Dynamic performance of field-regulated synchronous

machines
E. Fishwick, B.Eng., Ph.D., B.W. Hogg, Ph.D., C.Eng., M.I.E.E., and D.P. Sen Gupta, Ph.D., C.Eng., M.I.E.E.

Indexing terms: Dynamic response, Excitation, Regulators, Stability, Synchronous generators

Abstract
The paper analyses the influence of various types of field regulators on the dynamic performance of
synchronous generators. Both conventional and dual-excitation generators are considered, with basic
controls provided by voltage and angle regulators, which may have proportionate and derivative feed-
back. In the case of dual-excitation machines, both bus-rotor-angle and terminal-rotor-angle signals
are employed in the quadrature-axis regulator.
Stability is initially defined by computed regulation curves, and additional information is then
obtained by calculating the variations of the synchronising- and damping-torque coefficients
(Ts and TD) with regulator gain. These graphs are superimposed on the regulation curves, to show how
Ts and TD determine the dynamic stability of the machine, and to illustrate the underlying reasons
for stability.

List of symbols while Sen Gupta et al.7 have considered an unregulated dual-
excitation generator. It is well known 5 ' 7 that a continuously
Ts = synchronising-torque coefficient acting voltage regulator may reduce the damping torque of
TD = damping-torque coefficient the system, and may therefore make the machine more prone
= busbar rotor angle to hunting.
= terminal rotor angle
Yau5 showed how a simple proportionate voltage regu-
CO = system rotor angle lator contributes or consumes synchronising and damping
hu = frequency of oscillation torque in the system, when oscillation occurs. De Mello and
H = inertia constant, kWs/kVA Concordia8 observed that the hunting characteristics of a
M = 2//W regulated synchronous machine depend critically upon the'
M = regulator gain various parameters of the machine and the regulator, and on
T = time constant of regulator loop, s the active and reactive powers the machine has to deliver.
A = small change Kron4 states that every synchronous machine contains built
into it some positive synchronising torque, and that a volt-
Subscripts age regulator releases part of this torque, but never generates
= initial value of a quantity any positive damping or synchronising torque. Yaus developed
0
a mathematical technique to investigate these statements of
a = angle regulator
Kron.
V = voltage regulator
t = machine terminals Although the doubly excited machine is inherently less
b = busbar damped than a conventional machine, the presence of an
ref = reference additional control system on the second field winding can
i = input more than compensate for this deficiency.9 Soper and Fagg9
developed a divided-winding-rotor synchronous generator,
which has an angle regulator on one of the rocor windings
1 Introduction
and a voltage regulator on the other, to maintain the rotor
Various efforts1'2 have been made to provide a clear angle and the terminal voltage at certain preset levels. It has
physical understanding of the synchronous machine by prod- been established that such a system has greater steady-state-
ucing damping- and synchronising-torque diagrams. It has and transient-stability limits than one having a single field
long been suspected2 that the damping torque in an electrical winding employing the conventional voltage regulator. Harley
machine is caused by 7 2 /?' loss due to oscillating currents in and Adkins have further developed the theory of the d.w.r.
various circuits. It has also been known213 that the field circuit machine, and have shown that it can be represented by an
and amortisseur windings contribute positive-damping torque equivalent machine with a field winding in each of the direct
to the system, and the armature contributes negative damp- and quadrature axes, hereafter termed a '^-machine'.
ing. Conventional analysis did not indicate any relationship This paper forms a natural extension to the work described
between damping and I2R loss, and attempts to isolate the in References 5 and 7, by analysing the influence of various
positive and negative components were not very successful. types of field regulators on the dynamic performance of a
