IEEE Transactions on Energy Conversion, Vol. 9, No.

2, June 1994

270

Identification of Synchronous Machines Parameters Using Broadband excitations

K. Beya',

R. Pintelon', member IEEE

J. Schoukens', member IEEE

B. Mpanda-Mabwe"'

P. Lamire**
M. Delhaye"'

P. Guillaume', member IEEE

*Vrije UniversiteitBrussel, Department ELEC, Pleinlaan 2,1050 Brussels (Belgium)

**Vrije UniversiteitBrussel, Department ETEC
*** Facultt! Polytechnique lie Mom

Abstract : This paper describes a newly developed

measurement and identification technique for
synchronous machine parameters. The first part
presents a technique to generate periudic broadband
power signals with a controllable amplitude spectrum
using a classic rectifier bridge. These signals are
well suited to measure the frequency response
function of large power systems using the fast
Fourier transform. The broadband measurements
are compared with the classical mono frequency
measurements. The second part presents a
frequency domain identification method taking into
account the uncertainty on all the current and voltage
measurements, and giving a confidence interval on
the estimated synchronous machine parameters. As
an illustration the d- and q-axis model of a 1.905
kvM220 V micro-machine is identified.

periodic signal consisting of a sum of harmonically related

frequencies

Keywords: power excitation, broadband signals, frequency

response measurements, system identification, standstill
tests, synchronous machine.

I n the second part of the paper, these measurement

techniques are used to identtfy the d- and q-axis models of a
synchronous micro-machine (1.905 kVA / 220 V). The
number of papers recently published shows the continuing
interest in the area of synchronous machine modeling 11, 2,
3, 8, 13, 14, 15, 21 and 251. Either the modeling is based on
s~mdstillfrequency testing 13, 8, 13, 15 and 251 or on shortcircuit testing 11, 2, 14 and 211. From these measurements the
parameters of the q- and d-axis operational impedances are
estimated using time domain [3, 14 and 211 or frequency
domain identification techniques [8,13 and 251. Common to
all those identification techniques is that they do not take into
account the disturbing measurement noise on all the
measurements, and that they do not include a systematic
model selection procedure. The need for good starting
values makes some algorithms non-selfstarting [21 and 251.

1. INTRODUCTION

The iiieasurenient of the characteristics of linear dynamic

systems is easily conducted using steady-state frequency
response techniques. Often the studied system is excited
frequency by frequency, scanning the frequency band of
interest. In 1121 recommendations are given to perform
standardized mono frequency measurements to obtain the
standstill frequency response of a synchronous machine.
IJsually this procedure takes a very long time to be
completed, especially when systems with large time
constants are studied because it is necessary to wait until the
transients have disappeared after each frequency step. To
wercorne this drawback, broadband excitations are applied,
measuring the system at multiple frequencies at the same
time. Because the measurement time to get a specified
accuracy depends on the signal-to-noise ratio (S/N ratio) of
the measurements, it is very important to select excitations
with a high S/N ratio on all frequencies. In (23, 241 a study of
10 different signals was made, comparing their ability to be
used as excitation signals for fast Fourier transform (FFT)
based measurements. Taking into account the flexibility to
generate signals with an arbitrary amplitude spectrum
(control the S/N ratio) and the possibility to avoid leakage
the multisine turned out to be superior. The multisine s(t) is a
93 SM 351-7 EC
A paper recommended and approved
by the IEEE Electric Machinery Committee of the
IEEE Power Engineering Society for presentation
at the IEEE/PES 1993 Summer Meeting, Vancouver, B.C.,
Canada, July 18-22, 1993. Manuscript submitted
August 5, 1991; made available for printing
April 5, 1993.
PRINTED IN USA

F
SO) = k= 1 Ak cos(akt + (Ik)

ik
a=-

k T

with ik an integer and T the basic period of the multisine. The

amplitudes Ak are chosen proportional to the desired
amplitude spectrum in order to maximize the S/N ratio of
the measurements. By a proper selection of the phases (Ik it
is possible to reduce the crest factor of the signal [ll, 241.
This will allow a maximum energy injection in the system for
a specified maximum peak value of the excitation signal. So,
the multisine excitation allows a broadband measurement of
the system on a set of selected frequencies with a maximum
accuracy.

We have opted for standstill frequency response

measurements since they are likely to give more accurate
results in the analysis of small disturbances around an
operating point than it can be expected by standard short
circuit results [71. The reader is referred to [7, 121 for a
thorough discussion of the application and limitations of
standstill frequency response testing. The approach
presented in our paper allows to identlfy the q- and d-axis
operational impedances at operational saturation conditions.
The frequency domain maximum likelihood estimator (MLE)
used in this paper takes into account the noise on all the
measurements, generates automatically starting values,
provides confidence intervals on the estimates and includes a
model selection procedure.
The general outline of the paper consists of two parts. The
first part deals with the generation of broadband excitation
signals (the cycloconvertor as an amplifier, experimental
setup, experimental verification) while the second part is
devoted to the identification problem (specification of the
measurement conditions, basic formulae of the identification
method, illustration on a 1.905 kVA/220 V synchronous
micro-machine)

