PHENOMENA CAUSED BY A MISFIRE FAULT IN AN HVDC

CONVERTER VALVE AND THE IMPACT ON A TURBINE GENERATOR

Chi-Hshiung Lin
Department of Electrical Engineering
Kao Yuan University
Kaohsiung County, 82151,Taiwan R.O.C.
Key Words: HVDC link, turbine generator, misfire, commutation failure,
torsional vibration.
ABSTRACT
In this paper, we make a comparison between two faults in an HVDC
link. One is a misfire fault in the rectifier valve. The other is a misfire fault
in the inverter valve. It is found by a dynamic simulation analysis that the
resulting phenomena are different. For a misfire fault in a rectifier valve, a
power disturbance on the rectifier side of system frequency will be induced,
which will induce, in a turbine generator neighboring the inverter station, a
significant torsional torque if any of the natural torsional modes were
invaded. As to a misfire fault in an inverter valve, it tends to cause
commutation failure in converters and to collapse the HVDC link. Once
there is a collapse in the HVDC link, a relatively serious impact will be
made on both the rectifier and inverter sides of a generator.

I. INTRODUCTION
Torsional vibrations in large-scale steam turbine genera-
tors have been extensively discussed in many research works.
The studies were primarily focused on sub-synchronous
93
Journal of Technology, Vol. 23, No. 2, pp. 93-100 (2008)
P23
94

50Hz
Network
Rectifier
AC
Filter
Rectifier
Controller
60Hz
Network
Inverter
Inverter
Controller
AC
Filter
GEN
LP2R LP2F LP1R LP1F
B2R B2F
B1R B1F
HP
(
3
0
0
k
m
)

I dc-ref
V dc-meas
I dc-ref-lim
I dc-desired
VDCOL
I dc
1
1 + sTC
I dc-ord
I dc-meas
I dc-ord Deter min ation
I dc-marg
kp
ki
s
H - LIM
L - LIM
Current Regulator
I
(1 + sTV) (1 + sTF)
Vdc-meas
V dc-ref
dV
Function
H - LIM
Voltage Regulator
L - LIM
kp

+
ki
s
a max
a min
Min
Firing Angle Computation Firing Angle Computation
a min
a max
I dc-meas
I dc-ref-lim
I dc-marg
V dc-marg
a ord
Voltage Dependent Current Order Limiter Function
to Pulse Generator I dc-ref-lim (pu)
I dc-ref
V dc-meas (pu)
1.0I dc-ref
0.3I dc-ref
0.18 0.6
Rectifier Operation
I dc-ref = 1pu
V dc-ref = 2pu
a max = 165deg
a min = 5deg
Inverter Operation
I dc-ref = 1pu
V dc-ref = 1pu
a max= 165deg
a min = 92deg
I dc-marg= 0.1pu
V dc-marg = 0.05pu
Time Constant
TC = 0.0003 sec
TV= 0.001 sec
TF = 0.0001 sec

Current Regulator
kp = 45 deg/pu
ki = 4500 deg/ pu/ sec
Voltage Regulator
kp = 35 deg / pu
ki = 2250 deg / pu / sec











Fig.2 Converter control model












Fig.1 System studied

resonance (SSR) arising from series compensation [1], fatigue
damage to turbine shafts caused by network faults and
switching [2] and countermeasures, utilizing power electronic
equipment to modulate the effective and/or reactive power to
augment system damping, to alleviate torsional vibrations [3].
In addition, torsional interaction between turbine
generators and HVDC links has also been gradually noticed
[4]. After the proposal for some high power HVDC links to
interconnect the East and West European Grid Systems, even
more researchers have devoted work to this subject. For
example, R. Yacamini identified the cause of interaction with
HVDC converters which induced sub-synchronous resonance
[5]. Following that, T. J. Hammons and his colleagues did a
lot of studies in depth on some practical live operation
systems in Europe [6-8].
As for the behavior corresponding to faulty situations in
HVDC systems, it has rarely been done. W. Shi and M. R.
Iravani have investigated the impact causing by HVDC line
faults [9]. Further, S. O. Faried and A. M. El-Serafi have done
some studies about converter station faults [10]. However, the
studies didnt include the inverter unit. Since their scopes
were confined to the rectifier side alone, the effect of
interaction between the rectifier and inverter has not been
considered yet. Thus further studies, as in this paper, are
necessary.
II. SYSTEM STUDIED
1. System Descriptions
P24
95