Kron4 has shown that relationships exist between damping conventional generator, and of a ^-machine with both the
torque and I2R loss, and between synchronising torque and busbar rotor angle and terminal rotor angle as feedback
reactive power, by referring to freely rotating axes. signals. The way in which these affect the stability limits is
Yau,5 and Yu and Vongsuriya6 have more recently ex- shown by regulation curves. Subsequently, the rotal synchronis-
amined the behaviour of a regulated conventional generator, ing and damping torques have been computed, and these are
correlated with the regulation curves to provide the additional
Paper 7312 P, first received 14th December 1973 and in final form
20th August 1974
information which is necessary to obtain a clear physical
understanding of the performance of the regulators, and of
The authors are with the Department of Electrical Engineering &
Electronics, University of Liverpool, Brownlow Hill, PO Box 147, the effects of parameters, control signals, etc. These coef-
Liverpool L69 3BX, England ficients (TD and Ts), which depend on the interactions of
1522 PROC. IEE, Vol. 121, No. 12, DECEMBER 1974
various fluxes and currents, control the dynamic stability of
the machine and illustrate the underlying reasons for instab-
ility. Stability is also examined by considering the roots of
the characteristic equation of the system.
2 Analysis
2.1 Synchronous generator
The generator model employs one field winding
and one damper winding in each axis, and is represented by
Park's equations, 1 1 ' 1 2 which have been linearised. s The
generator is connected to an infinite busbar by a lumped-
series impedance, representing the transformer and the
transmission line, and the input torque from the steam tur-
bine is assumed t o be constant. The system parameters are
listed in Reference 13.
2.2 Excitation control schemes
The transfer function of the field regulators are:
(a) Voltage regulator (direct axis)
(b) Angle regulator (quadrature axis)
(1 + raP)
where 8b is kept equal to zero unless otherwise stated.
Alternatively
fQ
O+rflp)
where 5, is kept equal to zero unless otherwise stated.
2.3 Regulation curves
The steady-state-stability limit is determined from
the characteristic equation of the system. A rotor-angle
variation as a result of an infinitesimal torque disturbance is
considered, giving a transfer function A5b/A7}.14
The stability boundary is found by the Routh-Hurwitz
stability criterion, using a standard subroutine. For a given
set of operating conditions, the subroutine is used to deter-
mine whether or not the system is stable, and by. progressively
increasing the reactive absorption, stability boundaries are
defined in the Ql\xa plane.
2.4 Synchronising- and damping-torque coefficients
The linearised equations of a synchronous generator
are of the form
[AV] = [Z] [A/]
A simple matrix inversion routine is used to give
[A/] = [Z]"1 [AV]
and hence the components of the various oscillating currents
(i.e. the real and imaginary parts) can be found.7 The opera-
tor p occurring in the impedance matrix (see Appendix 7.1)
is replaced by jh where h = frequency of oscillation12/
supply frequency. The validity of this statement has already
been established.15
It has been shown5 that Ts and hTD can then be equated
to the real and imaginary parts of Te respectively. Correct
values are obtained by equating Ts to 2Hcoh2 using an
iterative procedure.
The initial objective with this method was to produce
identical steady-state curves to those obtained by the
method described in Section 2.3. Some difficulties arose
PROC. IEE, Vol. 121, No. 12, DECEMBER 1974
here initially, which necessitated finding the roots of the
characteristic equation, to solve the subtleties of the method.
Results
3.1 Introduction
Loss of stability in the region on the left-hand side
of the peak of the regulation curve is due to a lack of syn-
chronising torque, whilst on its right-hand side, it is due to a
lack of damping torque. This means that on the regulation
curve itself, to the left of the discontinuity, Ts = 0, and to
the right, TD = 0. These statements were verified by investi-