0885-8969/94/$04.00 0 1993 IEJX

27 1
sin a(t) = sin [Ks(t) + q13

11. THE CYCLOCONVERTOR AS AN AMPLIFIER

Generally, a multisine signal can be generated using a

programmable wave generator. Such signal can be used to
excite directly the studied system when low voltage and
current are sufficient. When high currents are needed, it is
necessary to amplify the signal before applying it to the
device under test. In this paper it will be shown that a
.thyristor bridge rectifier can be used as an amplifier in the
frequency range 0-150 Hz. Also higher frequencies can be
generated due to the non-linear behavior of the bridge
which creates higher harmonics.
The output voltage of a thyristor bridge rectifier with
sinusoidal varying firing angle control is similar to the output
voltage of a cycloconvertor. For a cycloconvertor,
approximate expressions of the output voltage are available
in 1171. The output voltage of an ideal cycloconvertor in the
circulating current mode can be described as

with o being the angular frequency of the mains and a(t) the
firing &gle phase modulating function. In expression (1) all
switching effects and other non-idealities are neglected. An
important property of the excitation signals is their periodic
behavior, avoiding leakage problem when their spectrum is
calculated using a discrete Fourier transform (DFT). It is not
sufficient to choose a(t) periodic to get a periodic output
voltage. v&t) will be periodic only if a(t) is periodic and the
ratio of the basic pulsations col/ coo is a rational number, with
w1 being the basic angular frequency of act). In [171 an
approximate analysis of the output spectrum is made,
assuming that the time the thyristors are switched on is
independent of a(t) which is not true. However the results
give a good idea about the basic behavior of the bridge. For a
four quadrant six pulse bridge convertor in the circulating
current mode the output voltage is proportional to [171
1

vout(t)+ysina(t)+3cos 60,t sin 5a(t)+- cos 6a0t sin 7a(t)+ ...I

(2)
This expression shows that there are two classes of
contributions to the output, the first being sin act) and the
second being modulated signals looking like amplitude
modulated signals with carrier frequencies of bkw,, k 1, 2,
..., -. Both contributions can be used as excitation and we
will discuss them in more detail.

i j sin a(t)
If the firing angle phase modulation function a(t)is chosen as

a(t) = arcsin Ks(t)

(3)

with K being a constant. The output contribution sin a(t)

becomes

(4)

sin a(t) = Ks(t)

However it should be realized that a perfect phase lock

between the generator and the mains is required in order to
get this result. If a phase shift occurs the signal becomes
sin a(t) = sin[arcsin Ks(t) + $J
= cos 4, Ks(t) + sin $o

,/a
(5)

The second term in this expression introduces unwanted

distortion.
Another possibility is to choose the modulating function
proportional to the desired signal plus an offset $l.
a(t) = K s(t) + $1
and

(6)

=sin $1 +cos @1 Ks(t) - sin

(Ks(t)? + ... (7)

2

Ikpending on the choice of $1 an almost perfect amplified

copy of s(t) is obtained. If q1 approaches d 2 , the quadratic
contribution becomes domnant while the linear term
disappears. The ideal situation is obviously q1 = 0.

iij modulated contributions

From (2) it is seen that there are also modulated
contributionswith carrier frequencies at bka,. These allow to
inject energy into the system at higher frequencies. It is
obvious that the smoothing inductance Z in Fig. l a will
reduce the available bandwidth of the bridge. Its value should
be chosen in order to meet the required bandwidth of the
system.
111. EXPERIMENTAL SET UP

The basic scheme for applying the multisine waveform to

the synchronous machine windings using a power thyristor
rectifier is shown in Fig. 1. The objective is to inject currents
using the arbitrary waveform generator's output signal as a
set point. The circuit injecting the excitation signal in the
stator windings consists of a firing circuit, a thyristor rectifier
(nominal characteristics 220 V/100 A), and a smoothing
impedance 2, being an inductance of 1 mH. The three phase
full wave bridge rectifier which was used in the experiment
can only deliver positive currents. The multisine waveform is
therefore superimposed on a DC current so that the sum of
the two is always larger than a minimum value which is
chosen sufficiently high to avoid intermittent conduction of
the rectifier. The DC current level can also be used to adjust
the magnetic saturation level in the synchronous machine,
allowing measurements to be made at nominal magnetic
saturation level. It is important to notice that rectifiers can
deal with high currents, so that tests can be performed at
nominal magnetic saturation level with signals sufficiently
large to avoid problems normally associated with small
cycles in the magnetization curve.
The current is measured with a Hall-effect sensor, which
makes it possible to measure currents from DC up to
frequencies much higher than those used in the experiment.
The voltage measurement is carried out using a differential
amplifier. The digital signal processing unit therefore
remains isolated from the rectifier's output. The time signals
are measured with a 2 channel 12 bit digitizer (Nicolet 4096
series). The anti alias filters are needed to obey the Shannon
theorem during the sampling process I201. Both the
generator and digitizer are controlled by an external 600 Hz
clock which is synchronized on the 12th multiple of the
mains frequency (50 Hz). This is done to satisfy the
requirements mentioned before (a(t) is periodic and the
ratio of the basic angular frequencies 01/ 00 is a rational
number). The synchronization allows also to follow the
slight variations in the frequency of the mains. Due to the
varying clock frequency the sampling points will be slightly
non-equidistant distributed.
The multisines themselves are generated with 600 points
using a 12 bit arbitrary waveform generator (Wavetek 75)
followed by a reconstruction filter to eliminate the higher
harmonics due to the first order hold reconstruction.
Measurements are made in a wide frequency band from 0.01
Hz to 99 Hz. To cover this range, at least 19800 samples are
needed which is more than the maximum number we could
measure in one experiment. For this reason the experiment
is split in a low and a high frequency measurement using two

272

current sensor

Figures 2a and 2b show the measured waveforms of current

and voltage respectively. I n Fig. 3 the spectral analysis of the
measured currents are shown. Fig. 4 gives the amplitude
spectra of measured current and voltage of both
experiments together at the frequencies specified in s(t). The
measured machine stator impedance is shown in Fig. 5.

80

60

40

rotor

UL

20

01

20

'

40

'

60

'

80

100

(s)

time

q-axis configuration

d-axis contiguration
(b)

Figure I :

Experimental setup of the measurement control

and the signal processing loops.

multisines. The basic period of the high frequency multisine

is chosen in order to include an entire number of periods of
the 50 Hz component, making it possible to measure the 50
Hz and its harmonic components without leakage avoiding
interference with the other frequency components of
interest, and to eliminate them. It is strongly recommended
not to use the 50 Hz components and harmonics in the
identification algorithm since those spectral lines are highly
contaminated by the environmental noise (for example
power lines). The DC offset of the measurements is not
important, since it is not referred to in the frequency
response measurements.