J
L
P
1
F

J
L
P
1
R

J
L
P
2
F

J
L
P
2
R

J
G
E
N

J
R
E
C

J
E
X
C

J
H
P

KHP/LP1F KLP1R/LP2F
KLP2R/GEN
DHP/LP1F DLP1R/LP2F DLP2R/GEN
DHP DLP1F DLP1R DLP2F DLP2R DGEN
JB1F JB1R JB2F JB2R
KB1F KB1R KB2F
KB2R
DB1F DB1R DB2F DB2R
KLP1F/LP1R KLP2F/LP2R KGEN/REC KREC/EXC
DLP1F/LP1R DLP2F/LP2R DGEN/REC DREC/EXC
DREC DEXC
The system studied is an asynchronous HVDC system as
shown in Fig. 1, which is used for academic studies by
Hydro-Quebec [11]. A 1,000MW (500 kV, 2 kA) dc
transmission line is used to transmit power from a 10,000
MVA (345 kV, 50 Hz) network to a 5,000MVA (500 kV, 60
Hz) network. The converter configuration is typical, including
a 12-pulse rectifier and a 12-pulse inverter. The dc
transmission line is 300 km, with 0.5 H of smoothing reactor
on each side. The reactive power required by the converters is
provided by a set of filters (capacitor bank plus 11
th
, 13
th
and
high-pass filters, total 600 MVARs on each side). In addition
to that a 950 MW turbine generator unit is especially added to
the 60 Hz side of network for studies. The generator is a
4-pole/1800 rpm machine with a voltage rating of 23.75 kV,
which is driven by a steam turbine unit and supplies power to
the converter bus via a step-up transformer (with a power
rating of 1057 MVA) and two parallel transmission lines. An
IEEE TYPE-1 AVR regulates the generator terminal voltage.
2. Converter Control Model
The schematic diagram, including the parameters, of the
converter control model is shown in Fig.2. Both the rectifier
and the inverter have a voltage and a current regulator,
operating in parallel. Four control modes are available for the
converters: 1-current control; 2-voltage control; 3-alpha
minimum limitation; 4-alpha maximum limitation. In [12] and
[13], detailed model derivations can be found.
For the master control of a rectifier, the current order is
first determined, with constraints being imposed to keep the
current within the maximum and minimum limits. The
maximum current is determined by the Voltage Dependent
Current Order Limiter (VDCOL) that is implemented for
helping to recover from faults. The VDCOL automatically
reduces the reference current set point when the dc line
voltage decreases (as for example, during a severe ac fault).
The PI type of current regulator accounts for the constant
current control. If the current regulator doesnt hit any limits,
the rectifier is operating in the current control mode. In case it
hits the low limit the rectifier turns to operate in the alpha
minimum limitation mode. In case it hits the high limit the
firing angle will be larger than the one computed by the
voltage regulator, thus the control mode will be changed to
the voltage control mode.
For the master control of an inverter, the action is
reversed. Normally, the inverter operates in the voltage
control mode. It will switch to the current control mode when
the rectifier is operated in the alpha minimum limitation mode
and is unable to maintain the desired dc current.
Table 1 Parameters of the turbine model
Rotor Torque
Distribution
a
Inertia
Constant
b
Damping
Coefficient
c
Stiffness
Coefficient
HP 0.31 0.1787 0.00180 -
- - - - 144.15
LP1F 0.1445 0.8510 0.00023 -
- - - - 1595.0
LP1R 0.1445 0.8432 0.00021 -
- - - - 206.00
LP2F 0.1445 0.8545 0.00021 -
- - - - 1584.9
LP2R 0.1445 0.8679 0.00021 -
- - - - 325.28
GEN - 1.1616 0.00012 -
- - - - 117.16
REC - 0.00334 0.00000 -
- - - - 1.61
EXC - 0.00236 0.00000 -
B1F 0.028 0.0344 0.00017 36.2
B1R 0.028 0.0344 0.00017 36.2
B2F 0.028 0.0344 0.00017 36.2
B2R 0.028 0.0344 0.00017 36.2
(a: MW-s/MVA, b: MW-s/MVA-rad, c: MW/MVA-rad)







