AVR+Synchronous Machine pu Model

Torque Equation in per-unit

2H d
= Tm (diq q id)
B dt
is the electrical angular speed in rad/s.
B is the base electrical angular speed in
rad/s.

Compact Form of Flux Equations

d
d
q
q

 

d
F = A1 F + A2 id

iq
dt
H

G
G
K
K
 
vd
+ B2Ef d
+B1
vq

q
 
F id
=
A3
H iq

G
K

10
Td
A1 = 1
T 00
d
0

100
Td

10
Tq

100
Tq

0 10
Td
0

1
Tq0
0 100
Tq

A2 =

B Ra

B Ra

B1 =

B
0
0
0
0
0

0
x

1
d

0
Td0 (xdx0d)
, B2 =

0
0

0
0
0

A3 =
0
0
00
1 0 (xdxd) (xdxd )
0
0
xdx0d
x0dx00d
x00d

0)
0 x00)
(x
x
(x
q
0 x100
0
0
x x0 q xq0 x00q
q q
q
q q

Model of interconnection:

L 0 0

ia

va

Ea

0
ib
vb
Eb

0 0 L

dt

ic

vc

Ec

Model of interconnection (d-q pu form)

d
dt

  
id

iq

B
+
x

 
id
iq

  
vd

vq
B L
x=
Zbase

Ed
Eq



Infinite Bus

Ed = E sin Eq = E cos
d
= o
dt
E = 1, o = B

If studying slow electromechanical transients,

while operating near the nominal speed, use
0 = B q B Raid B vd
0 = B d B Raiq B vq
i.e., in the stator flux differential equations
set
dd
=0
dt

dq
=0
dt

Model of interconnection (d-q pu form)

d
dt

  
id

iq

B
+
x

 
id
iq

  
vd

vq
B L
x=
Zbase

Ed
Eq



A logical extension of the approximation ...

set
did
dt

=0

diq
dt

=0

Therefore the differential equation for the inter-connection becomes an

algebriac equation.

  
 
  

B
0
0 B
id
vd
Ed
=
+

0
B 0
iq
vq
Eq
x

Torque Equation in per-unit

2H d
= Tm (diq q id)
B dt
is the electrical angular speed in rad/s.
B is the base electrical angular speed in
rad/s.

Rotor Flux Equations

F
F
 

H
d

0
H

=A
+ A00 d
1
1
dt G
q
G
K
K
+B20 Ef d
Note: Stator flux (d, q ) differential equations
become algebraic equations, due to the neglect
of fast transients.

A01 =

10
Td

100
Td

10
Tq

100
Tq

A00
=
1

1 0
Td0
1 0
Td00
0 10
Tq
0 100
Tq

0
B2 =

0
x
1
d
Td0 (xdx0d)

0
0
0

q
 
F id
=
A3
H iq

G
K

A3 =
0
0
00
1 0 (xdxd) (xdxd )
0
0
xdx0d
x0dx00d
x00d

0)
0 x00)
(x
x
(x
q
0 x100
0
0
x x0 q xq0 x00q
q q
q
q q

Infinite Bus

Ed = E sin Eq = E cos
d
= o
dt
E = 1, o = B

Simple Static Exciter Model

dXE
1
=
(XE + kA (Vref V ) )
dt
TA
V =
v 2 + vq2
d

States, Inputs
1. States: , , F , H , G, K
2. Number of differential equations: 6
3. Other variables: d, q , id, iq , vd, vq
4. Algebriac Equations : 6
5. Inputs: Tm, Ef d

d, q , id, iq , vd, vq can be obtained in terms

of the states using the 6 LINEAR algebraic
Equations
0 = B q B Raid B vd
0 = B d B Raiq B vq
  
 
  

B
0
0 B
id
vd
Ed
=
+

0
B 0
iq
vq
Eq
x
 

T
i
A3 d q F H G K = d
iq