80

60

40
20
0

'

0.6

0.4

0.2

0.8

'

time (SI

40
LO

The sampling rate of the digitizer is changed from 6 Hz for

the low frequency multisine to 600 Hz for the high frequency
multisine. Since each time record contains 600 data samples,
this implies a measurement time of 100 s and 1 s
respectively. To enhance the signal-to-noise ratio of the
measurements, 10 records, each of 1 period of the multisine,
are time averaged. The recorded signals are transformed to
the frequency domain using the chirp-Z transform [201. A
simple FFT algorithm can not be used because the number
of time points is not an entire power of 2.
Fig. l b shows the rotor position and the armature
connections of the q- and d-axis test configurations.
IV. EXAMPLES

Example 1 : generation of a broadband power excitation

on a 50 kW synchronous machine
In this example it is shown that it is possible to create high
power broadband excitation signals with the previous setup.
The stator impedance (d-axis) of a 50 kW synchronous
machine is measured. As stated before two measurements
are done :
measurement 1 (50 frequency components)
s(t): Ak = constant, % = 2 x k 0.01 rads, k = 1, 3, 5, ..., 99
fs (sampling freq.) = 6 Hz, fatoff (anti alias filter) = 2.4 Hz
measurement 2 (50 frequency components)
s(t) :Ak = collstant, % = 2n k rads, k = 1, 3, 5, ..., 99
f, = 600 Hz, fato# = 240 HZ

i
-2o/
0

1
I

0.2

'
I

0.4
(b)

Figure 2:

0.6

0.8

'

1
time (s)

Measured waveforms : (a) low frequency signal,

(b) high frequency signals.

Example 2 : comparison of a mono-Jrequency and a multifrequency measurement

I n this experiment a mono frequency and a multi-frequency
measurement is compared on a micro-machine (Unoniinal =
220 V, Inol>>inal= 5 A). The rotor of the micro-machine is
made of solid iron without wound damper windings. The
measurements are made on a micro-machine because we
had no possibilities to create a high power sinusoid. The
mono frequency signals are generated using a power
amplifier (Iinax- SA). A sinusoidal current with a peak
amplitude of 2.35 A was used for the mono-frequency
measurements. It was not possible with the power amplifier
to inject a DC offset current, while for the broadband
measurements an offset current was needed because a one
quadrant six pulses rectifier bridge can not generate negative
currents. Notice that the DC offset is not necessary when a
four quadrant bridge is used. Due to the DC offset current
the magnetization of the machine will be different in both
measurements. To exatnine the effect of the rectifier DC
component on the micro-machine transfer function, we did
the measurements for four different DC offset levels (at the
input of the bridge) for a same multisine amplitude setting as
given in Table 1.

273
Table I : Micro-nuchine armature currents for different L>C
offset settings. DC setting : the setting point for the DC
current, lRMs: the measured RMS value of the multisine part
of the current.

10

90

Magnitude (dB)

Phase (deg.)

O!

DC setting (A)

lRMS(A)

1.125

0.33
0.28
0.25
0.23

1.800

2.300
3.000

-101

1 &.<
1,mnnT ;,.;;.I
,

-20

0.001

0 01

Figure 5:
The broadband measurements were performed using the
same setup as explained just before. Again two broadband
excitations with the following frequencies were applied :

, ,,,), ,
10
100
f (Hz)
~

0.1

0.001

, ,,,,,,

0.01

0.1

, ,,,,,,(

100

10

(Hz)

Measured d-axis impedance of the synchronous

machine.

3, 4, 5, 6, 7,8, 9, 10, 12, 15, 19, 25, 31, 39, 47,63, 79,
97 Hz
ii) the same signal as in i) but all frequencies scaled dowll with

i) 1, 2,

a factor 100
The results of the impedance measurements (mono
frequency, multisine 1.125 A and multisine 3.000 A) are
shown in Fig. 6. With these results the reader will be able to
judge the influence of the magnetization. From this figure it is
seen that there is a good agreement between the mono- and
multi-frequency measurements, especially if the lowest offset
current is considered and the deviations are compared with
the variations due to a varying magnetization level. This figure
shows that the q-axis is more sensitive to the variations of the
D(: offset current than the d-axis. It can also be remarked
that the sensitivity is larger for small frequencies than for
larger frequencies. For low frequencies, the electromagnetic
phenomena are strongly influenced by the micro-machine
rotor body. As the frequency increases, only the damper
and/or field windings are concerned, and the micro-machine
transfer functions are almost not affected by the amplitudes
of the excitation signals. The larger sensitivity of the q-axis to
the variation of the DC offset is due to the absence of the
field winding in the q-axis. It can also be remarked from
Table 1 that the RMS value decreases with increasing offset as
was predicted in Section 11.

-20

-20

-40

40

40

40

-80

(a)

Figure 3:

-80

200

100

f (Hz)

(b)

Amplitude spectrum of the measured currents :

(a) low frequency signal, (b) high frequency signal.

. . .....-,

10- Magnitude (dB)

. .- ....

Id (dB)
0-

-.*;

1,.

r
y
e

. .....

-10-

Vd (dB)
-20

300
f (Hz)

, , ,,,,,,

, 1 1 1 ~ 1 1 ,

r 1 1 1 1 1 1 ,

I 1 1 1 1 1 1 1

I1111Y

f (Hz)

V T H E FREQUENCY DOMAIN IDENTIFICATION METHOD

I n Section B the basic equations of the frequency domain

Gaussian maximum likelihood (ML) method used to identify
the q-axis and d-axis parameters of the synchronous micromachine will be given. A detailed description of the algorithm
can be found in references [lo], 1181 and 1241. Unlike most of
the identification methods available in the literature, the
presented technique takes into account the disturbing noise on
ALL the measurements, and gives an uncertainty bound on the
estimates. IJnder the assumptions given in [lo, 18, 191 it can be
shown that the presented ML estimator gives asymptotically
unbiased (no systematic errors due to the disturbing noise)
estimates, with nearly optimal uncertainty bounds.