Fig.3 Turbine model
3. Turbine Model
The steam turbine unit studied, including a high-pressure
stage (HP) and two low-pressure stage (LP1, LP2) steam
turbines, is a close-coupled and cross-compound reheat unit
that operates at a rotational speed of 1800 rpm. Each
low-pressure turbine has F and R spindles, including eleven
rows of blades with a twisting structure and a serrated type of
root. The first nine rows of blades sheath the disc with
shrouds, whereas the last two rows of blades are in a
freestanding structure.
It is very difficult to characterize such a complex turbine
generator structure, yet it has been commonly accepted to use
the lumped mass-damping-spring model for studies on
sub-synchronous resonance (SSR) and torsional vibrations.
The model we adopted is shown in Fig. 3, of which the
parameters are listed in Table 1. The appendix describes
briefly the origin of the model and parameters.
According to the lumped mass-damping-spring model,
P25
96
Table 2 Eigen-values of the turbine model
Mode No. Real Imaginary Frequency (Hz)
1 -1.9562 1806.7689 287.70
2 -0.0338 627.4918 99.92
3 -0.0290 613.0765 97.62
- -0.0557 - -
4 -0.0485 104.7038 16.67
5 -0.0328 214.0948 34.09
6 -1.3538 252.4016 40.19
7 -0.4143 285.4803 45.46
8 -0.0706 325.8566 51.89
9 -0.0586 323.2024 51.47
10 -0.0552 312.7360 49.79
11 -0.0569 312.8971 49.82

the dynamic equations can be derived. For an individual
section (e.g. Rotor-j section), with blade model included, they
can be expressed as follows:
j j
p = (1)
( )
, 1 1, , 1 1 1, 1
* *
j j j j j j j j j j j j j j
p D D D D D
+ + +

= + + + +

( )
, 1 1, , 1 1 1, 1
* * * /
B B B
j j j j j j j j j j j j j j j
K K K K K K J
+ + +

+ + + + +
`
)

(2)
B
j
B
j
p = (3)
( )
B
j
B
j
B
j
B
j
B
j j
B
j
B
j
B
j
J / * D * K * K p + = (4)
where J, K, D represent respectively the inertia, stiffness and
damping of rotor or of shaft. The and are angular
displacement and angular velocity respectively. For turbine
rotors, is the torque delivered by the turbine. The torque
is determined by the opening of the main control valves (CVs)
and reheater/intercepter valves (IVs) which are dependent on
turbine governor action. For the generator rotor, is the
electromagnetic torque delivered to the power system. As to
entries with superscript B, they are the blade variables or
parameters.
By making an eigen-analysis of the turbine model, the
natural torsional modes can be obtained as in Table 2. Eleven
modes are present, of which the former seven belong to the
shaft modes and the latter four to the blade modes.
Particularly noteworthy are the blade modes, of which the
frequencies are close to 50Hz (i.e. the system frequency of the
sending end of the network). We will find later it will be
harmful to blade health, though the frequency limitations on
natural modes for a 60Hz machine are not violated.
III. SIMULATION ANALYSIS FOR A
MISFIRE FAULT IN A RECTIFIER VALVE
A misfire is when a valve fails to take over conduction at
the programmed instant although its voltage has the correct
polarity. For a single-valve-misfire fault, the normal valve
conduction sequence of the rectifier will be disturbed once in
a cycle, and reappear in every cycle if the fault is sustained.
As a result, a harmonic current in the rectifier side of system
frequency (
R
f ) will be induced on the dc line. When the dc
line current flows through the inverter unit to the inverter side
of the ac network (with the system frequency of
I
f ), it will be
modulated by the switching function of an inverter.
Complicated harmonics are thus produced in the inverter side
of the ac currents. By using the modulation theorem, the
frequency of the most important harmonic will be equivalent
to
I R
f kf . When this harmonic current is injected into a
generator, a pulsation disturbance in the turbine generator
rotor power will be induced. Since the reference frame
transformation from stator to rotor is the same as a
rectification process, the frequency of such a power
disturbance will be equivalent to
I I R
f f kf . Since
R
f
differs from
I
f for an asynchronous HVDC link, such a
frequency is not a characteristic one. So, it is possible to
invade the natural torsional modes of a turbine generator.
For the system studied, the induced frequency is 50 Hz
for k = 1 according to the above. That nearly invades the blade
modes of the turbine generator studied. So the torsional torque
amplification effect will be significant in the blade sections.
To examine that, a transient simulation is made. It is
assumed that the firing pulses to valve 6 of the rectifier unit
are missing at 7.0 s and are recovered after 30 cycles.
1. Converter Parameters
In Fig. 4, one sees the firing angles for the rectifier and
inverter units (alpha-rec and alpha-inv), as well as the dc line
current (i
dc-inv
) and its spectrum. In steady state, the rectifier is
operated in the current control mode (the firing angle is 13.5
degrees), and the inverter in the voltage control mode (the
firing angle is 142 degrees). During a fault, the rectifier
changes between the current control mode and the alpha
minimum limitation mode (the firing angle falls to 5 degrees
and oscillates), and the inverter changes between the voltage
control mode and the current control mode (the firing angle
swinging between 125 and 140 degrees). The dc line current
drastically drops at the fault application and then oscillates. It
can be observed from the spectrum that the pulsation
frequency includes 50 Hz, 100 Hz, 150 Hz, etc, just as
P26
97

