Advanced Power Systems

Dr. Kar
U of Windsor

Dr. Kar
271 Essex Hall
Email: nkar@uwindsor.ca
Office Hour: Thursday, 12:00-2:00 pm
http://www.uwindsor.ca/users/n/nkar/88-514.nsf

GA: TBA
B20 Essex Hall
Email: TBA & TBA
Office Hour: -----

Course Text Book:

Electric Machinery Fundamentals by Stephen J. Chapman, 4th Edition,

McGraw-Hill, 2005
Electric Motor Drives Modeling, Analysis and Control by R. Krishnan Pren.
Hall Inc., NJ, 2001
Power Electronics Converters, Applications and Design by N. Mohan, J.
Wiley & Son Inc., NJ, 2003
Power System Stability and Control by P. Kundur, McGraw Hill Inc., 1993
Research papers

Grading Policy:
Attendance
Project
Midterm Exam
Final Exam

(5%)
(20%)
(30%)
(45%)

Course Content

Working principles, construction, mathematical modeling,

operating characteristics and control techniques for synchronous
machines

Working principles, construction, mathematical modeling,

operating characteristics and control techniques for induction
motors

Introduction to power switching devices

Rectifiers and inverters

Variable frequency PWM-VSI drives for induction motors

Control of High Voltage Direct Current (HVDC) systems

Exam Dates

Midterm Exam:

Final Exam:

Term Projects
Group 1:
Student 1 (---@uwindsor.ca)
Student 2 (---@uwindsor.ca)
Student 3 (---@uwindsor.ca)
Project Title:
Group 2:
Student 1 (---@uwindsor.ca)
Student 2 (---@uwindsor.ca)
Student 3 (---@uwindsor.ca)
Project Title:
Group 3:
Student 1 (---@uwindsor.ca)
Student 2 (---@uwindsor.ca)
Student 3 (---@uwindsor.ca)

Synchronous Machines

Construction
Working principles
Mathematical modeling
Operating characteristics

CONSTRUCTION

Salient-Pole Synchronous Generator

1. Most hydraulic turbines have to turn at low speeds
(between 50 and 300 r/min)
2. A large number of poles are required on the rotor

d-axis

Nonuniform airgap

D 10 m
q-axis

Turbin
e

Hydro (water)

Hydrogenerator

Salient-Pole Synchronous Generator

Stator

Sali

e ro
l
o
p
t
en

to r

Cylindrical-Rotor Synchronous Generator

Stator

Cylindrical rotor

Damper Windings

Operation Principle
The rotor of the generator is driven by a prime-mover

A dc current is flowing in the rotor winding which

produces a rotating magnetic field within the machine

The rotating magnetic field induces a three-phase

voltage in the stator winding of the generator

Electrical Frequency
Electrical frequency produced is locked or synchronized to
the mechanical speed of rotation of a synchronous
generator:

fe

nm P
120

where fe = electrical frequency in Hz

P = number of poles
nm= mechanical speed of the rotor, in r/min

Direct & Quadrature Axes

d-axis
Stator winding
N

Uniform air-gap
Stator

q-axis

Rotor winding
Rotor
S

Turbogenerator

PU System
Per unit system, a system of dimensionless parameters, is used for
computational convenience and for readily comparing the performance
of a set of transformers or a set of electrical machines.
PU Value

Actual Quantity
Base Quantity

Where actual quantity is a value in volts, amperes, ohms, etc.

[VA]base and [V]base are chosen first.
I base

VA base
V base

Pbase Qbase S base VA base V base I base

Rbase X base Z base
Ybase
Z

PU

I base
V base

ohm

Z base

2
2
V base V base
V base

I base S base VA base

Classical Model of Synchronous Generator

The leakage reactance of the armature coils, Xl

Armature reaction or synchronous reactance, Xs

The resistance of the armature coils, Ra

If saliency is neglected, Xd = Xq = Xs
jXs

jXl

Ra

+
+
E

Ia
Vt

0o

Equivalent circuit of a cylindrical-rotor synchronous machine

Phasor Diagram

q-axis
E
IaXs

IaRa
Ia

d-axis

Vt

IaXl

The following are the parameters in per unit on machine rating of a 555
MVA, 24 kV, 0.9 p.f., 60 Hz, 3600 RPM generator
Lad=1.66