gating the roots of the characteristic equation.
Consider a dual-excitation generator with a proportionate
angle regulator. For a constant reactive power Qlt as the
angle-regulator gain na is increased, various stages of oscil-
latory behaviour occur [Fig. l(i)]:
From a to b, the rotor pulls out of synchronism, and no
oscillation occurs. At b, critically damped oscillation occurs,
i.e. if the rotor is displaced it 'springs' back to its original
position, here Ts = 0.
From b to c, damped oscillation occurs, and the amount
of damping in the system is reduced as )Ua is increased, until
at c, self oscillation occurs, i.e. the oscillations are of con-
stant amplitude.
From c onwards, the oscillations can no longer be damped
(2) out, and the rotor oscillates out of synchronism.
loss of stability due t o loss of stability due to
lack of synchronising torque! bck of damping torque
. T n T,
(4)
T
D,' Q I
(5)
Fig. 1
Relationship between regulation curve and Ts, TD (for
explanation only)
At the discontinuity itself, the effects at b, from b to c,
and at c occur simultaneously, so that critically damped
oscillation and self oscillation occur together. This is a point
of extremely marginal stability, and the decrease of damp-
ing in the system here is very sudden.
It is shown in Appendix 7.1 that the methematical tech-
nique used here is not applicable for the region from a to b,
and therefore the results presented here do not illustrate
7^ or TD in this region. It is also shown mathematically
that oscillation does indeed begin at, or more correctly, just
.1523
inside the boundary at which Ts = 0.
Most of the results presented in this paper are regulation
curves with the coefficients Ts and TD superimposed. Fig. 1
provides an explanation of these curves. For a particular
reactive power Qx on Fig. l(i), two points on the regulation
curve are observed. Projections from these points are then
made on to Fig. l(ii) which shows that these correspond to
Ts and TD being zero when Q Q\.
For Q = Qi, as na is increased, the complete Ts and TD
curves are produced, as shown in Fig. 100- An identical pro-
cedure is then carried out for a range of reactive powers,
Qly Q2, etc. Note that the curves of 7"s and TD in Fig. l(ii)
are for explanation purposes only, and bear no true relation
to the action results presented.
A comparison is made of three system configurations.
These are:
(a) a conventional machine with a voltage regulator on the
field winding
(b) a cfry-machine with a voltage regulator on the direct-axis
field winding, and a bus-angle regulator on the
quadrature-axis winding
(c) a ^-machine with a voltage regulator on the direct-axis
field winding, and a terminal-rotor-angle regulator on the
quadrature-axis winding.
The regulators may have both proportionate and deriva-
tive feedback signals.
KD"'
Fig.2
Regulation curves
Dual-excitation generator with a.v.r. and angle regulator, 6(,0 = 0
a Proportional control nia = ti2a = 0
b With first derivative signal Mia = 2 ' M2a =
c With second derivative signal nia = 0 jl2a = 5-0
d With both first and second derivatives nia ~ 2 ' 0 ^ja = s '
/ > = 0 7 6 p . u . 7-a = 0 M y = 1 0 TV= 0-5S
-1-2
a -08
-O-4
Fig. 3
Synchronising- and damping-torque coefficients
Variation of T and Tp which produce regulation curve in Fig. 2(a)
1524
3.2 Dual-excitation generator (with bus-angle feedback)
Fig. 2 shows a set of regulation curves for various
derivative-feedback parameters, which are similar to those
published by Harley and Adkins.10 Fig. 5 in Reference 13
shows experimental curves, obtained on a micromachine
system, which are consistent with the theoretical results
obtained from the computer program which produced Fig.2
here.
Figs. 3-6 in this paper produce the individual curves of
Fig. 2, with their associated Ts, TD diagrams.
In Fig. 3, no derivative signals have been used. It is seen
here that, when Ts = 0, TD has a very large value, since it is
proportional to 1/h (h 0). The oscillation frequency (hoS)
then increases suddenly, resulting in a sudden increase in Ts.
Consequently, TD experiences a corresponding discontinuity.
As ida is increased further, Ts takes a near constant value.
Actually, at Ts = 0, the quadrature-axis excitation EfQ is