Since the identification method strongly depends on the

disturbing noise model, we first start with a discussion of the
measurement conditions in Section A.
A . Measurement Conditions

Each experiment consists here of two measurements carried

out with a low frequency multisine in the band [lo mHz, 990
mHz1 and a high frequency multisine in the band [l Hz, 99 Hz]
as described in the previous sections of the paper. The daL2 set
of one experiment contains a total of 40 frequencies picked
out of the 2 frequency bands. The DC offset of the
measurements is not important, since it is not referred to in
the identification.
Two sets of standstill frequency response experiments on the
synchronous 1.905 kVN220 V micro-machine have been
performed using the above described test setup (I set in the
q-axis and 1 set in the d-axis). The q-axis set consists of 1
experiment. The amplitude spectra of the stator current Iq and
stator voltage Vq, and the power spectra of the corresponding
measurement noise are shown in Fig. 7. The d-axis set consists
of 2 independent experiments (see Fig. 7 for the signal and
noise power spectra): the first contains measurements of the
stator current Id1 and stator voltage Vd, and the second
measurements of the stator current Id2 and rotor current Ifd.
The noise power spectra shown in Fig. 7 are calculated from 10
time records when no excitation signal (except the DC offset
control signal) is applied to the firing circuit of the rectifier.
B. The Maximum Likelihood Estimator
The d-axis impedance Zd and the field-to-armature transfer
function C; are modeled as rational transfer functions of the
Laplace variable s

274

20- Magnitude (dB)

90- Phase (deg.)

+++

++
.

.c 4'

+*

10

@+

+e

60-

.Lip'
. .A+

I+

0-

+#

*&I?

: ;.
=.+A;

-10-

a*

ir

-207

*&&!

I l l i l l l l

. .

'

+A

'
,

r'

30 -

+ a
+.A..

k=' ' N ~ s k ~ P ) I "varla(sk)

,",'T

fWz) 01'

IDd(sk~Pf varlfd(sk)

alld where F equals he number of frequeIlcies sk in he data set,

.:
I

.;

..;
'$ "p

.
A
+

. I+
I +

*PA,
.. .

.2..:
:

1 ,

1 1 1 ,

, r , , T

(H4

and where Kmode1,q and IGnode1,d stand for the contribution of

the model errors. Equation (10) allows to determine the order

275

Tab& 2 : Comparison between Kq and Kn0ise.q.

model

of the q- and d-axis models (8) by monitoring the value of the

cost function arid its standard deviation during the
identification process (see also section VI).

1/0
2/1
312
4/3
5/4

The Newton-Gauss procedure is used to minimize the cost

functions Kq and Kd. An estimate of the covariance matrix of
the model parameters results from this procedure [IS]. Using
this covariance matrix the uncertainty on the physical
parameters of the system (i.e. time contstants) is calculated [91.

Kq

'%

Knoise,q

1.2e5
5.6e3
980

490
100
44
18
17

39
38
37
36
35

176
154

Tu&& 3 :Parameters derived from the q-axis impedance (model 4/31.

VI. ESTIMATION RESIJLTS

For the results shown in Sections B and C a DC current level of

1.125 A and a variable multisine current of 0.33 A RMS have
been injected into the micro-machine's stator windings. In
Section D the influence of the DC current level and the
niultisine amplitude on the estimated parameters is studied.
A . Definitions
- The operational q- or d-axis impedance (821) can be written as

Z(S) = Ra + s L(s)

(11)

with % (=Z(O)) the armature resistance and L(s) (=(Z(s)-R,)/s)

the operational q- or d-axis inductance. It will be assumed that
R, is independent of the frequency.
- The operational q- or d-axis reactance is given by

X(s) = ooL(s)
with 00 = 2 x 50 rad/s.
- The open-circuit and short circuit time constants,
respectively (T1o, T*O, _ . .T*-lo) and (Tl, T2, ... P - l ) , are
defined as the reciprocals of respectively the poles and zeroes
of L(s).
- The transient, sub-transient, sub-sub-transient . . . , reactances
are calculated as
k

T
xk = xk-1 k,
' 0

(13)

with 9 = X(0).
- A rational form with a numerator polynomial of degree 11 and
denominator polynomial of degree d will be denoted as model
n/d.
H . Q-axis
The parameters of the q-axis impedance are estimated using
the niea~urement~
shown in Fig. 7. Models of the type 1/0, 2/1,
3 / 2 , 4 / 3 and 5 / 4 have been tried, and it turns out from
examination of the cost function, Kq, that the rational form,
44,is sufficient to explain the measurements (see the first 2
columns of Fig. 8). Further increase in the model order does
not result in a significant decrease in the cost function Kq: see
Table 2 for a comparison with Knoise,q. Taking into account the
uncertainty of Kq, the difference observed in Table 2 between
130th cost functions is a measure of the systematic modeling
errors 1221. The small systematic errors in the selected model

ariiiature
resistance

R,

(Illn)

short circuit
time constants
Tkq(ms)

time constants
Tkqo (ITIS)

open circuit

120f4
32.4 f 0.5
2.9 0 1

407 f 5
67.0 f 2.5
3.4 f 0.2

158 f 0.7

reactances
xkq

(R)