150
140
130
120
30
20
10
0
50
0
-50
-100
1.4
1.2
1
0.8
0.6
0.4
a
l
p
h
a
-
r
e
c

(
d
e
g
.
)

a
l
p
h
a
-
i
n
v

(
d
e
g
.
)

i
d
c
-
i
n
v

(
p
u
)

P
o
w
e
r

S
p
e
c
t
r
a
l

D
e
n
s
i
t
y

6 7 8 9 10
time (sec)
6 7 8 9 10
time (sec)
7 7.5 8
time (sec)
0 100 200 300
frequency (Hz)
50
100
150
200

60
40
20
0
-20
-40
20
10
0
-10
-20
50
0
-50
i
a
-
r
e
c

(
p
u
)

P
o
w
e
r

S
p
e
c
t
r
a
l

D
e
n
s
i
t
y

P
o
w
e
r

S
p
e
c
t
r
a
l

D
e
n
s
i
t
y

6 7 8 9 10
time (sec)
0 100 200 300
frequency (Hz)
7 7.5 8
time (sec)
0 100 200 300
frequency (Hz)
20
10
0
-10
-20
i
a
-
i
n
v

(
p
u
)

50
100
150
200
250
10
40 110
160
210

2
1
0
-1
-2
50
0
-50
-100
0.3
0.2
0.1
0
-0.1
-0.2
i
g
a

(
p
u
)

d
P
e

(
p
u
)

P
o
w
e
r

S
p
e
c
t
r
a
l

D
e
n
s
i
t
y

6 7 8 9 10
time (sec)
0 100 200 300
frequency (Hz)
6 7 8 9 10
time (sec)
0 100 200 300
frequency (Hz)
P
o
w
e
r

S
p
e
c
t
r
a
l

D
e
n
s
i
t
y
20
0
-20
-40
-60
-80

0.05
0
-0.05
0.05
0
-0.05
0.05
0
-0.05
0.05
0
-0.05
d
P
b
l
a
d
e
-
B
2
F

(
p
u
)

6 7 8 9 10
time (sec)
6 7 8 9 10
time (sec)
d
P
b
l
a
d
e
-
B
1
F

(
p
u
)

d
P
b
l
a
d
e
-
B
1
R

(
p
u
)

d
P
b
l
a
d
e
-
B
2
R

(
p
u
)

6 7 8 9 10
time (sec)
6 7 8 9 10
time (sec)












Fig. 4 Converter firing angles and the dc line current
under a misfire fault









Fig. 5 Converter ac currents under a misfire fault

predicted.
In Fig. 5, both the phase-A currents of the rectifier and
inverter (i
a-rec
and i
a-inv
) as well as their spectrums are shown.
It can be seen that, for the rectifier side of the ac current, the
harmonic frequencies are in integer multiples of 50 Hz. These
are characteristic for a 50 Hz system, so we are not surprised.
However, for the inverter side of the ac current, the 10 Hz, 40
Hz, 110 Hz, 160 Hz, 210 Hz, etc, harmonics can be found.
One should note that these harmonics are non-characteristic
ones for a 60 Hz system, which would not be induced in a
pure ac system when subjected to a line fault.
2. Generator Parameters
In Fig. 6, the generator phase-A current (i
ga
) and the
generator electric power error (dPe) are shown on the left, and
their spectrums are shown on the right. One can find that the
non-characteristic harmonics on the inverter side of the ac
currents are actually transmitted to the generator end. And it
induces the sub- (50Hz) and super-synchronous (100Hz and
150Hz) disturbances in the generator electric power, which










