation of avoided. The exciters electromagnetic torque may be computed from . the well-known expression However, since the exciter is a small machine relative to the main alternator, its torque is assumed negligible herein. The armature voltage equations must be expressed in voltagebehind-reactance form to be compatible with the rotating-rectier average-value model. In the VBR model, the rotor ux linkages are expressed (20) (21) where (22) (23) and (24)

Because of symmetry, it is only necessary to consider a 60 interval (for a six-pulse bridge). Consider the interval which begins when diode 6 (Fig. 1) starts conducting (at , where is a phase delay5), and ends at . During this interval, current is commutated from diode 2 to diode 6 (phase to phase ); if the diode resistance is negligible, a line-to-line short-circuit between phases and is in effect, so . denotes the line-to-neutral voltage of winding ). If the ( rotors resistance is also neglected, Faradays law implies (31) where is a constant. This relationship will prove useful in the analysis that follows. The next observation is that the average rectier output voltage may be expressed (32)

These equations hold for fast current transients; hence, the overbar notation is not appropriate. is essentially constant for fast transients. In In VBR form particular, if for fast transients (such as commutation processes) we assume that the eld ux linkage is constant, then it can be is constant as well. Upon neglecting the rotor shown that resistance, the VBR voltage equations may be expressed (25) (26) with .

which may be approximated as

(33)
4The standard numbering of the diodes (Fig. 1) corresponds to the order of conduction in the case of an abc phase sequence. However, in this case, a reverse acb phase sequence is obtained, and the diodes conduct in a different order. 5This  should not be confused with the symbol that was used in the Preisach model section to denote the hysterons upper switching point.

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Neglecting armature resistance makes the analysis far more tractable. As it turns out, the inaccuracy involved in this assumption can be largely mitigated using a correction term which will be dened in a later section. ux linkages may be related to the phase currents The and the VBR ux linkage by transforming (20) and (21) using (1) and (30). After manipulation

Fig. 7. Mode I operation.

Evaluating this expression at (34) and

and

, we obtain (39)

(40) respectively. By equating (39) and (40), the following nonlinear equation is obtained, which may be solved numerically for the commutation angle : (35) To proceed further, the rectication mode must be considered. 1) Mode I Operation: Mode I operation (Fig. 7) may be separated into the commutation and conduction subintervals. The commutation lasts for less than 60 electrical degrees , where denotes the commutation angle. During the com, three diodes are conducting mutation interval (1, 2, and 6); during the conduction interval , currents are only two diodes are conducting (1 and 6). The for for (36) (42) Their average value is (43) This integral is difcult to evaluate analytically, so it is evaluated numerically (e.g., using Simpsons rule [16], [25]). On the other hand, the average value of the conduction subinterval currents [denoted by the superscript (ii)] may be computed analytically (44) The total (38)
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(41) Knowledge of and [from (39)] allows the computation of the average -axes rotor currents. Equation (38) is solved for and substituted into (36), which is transformed using (1). The currents of the rst subinterval (denoted by the superscript (i)) are thus

where is the current owing out of the rectiis the (positive, er and into the generator eld, and anode-to-cathode) current owing through diode 6; increases from to . The average dc voltage may be computed from (33), after substituting (36) into (34); this sequence of operations yields (37) represents the effective commutating reThe term sistance for mode I operation. Substitution of (36) into (35) yields

-axes currents average value is (45)

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Fig. 8.

Mode II operation.

Fig. 9. Mode III operation.

2) Mode II Operation: In mode II operation (Fig. 8), the commutation angle is 60 , but commutation is auto-delayed by the angle . There are always three diodes concurrents are ducting, and the (46) to . The current increases from The average dc voltage is computed similarly to mode I by substituting (46) into (34) and (33)

, there are three diodes conducting (1, 2, and 6), and a line-to-line short circuit is imposed on the exciter. . The curDue to symmetry considerations, rents are

, .