transient
order

34.9
10.3

5.0

2
3

4.2

4/3 are due to the linear lumped approximation of an essential

non-linear distributed system. Table 3 gives the physical q-axis
parameters with their uncertainty for the model 4 0 , and Fig.
9a shows the corresponding q-axis reactance.
C. U-axis
The d-axis impedance and the field-to-armature transfer
function are estimated using the measurements shown in Fig. 7.
Models of the type 2 / 1 , 3 / 2 , 4 / 3 and 5/4 have been tried, and it
turns out from examination of the cost function Kd that the
rational form 4 / 3 is sufficient to explain the measurements (see
columns 3 to 6 of Fig. 8). Further increase in the model order
does not result in a significant decrease in the cost function Kd:
see Table 4 for a comparison with Knoise,d. Taking into account
the uncertainty on Kd, the difference observed in Table 4
between both cost functions is a measure of the systematic
modeling errors. I n opposition to the results in the q-axis,
almost no systematic errors can be detected in the d-axis for
the selected model 4 / 3 . This suggests that non-linear
(saturation) effects are less important in the d-axis, which can
probably be explained by the demagnetizing effect of the field
current Ifd. Tables 5 and 6 give the physical d-axis parameters
with their uncertainty for the model 4 / 3 , and Fig. 9b shows the
corresponding standard d-axis reactance. When comparing
Tables 3 and 5 it can be seen that the 2 estimates of the
armature resistance do not coincide within their 68 %
confidence interval. This can be explained by the fact that the
confidence interval does not account for the systematic errors
of the q-axis model 4/3.
D . Influence of the excitation signal on the estimates
The identification carried out in Sections B and C has been
repeated for different values of the DC current level and the
multisine amplitude. Table 7 shows the results obtained with
the model 4/3. It follows that the subtransient and subsubtransient reactances are almost independent on both the
L X ; offsett and the mnultisine amplitude.

276

1
/
?
2:p
5:v
-40

-20
'-2-:

-20
0.01 0.1

100

10

0.01 0.1

100

10

0.01 0.1

d-axis model

Vd

1
7

20

-20
O0.01 0.1

10

5:iJ'
.:U5:j/f

100
P

0.01 0.1

10

100

0.01 0.1

10

vq

10

100

0.01 0.1

10

10

1
(HI)

100

0.01 0.1

100

(W

10

100

If

100

:L
5:u

-200.01 0.1

0
0.1

10

K q = 980

-20
0.01

(Hz)

Kd = 31W

r-'

Id

q-axismodel

-40

100

0.01 0.1

0.01 0.1

100

10

f IHd
. .

0.01

0.1

10

100

10

100

q - a s model

0.01 0.1

10

rml

d-axis model

vq

L9--

100 -60
0.01 0.1

Kq = 176

10

100

0.01 0.1

10

f (HZ)

Kd = 92

Figure 8: Comparison between the q-, d-axis measurements (dots) and the corresponding estimates (solid line),

25n
0.01

0.1
f

10

100

0.01

( W

0.1
f

1
( W

10

100

2:k
0.01 0.1

10

100

-60

0.01

0.1

1
(Ha

10

100

Figure 9: Q- and d-axis reactances corresponding to the models 4/3.

Tab&5 :Parameters derived from the d-axis unpedance (model 4/3)

Tab& 4 :Comparison between Kd and

Knolse,d

model

Kd

aKd

Knoise,d

2/1
3/2
4/3
5/4

3100
1400
92
87

78
52

77
75.5
74
72.5

10
10

armature
resistance

short circuit
time constants

R, (mR)

Tkd (IDS)

open circuit
time constants
TkdO ( I S )

148 f 1.4

271 f 12
82.6 f 1.2
5.1 f 0.2

1470 f 25

169f7
5.7 f 0.2

reactances
*d

(Q)

43.1
7.9
3.9
3.5

transient
order

k
0
1

100

277
Further refinement of the modeling procedure is possible: at
first one could think to excite simultaneously the stator and
rotor windings with a broadband signal and secondly, as
already suggested by Jin and El-Serafi [131, to consider the daxis as a reciprocal two-port.

Table 6 : Parameters derived from the field-toarmature transfer function (model 3/3).

time constants
numerator

time constants
denominator

(ms)

(Is.,

VIII.ACKNOWLEDGEMENTS
227f 10
2.9 f 0.1

1470 f 25
169f7
5.7 f 0.2

This work was supported by the Belgian National Fund for

Scientific Research, the Flemish Community (concerted action
IMMI) and the Belgian Government (IUAP 13).

Table 7: Miaomachine parameters of the model 4/3.

armature current
D C / m (A) :
T1d ( S )
T2d (S)
T3d ( S )
T'dO (S)
T2do (S)
~3~~( s )

& (P.U.)
f l d @.u.)
x1d

x2d (p.U.1
x3d(P.U.)