much increased, and the direct-axis excitation Efd undergoes
a significant decrease (see Table 1). This results in the total-
excitation field vector Ef increasing greatly. As fia is increased
further, Ef remains approximately constant, but increases
very slightly.
Table 1
VARIATION OF FIELD VOLTAGE
Ma h *Etd AEf
1-41 00005 1-307 1-439 1-93
1-42 0-01212 0-4627 2-316 2-42
2-41 001231 0-4333 2-5263 2-44
3-41 0-01248 0-4086 2-7493 2-47
Q = -1-Op.u.
At the point just inside the boundary of the regulation
curve, when the excitation has suddenly risen, TD is constant
for the various values of Q. This requires a discontinuity in
TD, as shown in the graph. At the peak of the regulation
curve, TD will decrease instantly to zero, and the increase
in Ts, due to the change in excitation, has been steadily re-
duced to zero as Q has been increased.
The voltage regulator gain fxv has been shown14 to have
little effect on steady-state stability when the initial busbar
rotor-angle is held at zero, and the results showed identical
Ts and TD curves for various voltage-regulator gains.
Fig. 4 illustrates the effect of a pSb signal in the angle
regulator. Here, the Ts, TD curves exhibit the same form as
= - io
Q.-O A
PROC. IEE, Vol. 121, No. 12, DECEMBER 1974
in Fig. 3, with Ts again having a discontinuity. It is known
that the inclusion of pbb in the regulator allows a larger Q-l-2
reactive-absorption limit (Fig. 2). For a constant Q, Ts is
increased, thus permitting greater reactive absorption to
occur before Ts falls to zero. Thus the excitation boost re- .Q.-I-2
ceived with pbb is greater than that attained when no deriva-
tives are present. However, the magnitude of TD is consider-
ably reduced, thus altering the regulation curve at high
values of na.
Fig. 5 shows what happens when acceleration feedback is
used in the angle regulator. The variation of Ts is quite
different to that shown in Figs. 3 and 4, and there is no dis-
continuity. The oscillation frequency (hco) increases linearly
with na ,so Ts increases gradually from zero. Since Ts and
TD are interrelated, TD thus takes the very flat form shown,
and itself has no discontinuity. TD is very much increased
-60
in magnitude. At the peak of the regulation curve it is TD
which in this case is reduced to zero for increasing Q. The Fig. 6
effect of the inclusion of p28b is the introduction of positive Synchronising- and damping-torque coefficients
damping into the system. Corresponding to Fig. 2(d)
The curves in Fig. 6 indicate how a combination of first
= TS> = TD
and second derivatives influences Ts and TD. The pbb term
increases Ts, and the tendency to reduce TD (as shown in Further examinations of the consequence of derivatives
Fig. 4) is counteracted by the effect of p2bb, which increases in the direct-axis control loop, and variations of Ta and initial
TD. The overall result is that TD is further increased in busbar rotor angle gave the following results.
magnitude as compared with Fig. 5. Ts and TD have the The inclusion of \i\vpbb and ^2Vp2bb slightly increased
same shape as in Fig. 5. Q at the expense of na, which was reduced slightly, so that
the steady-state curve fell almost vertically on the damping-
22 torque side. Variations in the values of /ult; and //2u made
-2O Q=-O-3
so little difference. On increasing ra from zero, Ts is decreased,
1-8- O=-O-6 so that a higher value of ia is allowed. When the initial bus-
-1-6 4 0 1-6- bar rotor angle is preset at increments from zero to 40, 7^
fT.I-4- is increased by very small amounts.
30- 1-2"
IO
3.3. Conventional synchronous generator with voltage
-O-8 20t-O8
regulator
O-6-
- O 4 IOrO-4- The theoretical models described in Section 2.3 and
O-2 2.4 were rewritten for a generator having only one field
IO'
winding (i.e. with ifq equal to zero).
Fig. 7 shows a set of Ts, TD curves for.the case of the
proportionate voltage regulator. It is shown that T$ and TD
exhibit discontinuities, as in the dual-excitation generator.
The general shape of the curves is similar to Fig. 2. 7 re-
Fig. 4
mains approximately constant for increasing fiv, decreasing
Synchronising- and damping-torque coefficients a little for higher Q.
Corresponding to Fig. 2(6)
= T S, = TD