(50)

During the rst subinterval, and . Inserting the corresponding part of (50) into (34) and (35)

(47) The commutating resistance now depends on , as well as the VBR -axes inductances. and , and equating Evaluating (35) at the two results yields the following nonlinear equation, which is solved numerically for :

(51)

(48) The expression (42) for mutation, and the average is valid throughout com-axes currents are (49) 3) Mode III Operation: In mode III operation (Fig. 9), commutation is delayed by and . This mode may be split into two subintervals. During , two commutations are taking place simultaneously; four diodes are conducting (3, 1, 2, and 6), and a . three-phase short-circuit is applied to the exciter, so At , the commutation of diode 1 is at a further commutation stage than the commutation of diode 6, which is just , ). At , the starting ( ; commutation of diode 3 to diode 1 nishes the current of diode 6 has increased to . During
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(52) respectively. Substitution of the values of separating angles , into (38), (51), and (52), yields and at the three , and ,

(53) (54)

(55)

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The dc current ows through the (ideally) zero-resistance path formed by the conducting diodes that belong to the same leg (diodes 3 and 6 in this case). The average -axes currents may be found by substituting and in (60), which yields (56) Equation (56) is solved numerically for . Using (53)(55) in conjunction with (33), it can be shown that (57) Analytic formulas for the commutating currents during the rst subinterval may be obtained by solving the linear system formed by (51) and (52) (62) 5) Determining the Mode of Operation: Determination of the mode of operation is the rst step of the averaging subroutine and it guides the algorithm to the correct set of formulas. In to a set of particular, the mode is determined by comparing increasing current values that dene the mode boundaries. At the boundary between modes I and II, both nonlinear reand yield lations (63) At the boundary between modes II and III, the evaluation of and yields (64) At the point of complete short-circuit occurring at the edge of becomes mode III, (59) The average rst subinterval -axes currents may thus be evaluated analytically. After manipulation (65) This mode separation is valid if the boundaries are well oris always true; on the other dered. Note that hand, is satised only for the following range of VBR inductance parameters: (66) (60) are given by The second subinterval -axes currents (42) and may be evaluated by numerical integration (61) 4) Mode IV Operation: Traditionally, a rectiers operation is divided into three distinct modes; these modes naturally occur when the rectier is feeding a passive resistive load. Herein, however, an additional fourth mode (mode IV) needs to be considered. This mode is an extension to mode III, and occurs when the rectiers dc current exceeds the maximum possible current that the ac source alone (i.e., the exciter) may supply. This sitis decreased rapidly uation may arise, for example, when enough, while decays at a much slower pace, constrained by the main alternator eld inductance. During mode IV, a constant three-phase short circuit is im, and at any given instant there posed on the exciter are four diodes conducting (diodes 3, 1, 2, and 6 during the time frame considered in this analysis). The auto-delay and commutation angles are at their maximum possible values ( and ), and the currents become purely sinusoidal, as may be readily seen by analyzing the mode III equations. At rst glance, (66) imposes a signicant constraint on the model parameters. However, in the proposed model, assumes values closer to a leakage inductance, while is dominated by a magnetizing inductance term. Hence, it is generally expected that (66) will be satised for all reasonable inductance values. 6) Solving the Nonlinear Equations: According to the operation mode, a numerical solution to one of the nonlinear equations (41), (48), or (56) needs to be obtained. Recall that a conhas a root if tinuous function . In this case, it sufces to show i) , ii) , and iii) . , it may be For mode I operation, where shown that (67) (68) For mode II, and (69) (70)

(58)

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For mode III,

and

(71)

(72) Hence, a solution to all three equations will always exist. Further algebraic manipulationsnot shown hereinreveal that the solution is unique. It may thus be obtained with arbitrary precision in a nite number of steps using the bisection algorithm [25]. 7) Incorporating Resistive Losses: The models accuracy may be improved by taking into account the resistive losses of the armature and the voltage drop of the rotating rectier diodes. Their incorporation affects the magnitude of the brushless exciter steady-state eld current, as well as the transient behavior of the synchronous generator. In the previous sections, the armature resistance and the diodes were ignored. The rigorous incorporation of these terms in the model would entail considerable modications and possibly would make the algebra intractable. Hence, to simplify the analysis, the computation of the losses is decoupled from the computation of the average dc voltage. Thus, the average voltage applied across the main generator eld is (73) is computed by averaging the drop The average voltage loss across diodes 1 and 6, and the ohmic drop of the armatures resistance, that is (74) A diodes voltagecurrent characteristic is represented herein by the following function: (75) The parameters , , and procedure. D. Model Summary In summary, the algorithm proceeds as follows. 1) Initialize model, assume the material is demagnetized. from (19). 2) Compute using (16), and 3) Determine the direction of change of check for the reversal of direction. In case of direction reversal, add a point to the magnetic history stack. 4) Detect the crossing of a previous reversal point (minor loop closure). In this case, delete two points from the history stack. using one of (10)(13). 5) Compute from (24). 6) Compute 7) Determine from (30). 8) Determine the mode of operation, using (63)(65). 9) If mode I: from (37). a) Compute b) Solve (41) for . c) Compute average currents from (42)(45). are obtained with a curve-tting

Fig. 10. Schematic of experimental setup; the brushless synchronous generator is feeding a nonlinear rectier load.