REFERENCES

1.125/0.33

23'0.25

3.0/0.23

2.3/0.8

0.271
0.083
0.005
1.47
0.169

0.218
0.078
0.006
1.04
0.131
0.006
0.0059
1.17

0.298
0.077
0.005
0.92
0.006
0.0059
0.95

0.204
0.086
0.005
1.21
0.1%
0.005

0.247
0.146
0.132

0.304
0.141
0.129

0.146
0.032
0.003
0.372
0.068
0.003

0.149
0.032
0.004
0.314

0.0061

0.0061
0.80

0.006
0.0058
1.70
0.312
0.153

0.138
0.120
0.032
0.003
0.407
0.067
0.003
0.0062
1.37
0.405
0.1%
0.167

1.01
0.395
0.186
0.159

0.166

0.066
0.004

0.375
0.182
0.157

O.Oo60
1.61
0.272

0.150
0.135
0.115
0.033
0.003
0.379
0.070
0.003
0.0061
1.36
0.413
0.193
0.160

VII. CONCLUSIONS
The paper has two major contributions. First it is shown that
using a classic thyristor bridge it is possible, without hardware
modifications, to amplify and modulate the output of an
arbitrary waveform generator. Based on this principle
broadband excitations with a low crest factor have been
generated. These results have been experimentally verified.
1Jsing the same techniques we created also excitation signals
with frequencies up to 1000 Hz in a resistive load.
Next it has been shown that it is possible to build a very
efficient setup for measuring and modeling the frequency
response function of an electrical machine at nominal
saturation conditions, using the combination of a special class
of broadband excitation signals (multisines) and a powerful
identification method for estimating the model parameters.
The presented identification technique takes into account the
uncertainty on all the measurements, gives a confidence
interval on the estimates, and includes a model order selection
procedure. The starting values of the non-linear "ization
problem are, independently of the model order, automatically
generated by the algorithm. Unlike what is usually known in
the literature as being the standard model, it turned out that
the 1.905 kVM220 V micro-machine should be modeled in
the q- and in the d-axis with a rational form 4/3. This is in
agreement with the results of Canay 14, 51 and Keyhani et al.,
1151.

[l] J. C. Balda, M. F. Hadingham, R. E. Fairbairn, R. G. Harley

and E. Eitelberg, "Measurement of Synchronous

Machilie Parameters by a Modified Frequency Response
Method - Part I : Theory.", IEEE Transactions on Energy
Conversion, Vol. EC-2, n' 4, pp. 646-651, December
1987.
I21 J. C. Balda, R. E. Fairbairn, R. G. Harley, J. L. Rodgerson
and E. Eitelberg, "Measurement of Synchronous
Machine Parameters by a Modified Frequency Response
Method - Part I1 : Measured Results.", I . Transactions
on Energy Conversion, Vol. EC-2, n' 4, pp. 652-657,
December 1987.
[31 E. S. Boje, J. C. Balda, R. G. Harley and R. C. Beck,
"Time-domain Identification of Synchronous Machine
Parameters from Simple Standstill Tests.", IEEE
Transactions on Energy Conversion, Vol. EC-5, n' 1,
pp. 164-175, March 1990.
141 I. M. Canay, "Determination of Synchronous Machine
Model Parameters from the Characteristic Quantities
Applicable also to Sub-subtransient Data.", Electric
Machines and Power System, Vol. 9, pp. 33-47, 1984.
151 M. Canay, "Identification and Determination of
Synchronous Machine Parameters.", Brown Boveri Rev.
6/7, pp. 299-304, 1984.
[61 J. Chatelain, Machines Electrique, Trait6 dt61ectricit6,
Vol. X. Editions Georgi, Suisse, 1983.
171 P. L. Dandeno, D. H. Baker, F. P. DeMello, M. E. Coultes,
L. Hannett, S. H. Minnich, S. J. Salon, R. Schwenk and S.
Umans, "Current Usage & Suggested Practices in Power
System Stability Simulations for Synchronous
Machines.", IEEE Transactions on Energy Conversion,
Vol. EC-1, n' 1, pp. 77-93, March 1986.
I81 E. Eitelberg and R. G. Harley, "Estimating Synchronous
Machine Electrical Parameters from Frequency
Response Tests.", IEEE Transactions on Energy
Conversion, Vol. EC-2, no 1, pp. 132-138, March 1987.
I91 P. Guillaume, J. Schoukens and R. Pintelon, "Sensitivity
of Roots to Errors in the Coefficients of Polynomials
obtained by Frequency Domain Estimation Methods.",
IEEE Transactions on Instrumentation and
Measument, Vol. IM-38, no 6, pp. 1050-1056, December
1989.
1101 Guillaume P., R. Pintelon and J. Schoukens (19921,
"Parametric Identification of Two-Port Models in the
Frequency Domain.", IEEE Trans. Instrum. Meas., Vol.
IM-41, 11' 2, pp. 233-239.
Ill] P. Guillaume, J. Schoukens, R. Pintelon and I. Koll5r

(1991), "Crest Factor Minimization using Non-Linear

Chebycheff Approximation Methods .'I, IEEE Trans.
Instrum. Meas., Vol. IM-40, n' 6, pp. 982-989.
I121 IEEE Standard 115A-1987, "Standard Procedures for
Obtaining Synchronous Machine Parameters by
Stmdstill Frequency Response Testing (suppleiner~tto
ANSI/IEEE Std 115-1983)", published by the IEEE, 345
East 47th Street, New York, NY 1001 7, USA, 1987.

278
1131 Y. Jin and A. M. El-Serafi, "A 'Three Transfer Function'
Approach for the Standstill Frequency Response Test of
Synchronous Machines.", IEEE Transactions on Energy
Conversion, Vol. EC-5, n' 4, pp. 740-749, December
19'33.
1141 I. Kamwa, P. Viarouge and E. J. Dickinson, "Optimal
Estimation of the Generalized Operational Impedances
of Synchronous Machines from Short-circuit Tests.",
IEEE Transactions on Energy Conversion, Vol. EC-5, n'
2, pp, 401-407, June 1990.
1151 A. Keyhani, S. Hao and R. P. Schulz, "Maximum
Likelihood Estimation of Generator Stability Constants
Using SSFR Test Data.", IEEE Transactions on Energy
Conversion, Vol. EC-6, n' 1, pp. 140-148, March 1991.
[I61 A.V. Oppenheim, A S . Willsky, I.T. Young, Signals and
Systems. Prentice-Hall International Editions, London,
1983.

-,-I

[171 B.R. Pelly, Thyristor Phase-Controlled Converters and

Cycloconverters. Wiley-interscience,Wiley, New York,
1971.
[181 R. Pintelon and J. Schoukens, "Robust Identification of
Transfer Functions in in s- and z-Domains.", IEEE
Transactions on Instrumentation and Measumzent, Vol.
1M-39, 11' 4, pp. 565-573, August 1990.
I191 R. Pintelon, P. Guillaume, Y. Rolain and F. Verbeyst,
"Identification of linear Systems Captured in a Feedback
Loop", Conference Record of the IEEE Instrumentation
and Measurement Technology Conference, New York
(IJSA), May 12-14, 1992.