Fig. 6 Generator current and electric power error under a
misfire fault










Fig. 7 Blade torsional powers under a misfire fault

in frequency, the same as the dc line harmonic currents. The
power disturbance induced is just about 0.4pu in peak-to-peak
value, far smaller than the one induced by a line fault.
However, it is significant because it contains periodic
components in frequencies different from the ones due to a
local transmission line fault.
3. Turbine Parameters
The transient responses of turbine blades, shown in Fig.
7, are focused because their mode frequencies are neighboring
the excitation frequency. It can be observed that the maximum
torsional powers in peak-to-peak value are 0.08 pu, 0.09 pu,
0.085 pu and 0.07 pu, respectively, for the B1F, B1R, B2F and
B2R blades (note: the torsional power is equivalent to the
torsional torque in pu value). These torsional powers are
relatively large as compared to their normal transmitting
power of 0.0253 pu, yet are still smaller than the ones caused
by a three-phase-to-ground fault. However, it is believed that
if the mode frequencies were even closer to 50 Hz, the
torsional torques would be amplified to a level capable of
P27
98

180
160
140
120
100
20
10
0
-10
-20
150
100
50
0
3
2
1
0
-1
i
d
c
-
i
n
v

(
p
u
)

6 7 8 9 10
time (sec)
6 7 8 9 10
time (sec)
a
l
p
h
a
-
r
e
c

(
d
e
g
.
)

a
l
p
h
a
-
i
n
v

(
d
e
g
.
)

i
a
-
i
n
v

(
p
u
)

6 7 8 9 10
time (sec)
6 7 8 9 10
time (sec)
0.8
0.6
0.4
0.2
0
-0.2
-0.4
0.02
0.01
0
-0.01
-0.02
0.4
0.2
0
-0.2
-0.4
d
P
s
h
a
f
t
-
L
P
2
R
/
G
E
N

(
p
u
)

6 7 8 9 10
time (sec)
6 7 8 9 10
time (sec)
i
g
a

(
p
u
)

d
P
e

(
p
u
)

d
P
b
l
a
d
e
-
B
2
F

(
p
u
)