If mode II: a) Solve (48) for . b) Compute from (47). c) Compute average currents from (42) and (49). If mode III: from (57). a) Compute b) Solve (56) for . c) Compute average currents from (60) and (61). If mode IV: . a) Set b) Compute average currents from (62). from (73) and (74). 10) Compute 11) Compute from (17). from (18). 12) Compute 13) Go to step (2). Steps (3)(5) are specic to the Preisach model. If a linear magnetizing inductance is used instead, set and . V. EXPERIMENTAL VALIDATION The experimental setup (shown in Fig. 10) contains a 59-kW, 600-V, LeroySomer brushless synchronous generator, model LSA 432L7. The exciter is an eight-pole machine, whose eld is rated for 12 V, 2.5 A. The generators prime mover is a Dyne Systems 110-kW, vector-controlled, induction-motor-based dynamometer, programmed to maintain constant rated speed (1800 r/min). The voltage regulator uses a proportional-integral control strategy to maintain the commanded voltage [560 V, line-to-line, fundamental, root mean square (rms)] at the generator terminals; the brushless exciters eld current is controlled with a hysteresis modulator. The generator is loaded with an uncontrolled rectier that feeds a resistive load through an lter. The exciters parameters (listed in Table I) were identied from rotating tests, as described in [26]. The time constant of . The load parameters are , (19) is , and . The remaining components are documented in [27][29]. (In particular, the voltage regulator model and control diagram is described in detail in Appendix D of [29].) The quantities of the internal rotating parts (Fig. 1) are not measurable because slip rings were not installed. Hence, the

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Fig. 12. angle.

Variation of rectication mode, commutation angle, and auto-delay

Fig. 11. Plots of the commanded and actual line-to-line voltage envelope, = computed from the synchronous reference frame voltages v [3(v + v )] . Each of the seven trapezoid shaped blocks is characterized by a different slope (the same for rise and fall) and peak voltage: (1) 20 000 V/s, 560 V; (2)(4) 2000 V/s, 560 V, 420 V, 280 V, respectively; (5)(7) 400 V/s, 560 V, 420 V, 280 V, respectively. [Note: the above voltage values correspond to root mean square (rms) quantities].

TABLE I LIST OF EXCITER MODEL PARAMETERS

model is judged based on terminal quantities only, namely the synchronous generator voltage and the exciters eld current. The simulations were conducted using Advanced Continuous Simulation Language (ACSL) [30]. In this case study, the generators voltage reference is modied according to the prole shown in Fig. 11. This series of commanded voltage steps creates an extended period of significant disturbances and tests the models validity for large-transients simulations. The terminal voltage exhibits an overshoot, which is more pronounced for the faster slew-rate steps. Moreover, due to the exciters magnetically hysteretic behavior, it does not fall to zero. The varying levels of remanence in the exciter machine reect on the magnitude of the voltage and are captured fairly accurately. The standard IEEE model [14] does

not predict hysteretic effects. The higher ripple in the experimental voltage waveform is attributed to slot effects, not incorporated in the synchronous machine model [27]. The corresponding variation of rectication mode is depicted in Fig. 12. Under steady-state conditions, the exciter operates in mode II; however, the auto-delay angle varies with the operating point. During transients, operation in all modes takes place. Therefore, a simple mode I model would have been insufcient to predict this behavior. The observed rapid mode alternations and ripple in the waveforms of and result from the ripple in the main alternator eld current which, in turn, is caused by the rectier load on the main alternator. Simulated versus experimental waveforms of the exciters eld current command are shown in Fig. 13. The rst plot depicts a situation where the controllers current limit (3 A) is reached. Such nonlinear control strategies may not be studied using the IEEE model, which does not calculate the exciters eld current. The proposed model is able to predict both steadystate values and transient behavior. An illustration of hysteretic behavior is shown in Fig. 14. As can be seen, the trajectories move through four steady-state . These points do not points, labeled , , , and lie on a straight line. This complex behavior could not have been captured by a linear magnetization model (where ). In order to initialize the magnetic state, the commanded voltage is stepped from 0 to 560 V and then back to 0 V at 20 000 V/s (not shown in Fig. 11). The exciters ux is forced to a higher-than-normal level (Fig. 14). According to the deletion property, the previous magnetic history is erased. Furthermore, on account of the congruency property, the return path decurve. Hence, pends only on the reversal point on the this initialization procedure is guaranteed to bring the material back to the same state, regardless of the previous operating history. This theoretically predicted behavior was experimentally veried.