Q=-O6
Q-O35

-t}=-O3S

Q.-O5

Fig. 7
Stability of conventional generator
Single field winding,'with proportional a.v.r.
P = 0-35 p.u. MM = 0 TV = 0
rri 111 _ T

- Ts TD
It has been established that a synchronous generator with
-4O-
two field windings has better stability characteristics than
the conventional singly excited generator?110'14> l6 Further,
Fig. 5 it has been stated that greater reactive-absorption limits can
Synchronising- and damping-torque coefficients be obtained with a controlled cfy-machine than with a con-
ventional machine, when proportionate regulators are used,14
Corresponding to Fig. 2(c)
and that this advantage is particularly evident for values of
= TS, = TD Pnear zero.16 These conclusions are borne out here.
PROC. IEE, Vol. 121, No. 12, DECEMBER 1974 1525
 Fig. 8 shows the effect of additional derivative-feedback
signals on the steady-state stability. The effect of p8b is to
decrease TD and increase Ts. The effect of p28b is less sig-
nificant, giving Ts a slight increase as nv is increased.
Q-O6
Fig. 8
Stability of conventional generator
With derivatives
P = 0 3 5 nv = 0 Tv = 0 Hw = 2 0 H2V -
= TS = TD
Fig. 9 shows the result of increasing rv on steady-state
stability. It is seen that an increase of TV has little effect
on Ts, but does increase TD (thus allowing fia to be increased
further). Both Yau,5 and Yu and Vongsuriya6 corroborate
this finding. Reference 6 also stated that the ratio of /JLV/TV
is a very important factor in both transient and steady-state
stability. For TU > 0*3s, instability due to lack of damping
torque is seen, in the form of a sudden rapid decrease of
For the region AB shown, the damping torque undergoes
a rapid decline to zero, similar to that in Fig. 3. Apart from
the region AB, the Ts, TD curves are similar to those in Fig.
2 (the equivalent diagram for bus-rotor-angle feedback). A
direct comparison between Fig. 2 and Fig. 10 shows that
the highest permissible value of Q is the same, but that
terminal rotor angle allows a greater /i,,. The value of TD
along the Ts = 0 curve, for Fig. 10, is different for various
Q, whereas in Fig. 2 it is the same. The TD for terminal-
rotor-angle feedback is greater in magnitude than that for
the corresponding bus-rotor-angle feedback. Ts (Fig. 10)
has approximately the same shape, and exhibits the same
boost of excitation.
The inclusion of p8t with proportionate terminal-rotor-
angle feedback again produces a peculiarity. Ts is increased,
and TD is decreased somewhat, unlike Fig. 3 which shows
that Ts increases by a large amount at the expense of TD.
Fig. 11 shows the effect of the inclusion ofp28t in the
regulator. With ju^ = 2-0, TD remains constant over the
length of the stable part of the regulation curve (for a par-
ticular Q) and increases relatively sharply as the TD = 0
50 boundary approaches, and suddenly decreases vertically as
//a is increased to this point. Ts exhibits a similar constant
value with a sudden decrease, when TQ goes to zero. A dis-
continuity is still seen here, unlike the curve of Fig. 5. With
Q-O-6

2 O -2O \

1-6 - 16

I-2- 12 \ \ .i
]
\ \ \\
- 8 Fig. 10
Stability of dual-excitation generator with terminal-rotor-
O-4- 4 - \ "Y-'j.-LJ.^g angle feedback
0 Proportionate-a.a.r. and a.v.r., 5f0 = 0
10 P= 0-76 p.u. jUy=10 ra = 0 T U = 0 - 5 S
-4 \i! . . . . =TS = TD

-8
1
261
Fig. 9
Stability of conventional generator
Effect of variation of TV upon Tg and T&
P= 0-35 p.u. Q = 0-6 p.u. nw = tiw = O Hv = 0 /