Kamba Beya was born in Tshikapa,

Zaire, on August 15, 1955. He received
the degree of electrical engineer in July
1981 from the Universite de Kinshasa
(Zaire) and the degree of doctor in
applied science in July 1988 from the
UniversitC Libre de Bruxelles. He is
presently a research engineer with
Hewlett Packard and is involved with
nonlinear system characterization.

I201 L.R. Rabiner and B. Gold, Theory and Application of

Digital Signal Processing. Prentice-Hall, New Jersey,
(USA), 1975.
1211 J. J. Sanchez-Gasca, C. J. Bridenbaugh, C. E. J. Bowler
and J. S. Edmonds, "Trajectory Sensitivity based
Identification of Synchronous Generator and Excitation
System Parameters.", IEEE Transactions on Power
Systems, Vol. PS-3, n' 4, pp. 1814-1821, November 1988.
1221 J. Schoukens and R. Pintelon, "On the limits of order
estimation.", Preprints of the 8th IFAC Symposium on
Identvication and System Parameter Estimation, Beijing
(China), August 27-31, 1988, Vol. 2, pp. 1026-1031.
1231 J. Schoukens, R. Pintelon, E. Van der Ouderaa and J.
Renneboog, "Survey of excitation Signals for FFT based
Signal Analyzers", IEEE
Transactions o n
Instrumentation and Measurements, Vol. IM-37, n' 3,
pp. 342-352, 1988.
1241 J. Schoukens and R. Pintelon, Identvication of Linear
Systems. A Practical Guideline to Accurate Modeling.
Pergamon Press, London, 1991.
1251 S. Sriharan and K. W. Hiong, "Synchronous Machine
Modelling by Standstill Frequency Response Tests.",
IEEE Transactions on Energy Conversion, Vol. EC-2, 11'
2, pp. 239-245, June 1987.

Patrick Guillaume was born in

Anderlecht, Belgium, on December 7,
1963. He received the degree of civil
electrotechnical-mechanical engineer in
July 1987 from the Vrije Universiteit
Brussel (WB), Brussels, Belgium. He is
presently a Research Assistant of the
Belgian National Fund for Scientific
Research (NFWO) at the VUB in the
Electrical Measurement Department
(ELEC). His main research interests are parameter estimation /
system identification and modal analysis.
Philipe Lataire received the degree of
civil engineer in 1975 and the degree of
doctor in applied science in 1982 from
the University of Brussels (VUB). He is
present a full time lecturer at the VUB
and has an important activity in the field
of use of informatics and automatic
control in teaching. The prime factors of
his research are in the field of electric
drives, power electronics and control.

Rik Pintelon was born in Gent,

Belgium, on December 4, 1959. He
received
the degree of civil
electrotechnical-mechanical engineer in
July 1982, and the degree of doctor in
applied science in January 1988, both
from the Vrije Universiteit Brussel
(VUB), Brussels, Belgium.
He is
presently a Research Associate of the
Belgian National Fund for Scientific
Research (NFWO) and part time lecturer
at the W B in the Electrical Measurement
Department (ELEC). His main research interests are in the field
of parameter estimation / system identification and signal
processing.

Johan Schoukens was born in Belgium,

in 1957. He received the degree of
engineer in 1980, and the degree of
doctor in applied science in 1985 from
the University of Brussels (VUB). He is
presently a research associate of the
National Fund for Scientific Research
(NFWO) and part time lecturer at the
W B . The prime factors of his research
are situated in the field of system
identification for linear and non linear
systems
~

B. Mpande-Mabwe got his degree of

civil mining engineer in 1979 at the
FacultC Polytechnique de Lubumbashi
(Zaire). From 1983 on, he has joined the
Facult6 Polytechnique de Mons (Belgium)
where he received his Ms in 1985 and
PhD. degrees in 1990. He is presently
R&D engineer at the FacultC
Polytechnique de Mons and his research
interests is power systems non linear
phenomena and system identification
techniques.

rt

Marc Delhaye was born in 1951 in

Obourg, Belgium. He received his degree
of civil electrical engineer in 1975 and his
degree of doctor in applied science in
1982. He has been involved for a long
time with synchronous machine
characterization. He is a lecturer in the
Facult6 Polytechnique de Mons, Belgium.

279

Discussion

J. R R Service (Ontario Hydro, Etobicoke, Canada) and P. L.

Dandeno (University of Toronto, Toronto, Canada):