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VI. CONCLUSION The described brushless exciter model was successfully evaluated against experimental results. The modeling of all rectication modes, the prediction of the exciters eld current, and the representation of magnetic hysteresis, are important features that are not included in the standard IEEE exciter model. The proposed model is thus a high-delity alternative for large-disturbance simulations, where a computationally efcient exciter representation is necessary. Hence, it is recommended for transient stability studies and voltage regulator design.

REFERENCES
[1] R. W. Ferguson, R. Herbst, and R. W. Miller, Analytical studies of the brushless excitation system, AIEE Trans., Part III-B, Power App. Syst., vol. 79, pp. 18151821, Feb. 1960. [2] E. C. Whitney, D. B. Hoover, and P. O. Bobo, An electric utility brushless excitation system, AIEE Trans., Part III-B, Power App. Syst., vol. 79, pp. 18211828, Feb. 1960. [3] H. W. Gayek, Behavior of brushless aircraft generating systems, IEEE Trans. Aerosp.-Support Conf. Procedures, vol. 1, no. 2, pp. 594621, Aug. 1963. [4] , Transfer characteristics of brushless aircraft generator systems, IEEE Trans. Aerosp., vol. 2, no. 2, pp. 913928, Apr. 1964. [5] T. Zouaghi and M. Poloujadoff, Modeling of polyphase brushless exciter behavior for failing diode operation, IEEE Trans. Energy Convers., vol. 13, no. 3, pp. 214220, Sep. 1998. [6] M. A. Abdel-Halim and C. D. Manning, Modeling a laminated brushless exciter-alternator unit in all modes of operation, Proc. Inst. Elect. Eng. B, vol. 138, no. 2, pp. 8794, Mar. 1991. [7] A. Darabi and C. Tindall, Brushless exciter modeling for small salient pole alternators using nite elements, IEEE Trans. Energy Convers., vol. 17, no. 3, pp. 306312, Sep. 2002. [8] T. H. Warner and J. G. Kassakian, Transient characteristics and modeling of large turboalternator driven rectier/inverter systems based on eld test data, IEEE Trans. Power App. Syst., vol. PAS-104, no. 7, pp. 18041811, Jul. 1985. [9] P. W. Franklin, Theory of the three phase salient pole type generator with bridge rectied outputparts I and II, IEEE Trans. Power App. Syst., vol. PAS-91, no. 5, pp. 19601975, Sep./Oct. 1972. [10] W. J. Bonwick and V. H. Jones, Performance of a synchronous generator with a bridge rectier, Proc. Inst. Elect. Eng., vol. 119, no. 9, pp. 13381342, Sep. 1972. [11] , Rectier-loaded synchronous generators with damper windings, Proc. Inst. Elect. Eng., vol. 120, no. 6, pp. 659666, Jun. 1973. [12] W. J. Bonwick, Characteristics of a diode-bridge-loaded synchronous generator without damper windings, Proc. Inst. Elect. Eng., vol. 122, no. 6, pp. 637642, Jun. 1975. [13] I. Jadric, D. Borojevic, and M. Jadric, Modeling and control of a synchronous generator with an active DC load, IEEE Trans. Energy Convers., vol. 15, no. 2, pp. 303311, Mar. 2000. [14] Recommended Practice for Excitation System Models for Power System Stability Studies, IEEE Standard 421.5, Mar. 1992. [15] S. M. L. Kabir and R. Shuttleworth, Brushless exciter model, Proc. Inst. Elect. Eng. C, vol. 141, no. 1, pp. 6167, Jan. 1994. [16] S. D. Sudhoff and O. Wasynczuk, Analysis and average-value modeling of line-commutated converter-synchronous machine systems, IEEE Trans. Energy Convers., vol. 8, no. 1, pp. 9299, Mar. 1993. [17] R. L. Witzke, J. V. Kresser, and J. K. Dillard, Inuence of A-C reactance on voltage regulation of 6-phase rectiers, AIEE Trans., Part I, Commun. Electron., vol. 72, pp. 244253, Jul. 1953. [18] F. Preisach, ber die magnetische Nachwirkung, Zeitschrift fr Physik, vol. 94, pp. 277302, Mar./May 1935. [19] E. Della Torre, Magnetic Hysteresis, 1st ed. Piscataway, NJ: IEEE Press, 1999. [20] Members of the Staff of the Department of Electrical Engineering Massachusetts Institute of Technology, Magnetic Circuits and Transformers, 15th ed. Cambridge, MA: MIT Press, 1965. [21] E. P. Dick and W. Watson, Transformer models for transient studies based on eld measurements, IEEE Trans. Power App. Syst., vol. PAS100, no. 1, pp. 409419, Jan. 1981.