(a)rv = 0 (b)Tu = 0 1 s (c) TV = 0-2s

(d)rv 0-3s (e) TV = 0-4s
. . . . = TS = TD

3.4 Dual-excitation generator (with terminal-rotor-

angle feedback
The effect of terminal-rotor-angle feedback on the
io lo 2
quadrature axis of a dual-excitation synchronous generator -2
has been examined in the steady state by Harley and Adkins.10
They found that, if TV = 0-5 and ra = 0-0 (Fig. 22 of Refer- Fig. 11
ence 10) a peculiarity of shape occurred, which allowed both Stability of dual-excitation generator with terminal-rotor-
a higher reactive-absorption limit and a higher regulator gain angle feedback
ju,,. A similar result was observed here (region AB on Fig. 10).
Fig. 10 shows the effect of proportionate terminal-rotor- Derivative a.a.r, proportionate a.v.r., 8f0 = 0
angle feedback for this case, and includes the relevant Ts, P=0-76p.u. Mu = 10 Ta = 0-2s rv~ 0-2 s
TD curves. .... =TS =TD
1526 PROC IEE, Vol. 121, No. 12, DECEMBER 1974
\h.a ~ 0'5, there is no sharp increase of TD before the verti-
cal drop to zero. As i2a *s increased to 5*0, this sharp increase
becomes more appreciable.
Fig. 12
Stability of dual-excitation generator with terminal-rotor-
angle feedback
Derivative a.a.r., proportional, a.v.r., 8to 0
/ > = 0 - 7 6 p . u . My = 1 0 ra- 0-2 s TV= 0-2 s ju ia = 2-0
. . . . =TS =TD
Fig. 12 shows the r$, TD curves for a combination of
p8t andp25f. For Q = 0-6, the first derivative signal is
seen to stabilise the second, without the sudden increase in
TD. This appears for Q = 0-2 and 0-4, and is accompanied
by a rise in Ts after TD becomes negative. This curve is an
illustration of the complex nature of this particular system
configuration.
4 Conclusions
This paper shows the variations of synchronising-
and damping-torque coefficients, which determine stability,
and illustrates how they are influenced by various control
schemes in the feedback regulators. The stages of oscillatory
behaviour which occur in the steady state have been explained
with the aid of the relevant Ts, TD curves.
The inclusion of any parameter can have various con-
sequences. Its effect can only be judged for a certain set of
conditions, i.e. another set of conditions may produce
another result. However, the basic trend can be seen to be
established here. With busbar-rotor-angle feedback on the
dual-excitation generator (Section 3.2), the individual
effects are interlinked when parameters are combined. With
terminal-rotor-angle feedback (Section 3.4), the order of
the characteristic equation is higher, and any combination
of individual effects is a much more complex process.
A comparison of two methods used to calculate the
steady-state-stability limit has also been made. Solving the
characteristic equation by the Routh-Hurwitz criterion
only gives a stable/unstable output, and hence, ultimately,
just defines the stability boundaries. The other method
solves the linearised Park's equations by a matrix technique,
and gives the stability boundary plus its constituent Ts, TD
curves. The latter method is quicker and easier to compute,
and provides more information than the former.
5 Acknowledgments
The authors wish to thank the University of
Liverpool and the Indian Institute of Science, Bangalore,
for computing facilities. Dr. Fishwick is grateful to the UK
Science Research Council for financial support.
PROC IEE, Vol. 121, No. 12, DECEMBER 1974
6 References
1 PRESCOTT, J.C., and RICHARDSON, J.E.: The inherent
instability of synchronous machinery', /. IEE, 1934, 75,
pp. 497-511
2 NICKLE, C.A., and PIERCE, C.A.: 'Stability of synchronous
machines, effect of armature', 1930, Trans. Am. Inst. Electr.