These discussors have been involved one way or another in both the
measurement procedures as well as in the model development of
turboalternators, all based on standstill frequency response testing.
We are pleased to see that the authors of this alternative and
experimental procedure for frequency response testing have
presented a range of interesting data on a 1.9 KVA micromachine.
It will be interesting to see what type of results they obtain on a large
2 pole or 4 pole turboalternator in the 500 MVA+ range.
One of their ivasons for this approach, as opposed to that outlined in
IEEE Std 115A, is their stated desire to avoid the necessity "to wait
until the transients have disappeared after each time step".
During and after the time these discussors have been at Ontario
Hydro, about 10 of that utility's turbogenerators ranging from about
l90MVA to I1 IOMVA in size, have been subjected to this form of
testing, using IEEE Std. 115A suggested methods. Four additional
units in other parts of Canada, ranging in size from 167MVA to
800MVA have also been tested during the past six years.
Modern spectrum and frequency response analyzers may be
programmed to acquire "discrete-step" continuous frequency
sweeps. Between each frequency step there are no abrupt
transitions which would create transients. In fact, these analyzers
may be programmed to ramp between voltage levels at a user
selectable rate whenever an exciting signal is turned on or off or the
voltage level is changed. In no case, in the authors' experience, has
there been a "problem" or "drawback" in switching from one
frequency to the next with modem programmable instrumentation.
Admittedly, when exploring the machine response to low fizquency
signals there is the necessity to wait for several hours or many
minutes to get a sufficient number of cycles for a reliable reading.
At .002 Hz for example several (two or three) cycles, each lasting
500 seconds , for a total of up to 1500 seconds must be examined.
In the decade between .001 and .O1 Hz, the equipment can be
programmed to automatically "sweep" that lower frequency range in
discrete steps. The test procedures in this range are usually
performed in the "wee small hours" of the night, and test personnel
can leave the test set up, knowing that the measurements are being
automatically recorded.
The authors' desire to use larger exciting currents than those
suggested in 115A has been the subject of other investigations.
Since one is searching for a linear small signal model, the magnitude
of the exciting signal, we feel, should only be such that a small
excursion around some point on the open circuit magnetization
curve is being duplicated. This point was discussed in considerable
detail by S.H. Minnich in the Transaction on Energy Conversion
[A] and in IEEE Std 11 10 (1991). Chapter 5.
We might ask then, in using their exciting procedures, whether a
specific level of magnetizing cunmt is available. We raise this issue
since their d.c. and r.m.s. signal appear to vary simultaneously,
according to their paper. Also, can they obtain a calculated estimate
of direct and quadrature axis network models ( second or third
order) as per the methods of IEEE Std 115A? Or is it necessary in
their parameter determination to first determine the machine
characteristic quantities - Xd,Xi.Xz TA, etc. as per their Table 7?
We would appreciate the authors' responses to these questions.
ReferenceA: Minnich, S.H., "Small Signals, Large Signals, and
Saturation in Generator Modeling", Trans. on Energy Conversion,
Vol. EC-I, No. 1, March 1986.
Manuscript received August 18, 1993.

R. PINTELON, J. SCHOUKENS AND K. BEYA The measurement and

identification procedures presented in this paper have been applied with
success to a 50 kW synchronous machine and a 1.9 kVA nucrc-machine.

Llnfortunately we had not the opportunity to test both measurement and

modeling methods on machines in the 500 MVA+ range. We would however
be delighted to do so. If anybody can provide us frequency response data of
high power machines it will be a pleasure for us to process it with the
modeling technique described in this paper (the identification method
presented in Section V is INDEPENDENT of the multi-sine measurement
procedure given in Section 111 and works on ANY type of frequency domain
measurements).
The authors admit that they overstated the importance of the transient effect
which occurs in mono-frequency measurements between each frequency step.
It is however NOT true that the absence of abrupt transitions between each
frequency step guarantees the suppression of the transients. Assume for
example that a first order system with transfer function I / ( l + ~ s )is excited with
a signal dt)which consists of a sine wave whose frequency changes fronif; to
/,at I - 0

Although dt) is continuous (no abrupt change in amplitude) at t

order system exhibits a transient response given by

- 0, the first

Note that the transient signal (2) is proportional to the frequency step frh. I n
order to suppress the transient due to the frequency change it is on the
contrary necessary to make the transition at t 0 discontinuous by changing
the amplitude and/or phase of the sine wave. The signal d r )

sin(2nflt)

tIO

(3)

x ( t ) = A ~ i n ( 2 x f ~ t + 9 t~>)O

which is discontinuous at t 0, creates no transients at t 0 when applied to

the first order system 1/(1+~s)if an amplitude A and a phase qz can be found
such that

(4)
Note that the system should be known in advance to calculate the solution of
(4). In general for higher order systems exact transient suppression is possible
if and only if the system is exactly known and all its states are controllable.
These two conditions are certainly not met when modeling electrical machines.
Simulations using excitation signal (1) and the q-axis impedance model 4/3 of
the 1.9 kVA micrc-machine revealed that

the transient effects caused by a frequency step have damped out after 4
times the dominant (largest) time constant of the machine
the amplitude of the transient is proportional to the frequency step
a frequency doubling, which occurs at the low frequencies of monofrequency measurements, causes a detectable transient
the transient effects of a frequency step of 1%can be neglected.
Taking into account the practical values of the dominant time constant of large
power machines (several seconds) one can conclude from the previous
observations that the time necessary to wait until the transient effects have
damped out can be neglected with respect to the measurement period.

Given the set of frequencies V; I i 1 . . . F ) which should be measured and

neglecting the transient effects, one can calculate the measurement time T , ,
and T-, of respectively a mono-sine and multi-sine measurement
F

(5)

where N, and N stand for the number of measured periods of respectively the
i" sine wave and the multi-sine excitation. In general T , , ,(typical 20 minutes
to cover the frequency range I10 mHz, 100 Hzl) is much smaller than T,,
(put for example N, N V i in (5)), unless the number of measured periods N
of the multi-sine excitation is increased to meet the signal-to-noise ratio
requirements.

The measurement procedure described in Sections I1 and 111 allows the

generation of small and very high currents multi-sines. It is a general purpose
technique which can be used to measure quickly all kinds of power devices
(for example a high voltage transformer) at NOMINAL saturation conditions. In

280
this paper o d y one potential application, the measurement of synchronous
machine characteristics, has been shown. Moreover, as stated in the IEEE Std

115A,low excitation currents introduce problems related to the low level iron
nonlinearity.
Concerning the excitation procedure both the DC and rms value of the
multisine excitation are user definable. We tried several combinations of DC
and rms values in order to verify their influence on the estimated machine
parameters (for example from Table 7 of the paper follows that the saturation

effects due to a higher DC level can be compensated by a higher r m s value:

compare the columns 2.3/0.25 and 2.3/0.8 with column 1.125/0.33).
The identification procedure estimates the coefficients of the numerator and
denominator polynomials of the mnsfer function model (see equation (8) of
the paper). From these coefficients one can calculate any machine parameter
or equivalent network representation.
~anuscriptreceived Septemk 29, 1993.