Fig. 13. Plots of the commanded exciter eld current i to the seven command steps of Fig. 11.

. These correspond

Fig. 14. Illustration of hysteresis. The depicted transient corresponds to the rst trapezoid of Fig. 11. The upper right-hand plot depicts the magnetization (i ); component of the magnetizing ux versus magnetizing current  the upper left and lower right plots depict  (t) and i (t), respectively. The i (t) plot has been rotated 90 .

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[22] J. G. Frame, N. Mohan, and T. Liu, Hysteresis modeling in an electromagnetic transients program, IEEE Trans. Power App. Syst., vol. PAS101, no. 9, pp. 34043412, Sep. 1982. [23] D. C. Jiles and D. L. Atherton, Ferromagnetic hysteresis, IEEE Trans. Magn., vol. MAG-19, no. 5, pp. 21832185, Sep. 1983. [24] P. C. Krause, O. Wasynczuk, and S. D. Sudhoff, Analysis of Electric Machinery. New York: IEEE Press, 1995. [25] W. Gautschi, Numerical Analysis, an Introduction, 1st ed. Boston, MA: Birkhuser, 1997. [26] D. C. Aliprantis, S. D. Sudhoff, and B. T. Kuhn, Genetic algorithmbased parameter identication of a hysteretic brushless exciter model, IEEE Trans. Energy Convers., to be published. [27] , A synchronous machine model with saturation and arbitrary rotor network representation, IEEE Trans. Energy Convers., vol. 20, no. 3, Sep. 2005. , Experimental characterization procedure for a synchronous ma[28] chine model with saturation and arbitrary rotor network representation, IEEE Trans. Energy Convers., vol. 20, no. 3, Sep. 2005. [29] D. C. Aliprantis, Advances in electric machine modeling and evolutionary parameter identication, Ph.D. dissertation, Purdue University, West Lafayette, IN, Dec. 2003. [30] Advanced Continuous Simulation Language (ACSL) Reference Manual, AEgis Technologies Group, Inc., Huntsville, AL, 1999.

Scott D. Sudhoff (SM01) received the B.S. (Hons.), M.S., and Ph.D. degrees in electrical engineering from Purdue University, West Lafayette, IN, in 1988, 1989, and 1991, respectively. Currently, he is a Full Professor at Purdue University. From 1991 to 1993, he was Part-Time Visiting Faculty with Purdue University and as a Part-Time Consultant with P. C. Krause and Associates, West Lafayette, IN. From 1993 to 1997, he was a Faculty Member at the University of Missouri-Rolla. He has authored many papers. His interests include electric machines, power electronics, and nite-inertia power systems.

Dionysios C. Aliprantis (M04) received the electrical and computer engineering diploma from the National Technical University of Athens, Athens, Greece, in 1999 and the Ph.D. degree in electrical and computer engineering from Purdue University, West Lafayette, IN, in 2003. Currently, he is serving in the armed forces of Greece. His interests include the modeling and simulation of electric machines and power systems, and evolutionary optimization methods.

Brian T. Kuhn (M93) received the B.S. and M.S. degrees in electrical engineering from the University of Missouri-Rolla in 1996 and 1997, respectively. He was a Research Engineer at Purdue University, West Lafayette, IN, from 1998 to 2003. Currently, he is a Senior Engineer with SmartSpark Energy Systems, Inc., Champaign, IL. His research interests include power electronics and electrical machinery.

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