Laq=1.61

Ll=0.15

Ra=0.003

(a)When the generator is delivering rated MVA at 0.9 p. f. (lag) and rated
terminal voltage, compute the following:
(i) Internal angle i in electrical degrees
(ii) Per unit values of ed, eq, id, iq, ifd
(iii) Air-gap torque Te in per unit and in Newton-meters

(b) Compute the internal angle i and field current ifd using the following
equivalent circuit

Direct and Quadrature Axes

The direct (d) axis is centered magnetically in the center of the north
pole
The quadrature axis (q) axis is 90o ahead of the d-axis
: angle between the d-axis and the axis of phase a
Machine parameters in abc can then be converted into d/q frame using
Mathematical equations for synchronous machines can be obtained from
the d- and q-axis equivalent circuits
Advantage: machine parameters vary with rotor position w.r.t. stator, ,
thus making analysis harder in the abc axis frame. Whereas, in the d/q
reference frame, parameters are constant with time or .
Disadvantage: only balanced systems can be analyzed using d/q-axis
system

d- and q-Axis Equivalent Circuits

Rfd

pkd1

+
-

pfd

vfd

Xl

Xfd

Ifd

Ikd1

Ra

Id

Imd

Rkd1

Xmd

Vtd

pd

Xkd1

d-axis
Imd=-Id+Ifd+Ikd1
d

Xl

pkq1

Ikq1
Rkq1

Ra

Imq=-Iq+Ikq1

Iq

Imq
Xmq

pq

Xkq1

q-axis

Vtq

Small disturbances in a power system

o
o
o

Gradual changes in loads

Manual or automatic changes of excitation
Irregularities in prime-mover input, etc.

Importance of steady-state stability

o

Knowledge of steady-state stability provides valuable information about

the dynamic characteristics of different power system components and
assists in their design
- Power system planning
- Power system operation
- Post-disturbance analysis

Related Terms
o
o
o

o
o

Generator Modeling using the d- and q-axis equivalent circuits

Transmission System Modeling with a RL circuit
A Small Disturbance is a disturbance for which the set of equations
describing the power system may be linearized for the purpose of analysis
Steady-State Stability is the ability to maintain synchronism when the
system is subjected to small disturbances
Loss of synchronism is the usual symptom of loss of stability
Infinite Bus is a system with constant voltage and constant frequency,
which is the rest of the power system
Eigen values and eigen vectors are used to identify system steady-state
stability condition

The Flux Equations

d X md X l id X md ikd1 X md i fd

kd1 X md id X md X kd1 ikd1 X md i fd

fd X md id X md ikd 1 X md X fd i fd

q X mq X l iq X mq ikq1

kq1 X mq iq X mq X kq1 ikq1

Rearranged Flux Linkage equations

d X md X l

X md
kd 1
fd
X md

kq1

X md
X md X kd1
X md

X md
X md
X md X fd

X mq X l
X mq

X mq
X mq X kq1

id
i
kd1
i fd

i
q

ikq1

The Voltage Equations

1
p d vtd Ra id q
0
1
p kd1 Rkd1 ikd1
0

1
p fd v fd R fd i fd
0

1
p q vtq Ra iq d
0

1
p kq1 Rkq1 ikq1
0

..(1)

The Mechanical Equations

d
0
dt
d 0
Tm Te

dt 2 H

where
Te d I q q I d

..(2)

Linearized Form of the Machine Model

q0
1
d vtd Ra id q

0
0
1
kd 1 Rkd 1 ikd 1
0
1

fd

v fd R fd i fd

q vtq Ra iq d d 0
0
0
1
kq1 Rkq1 ikq1
0

0 Tm Te
2H
Te d 0 I q I q 0 d q 0 I d I d 0 q

..(3)

Terminal Voltage
The d- and q-axis components of the machine terminal voltage
can be described by the following equations:

vtd Vt sin
vtq Vt cos

.(4)

where, Vt is the machine terminal voltage in per unit.