Eng., 49, pp.. 338-350
3 WAGNER, C.F.: 'Effect of armature resistance upon hunting
of synchronous machines', ibid., 1929, 49, pp. 1011-1024
4 KRON, G.: 'A physical interpretation of the Riemann-
Christoffel curvature tensor', The Tensor (Japan), 1955, 4,
pp. 150-172
5 YAU, M.: 'Decomposition of synchronising and damping
torques in synchronous machines'. Ph.D. thesis, Liverpool
University, 1969
6 YU, Y.N., and VONGSURIYA, K.: 'Steady-state stability
limits of a regulated synchronous machine connected to an
infinite system', Trans. IEEE, 1966, PAS-85, pp. 759-767
7 SEN GUPTA, D.P., HOGG, B.W., and YAU, M.: 'Hunting
characteristics of a synchronous machine with two field
windings', Proc. IEE, 1970, 117, pp. 119-125
8 DE MELLO, F., and CONCORDIA, C: 'Concepts of
synchronous machine stability as affected by excitation
control', Trans. IEE, 1969, PAS-88, pp. 316-329
9 SOPER, J.A., and FAGG, A.R.: 'Divided-winding-rotor
synchronous generator', Proc. IEE, 1969, 116, (1), pp.
113-126
10 HARLEY, R.G., and ADKINS, B.: 'Stability of synchronous
machine with divided-winding rotor', ibid., 1970, 117, (5),
n2a = 2-0 pp. 933-947
11 PARK, R.H.: 'Two-reaction theory of a synchronous machine
- Part I', Trans. Am. Inst. Electr. Eng., 1929, 48, pp. 716-
730
12 PARK, R.H.: 'Two-reaction theory of a synchronous
machine - Part II', ibid., 1933, 52, pp. 352-355
13 AGGARWAL, R.K., and HOGG, B.W.: 'Control of dual-
excitation generator using derivatives of rotor angle', Proc.
IEE, 1974,121, (10), pp. 1134-1140
14 RAMA MURTHI, M., WILLIAMS, D., and HOGG, B.W.:
'Stability of synchronous machines with 2-axis excitation
systems', ibid., 1970, 117, (9), pp. 1799-1808
15 SEN GUPTA, D.P.: 'Tensor analysis of the hunting stability
of synchronous machines', Ph.D. thesis, Liverpool University,
1966
16 KAPOOR, S.C., KALSI, S.S., and ADKINS, B.: 'Improvement
of alternator stability by controlled quadrature excitation',
Proc. IEE, 1969, 116, (3), pp. 771-780
Appendix
7.1 Calculation of total damping- and synchronising-
torque coefficients
It has been shown 5 that
electrical torque ATe = (Ts + jhTD)A8b (6)
so that, if ATe can be equated to [A] A8b, 7"s = real part
of [A] and hTD = imaginary part of [.4]
Te = i// d / g (7)
is linearised to give
ATe = +Aiq^d-A^Qid-Aid^q (8)
A\pd and Ai//g are then linearised, and are expressed in terms
of Aifd, Aifq, Aikd, AikQ, Aid, and A/ g and thus the re-
quired coefficients Ts and TD are expressed in these terms.
7.1.1 To find correct values of Ts and TD
The torque equation of an electrical machine
during oscillation can be expressed as follows:
AT = Mp2A8b + TDpA5b + TsA8b (9)
where AT= externally applied torque.
With no externally applied torque
Mp2 A8b + TDpA8b + TsA8b = 0 (10)
1527
Depending on convention, M= 2///co whenp = jhu), or 7.1.2 To show that oscillation begins just inside the
M = 2Hio when p = jh. Extreme care must be applied when Ts = 0 boundary
using either of these conventions. ,_
rf -ii. x- * u MU * From eqn. 10
M
On using either convention, it can be seen that
Ts -real part of (-TDp-Mp2) P =
~2M V [( 2M) ~MJ (11)

It is seen that, while Ts is negative, there will be two real

= 2Hcoh2 (only when TD = 0).
Thus by using an iterative procedure, h is found so that
Ts equates to 2/fco/z2, and the correct values of Ts and TD
are obtained. Location of the Ts = 0 point is found by putting
h 0-0005.
roots.
In fact, two real roots occur until Ts/M> (TD/2M)2
and oscillation occurs thereafter.
Thus oscillation begins at Ts = TD/4M, i.e. where Ts is
just greater than zero (since 4M 7$ for either convention
mentioned above).

1528 PROC. IEE, Vol. 121, No. 12, DECEMBER 1974