6 7 8 9 10
time (sec)
6 7 8 9 10
time (sec)
2
1
0
-1
-2









Fig. 8 Converter responses under a misfire fault in an
inverter valve










Fig. 9 Turbine generator responses under a misfire fault
in an inverter valve

damaging the blade structure.
It is noteworthy that the faulty rectifier is more than
300km away from the turbine generator. In general, even a
three-phase-to-ground fault might not impose such a serious
impact on a generator several hundred kilometers away for a
pure ac system.
IV. SIMULATION ANALYSIS FOR A
MISFIRE FAULT IN AN INVERTER
VALVE
In essence, the HVDC link is very sensitive to the
inverter side of faults [14, 15]. Usually, an inverter side ac
line fault might result in commutation failure on converters,
depending on the severity of the fault. Commutation failure is
when the transfer of current from the off-going valve to the
on-going valve is not successful. However, it is still unknown
whether a misfire fault in an inverter valve might cause the
commutation failure or not. In order to examine that, the
lightest fault condition is considered, i.e. a single-valve-
misfire fault with just once misfire. To do that, it is assumed
that the firing pulse for valve 6 of the inverter was missing
from 7.0 to 7.01 s, the valve thus misfired once.
In Fig. 8, the responses, including the firing angles of
rectifier and inverter and the inverter side of dc and ac
currents, are demonstrated. It is important to note that the
commutation failure actually occurred. Thus it can be seen
that one cannot disregard any slight faults in the inverter unit.
At the fault application, the rectifier is pushed to the inversion
operation (with the firing angle increasing to 120 degrees),
and the inverter changes its control mode to the alpha
maximum limitation (with the firing angle keeping at 165
degrees). The dc and ac currents break down as a result, and
thus the HVDC link collapses. Therefore, the phenomenon is
wholly different from the one due to a misfire fault in a
rectifier valve. It can be deduced that a turbine generator will
be stressed in a different manner.
In Fig. 9, the transient responses of the generator
(including the phase-A current and electric power) and turbine
(including the torsional powers of the LP2R/GEN shaft and
the B2F blade), are shown. It can be seen that no periodic
electric power disturbances are produced. However, the
collapse in the HVDC link induces a significant transient
disturbance (about 0.9 pu in peak-to-peak value). As a result,
relatively large torsional powers are induced in the shaft
(about 0.7 pu) and blade (about 0.02 pu). Since the collapse of
an HVDC link affects both ends of a HVDC link, one could
well imagine that the generators on the rectifier side would
also be disturbed simultaneously.
By comparing the generator electric power disturbances
induced by the rectifier and inverter misfire faults, which are
0.4 pu vs. 0.9 pu in peak-to-peak value, it can be found an
inverter fault is more serious than a rectifier fault for a turbine
generator if one does not consider the torque amplification
effect. Yet, both are still at a level smaller than the one
induced by an ac line fault.
V. CONCLUSIONS
According to the studies, the resulting phenomena are
different for misfire faults in rectifier valves and in inverter
valves. The impact on a turbine generator is also different for
the two faults.
1. A misfire fault in a rectifier valve can induce a periodic
P28
99
power disturbance, on the rectifier side of the system
frequency, in a turbine generator near an inverter station.
The torsional torque amplification effect will be significant
if the turbine generator natural modes were invaded.
2. A misfire fault in an inverter valve can cause commutation
failure in converters, and collapse the HVDC link. Once the
HVDC link collapses, a significant transient power
disturbance will be induced on both sides of a turbine
generator.
APPENDIX
The turbine generator unit studied belongs to the 3
rd

nuclear plant in Taiwan. The unit had an incident of blade
damage in 1985. Later on, Taiwan Power Company carried
out a series of studies including testing, modeling and
simulation. ABB was commissioned to conduct a torsional
test to verify and adjust the mass-damping-spring model in
1992, and GE repeated it in 1996 [16].
1. Torsional Test
The GE testing included pre-test on-line monitoring, a
ramp test from 800 to 1950 rpm, two mini-sweeps from 1650
to 1950 rpm, one with and one without excitation,
synchronization slightly out of phase, and post-test
monitoring during a normal startup. From the testing results,
even the 2
nd
HP mode, the 2
nd
Generator mode and the 2
nd
L-0
blade mode can be observed. However, only the lowest order
mode is included in the model in consideration of the
concerned frequency responses, which ranged from 0 to 300
Hz.
2. Model Adjustment
In order to match with the field measured modal
dampings and frequencies, the mass-damping-spring model
parameters have been adjusted by both the model damping
and model frequency adjustments [17]. Suppose the turbine
generator dynamics in a mass-damping-spring model can be
transformed into a modal model comprising a decoupled set
of equations by using the linear transformation [ ] Q .
To adjust the mass-damping-spring model for dampings
from field measurements of modal dampings, the dashpot
dampings can be computed as follows:
[ ] [ ] [ ]
1
1
'
2
T
D Q J Q

| |
( ( =
|

\ .
(A.1)
where
[ ] D =The damping matrix of the mass-damping-spring model
[ ]
'
J =The matrix of modal moment of inertia
[ ] =The matrix of modal damping coefficients
If the measured frequencies are different from the
computed values of a mass-damping-spring model, the inertia
adjustment proceeds as
[ ] [ ]
1
1
' T
J Q J Q

( ( =

(A.2)
where
[ ] J =Incremental inertia matrix of the mass-damping-spring
model
[ ]
'
J =The mismatch matrix of modal inertia
The modal inertia mismatch corresponding to the ith
mode frequency can be written as
mi
mi '
i
'
i
J 2 J

= (A.3)
where
mi
is the modal natural frequency for ith mode
The model damping and frequency adjustments are
iterated until the desired accuracy is achieved.
SYMBOL
D
[ ] D
I
f
R
f
J
[ ]
'
J
K
[ ] Q

[ ]


[ ] J
[ ]
'
J
damping
damping matrix
inverter side of system frequency
rectifier side of system frequency
inertia
matrix of modal moment of inertia
stiffness
linear transformation matrix
torque
matrix of modal damping coefficients
angular displacement
angular velocity
incremental inertia matrix
mismatch matrix of modal inertia
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