The linearized form of Vtd and Vtq are:
vtd Vt cos 0
vtq Vt sin 0

.(5)

Substituting Vtd and Vtq in the flux equations:

q0
1
d Vt cos 0 Ra id q

0
0
1
kd 1 Rkd 1 ikd 1
0
1

fd

v fd R fd i fd

q Vt sin 0 Ra iq d d 0
0
0
1
kq1 Rkq1 ikq1
0

0
Tm Te
2H
Te d 0 I q I q 0 d q 0 I d I d 0 q

..(6)

Rearranging the flux equations in a matrix form:

.....(7)

S X R I B U

where,

d

kd 1

fd

X q

kq1

d

kd 1

fd
q
kq1

Id

I kd1

I I fd

I
q

I kq1

v fd
U

and
0
0

S 0
0

0
0

0
0

0
0

0
0
0
0
0
0 I d 0
2H

0
0
0 0 I q 0

2H

0
0

0
q0

0Vt cos 0
0

0 0Vt sin 0 d 0
0
0
0

0
0
1
0
0
0

0
0

B
0 R fd

0
0

0
0

0
0

0 Rkd 1

0
0

0
0

0
0
0 q 0

0 Ra
0
0
0 d 0
2H

0
0

0
0 Ra

2H

0 Rkq1

0
0

0
0
0

0
0
2H

Flux Linkage Equations (from the d- and q-axis equivalent circuits)

d X md X l

X md
kd 1
X md
fd

0
q

kq1
0

X md

X md

X md

X md
X md X fd

0
0

X mq X l

X mq

X md X kd 1

id
i
0
kd 1
0
i fd

X mq
i
q

X mq X kq1 ikq1
0

Linearized flux linkage equations:

X md X l

X md

d

kd 1

fd

kq1

X md
X md X kd1

X md
0

X md
0

X md
X md

X md X fd

0
0
0

X mq X l

X mq

id
i
kd 1
0
i fd

X mq

i
q

X mq X kq1 ikq1
0
0

and thus,
X md X l

X md

id
i
kd 1

i fd

iq
ikq1

X md

X md X kd1

X md

X md

X md

X md X fd

X mq X l

X mq

X md X kd1

X md

X md

X md X fd

X mq X l

X mq

X md X l

X md

X md

X md

X mq

d

kd 1

X mq X kq1

fd

q
kq1

X md

X md

X mq

X mq X kq1 0

d

kd 1

fd
1
X reac q
kq1

...(8)

d
0 kd 1

0 fd

0 q

0 kq1

 id
i
kd 1

d

kd 1

i fd

i
q

ikq1

fd
1
1

X reac q X reac X
kq1

: from (8)

S X R I B U

S X R X reac 1 X B U

S R X reac 1 X B U

: inserting (8) into (7)

A X B U

where,

A S R X reac 1

..(9)

: system state matrix

System to be Studied

Vt

It
Generator
Infinite Bus

System State Matrix and Eigen Values

System State Matrix: A S R X reac 1
Eigen Values: 1 , 2 j
j

Eigen Values

Eigen values are the roots of the characteristic equation

A X B U

Number of eigen values is equal to the order of the characteristic

equation or number of state variables
1t
e
Eigen values describe the system response (
) to any disturbance

Analyzing the Eigen Values of the System State Matrix

o
o

Compute the eigen values of the system state matrix, A

The eigen values will give necessary information about the steady-state
stability of the system
Stable System: If the real parts of ALL the eigen values are negative
Example:

1 , 2 0.15 j 2.0
3 0.0005

A system with the above eigen values is on the verge of instability

Machine Parameters
Salient-pole synchronous generator
3kVA, 220V, 4-pole, 60 Hz and 1800 r/min
Machine parameters

Per unit values

d-axis magnetizing reactance, Xmd

1.189

q-axis magnetizing reactance, Xmq

0.7164

Armature leakage reactance, Xl

0.100

Field circuit leakage reactance, Xfd

0.276

First d-axis damper circuit leakage reactance, Xkd1

0.181

First q-axis damper circuit leakage reactance, Xkq1

0.193

Armature winding resistance, Ra

0.0186

Field winding resistance, Rfd

0.0058

First d-axis damper winding resistance, Rkd1

0.062

First q-axis damper winding resistance, Rkq1

0.052