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Electrical Drives Juha Pyrhnen, LUT, Department of Electrical Engineering
8.1
8. FIELD CURRENT, REACTIVE POWER, AND DYNAMICS OF A SYNCHRONOUS
MACHINE ........................................................................................................................................... 1
8.1 Synchronous Generator Connected to an Electrical Network ............................................. 7
8.2 Field Current Supply Methods ........................................................................................... 11
8.3 Dynamic Response of a Synchronous Machine in DTC Drive When Applying Different
Field Current Control Methods ...................................................................................................... 14
8.4 Field Current Control of the DTC Drive of a Synchronous Machine ................................ 19
8.4.1 Field Current Control in the Constant Flux Range .................................................... 19
8.4.2 Field Current Control in the Field Weakening Range ............................................... 20
8. FIELD CURRENT, REACTIVE POWER, AND DYNAMICS OF A SYNCHRONOUS
MACHINE
A generator in island operation excluded, the excitation state of a small synchronous machine is
defined chiefly by the stator terminal voltage, determined by the grid. If we neglect the resistive
voltage loss of the stator and consider the power of the synchronous machine a motor or a
generator to be low when compared with the short-circuit power of the grid, the flux linkage of
the stator can be determined directly from the terminal voltage of the stator. Large generators in
power plants are capable of locally impacting on the line voltage, and therefore their terminal
voltage can be regulated for instance by a PI controller.

In the first place, is it justifiable to consider the case as the control of the excitation of a
synchronous machine? It is true that the field current has an impact on the magnetic state of the
machine, although it cannot determine the stator flux linkage. Instead, the ratio of the stator flux
linkage and the air gap flux linkage and thereby the reactive power of the machine are determined
on the basis of the field current; therefore, it would be advisable to define the case as the control of
the field current.

Figure 8.1 depicts a salient-pole synchronous machine in different excitation states. The relative
magnetizing inductance of the illustrated machine in the d-direction is L
md
= 1, in the q-direction
L
mq
= 0.6, and the leakage inductance is L
os
= 0.1. The machine operates at its rated torque.

8.2

Figure 8.1 The effect of the field current on the excitation
state of the machine when the machine operates on a rigid
network or at a terminal voltage determined by the
inverter. The angle between the stator flux linkage and the
voltage is always 90 electric degrees. Each machine
produces an equal torque. The figure shows clearly that
the pole angle of the machine depends on the field current.
An overexcited machine has the lowest load angle o
s
. The
voltage and the stator flux linkage have the value one in
each illustration. Note that the field current has to be
above one in order to compensate the armature reaction,
in the illustrated cases i
F
= 1.5, i
F
= 1.8, i
F
= 1.25.

q
d
m
o
m
o
s
s
L
so
i
s
u
s
, i
s
e
i
q
i
d
i
F
,
F
L
md
i
d
L
mq
i
q
l
md
= 1.0, l
mq
= 0.6, l
so
= 0.1
cos = 1.0
q
d
m
o
m
o
s
s
L
so
i
s
u
s
e
i
q
i
d
i
F
,
F
L
md
i
d
L
mq
i
q
cos = 0.96 overmagn.
i
s
q
d
m
o
m
o
s
s
L
so
i
s
u
s
e
i
q
i
d
i
F
,
F
L
md
i
d
L
mq
i
q
cos = 0.95 undermagn.
i
s

Figure 8.2 in turn presents the synchronous generators illustrated in accordance with the motor
logic. Each regeneratively braking synchronous motor can smoothly be changed over to operate
according to the illustrated vector diagram. In this case, the torque is not considered constant, but
the load angle o
s
of the stator flux linkage is kept constant in each operating state; as a result, the
overexcited machine has the highest torque.
8.3
q
d
s
L
s
o
i
s
u
s
e
i
q
i
d
i
F
,
F
L
md
i
d
L
mq
i
q
l
md
= 1.0, l
mq
= 0.6, l
s
o
= 0.1
cos
= 1.0
cos
= 0.98 overmagn.
cos
= 0.94 undermagn.
i
s
, e
s
q
d
s
L
s
o
i
s
u
s
e
i
q
i
d
i
F
,
F
L
md
i
d
L
mq
i
q
e
s
i
s
q
d
s
L
s
o
i
s
u
s
e
i
q
i
d
i
F
,
F
L
md
i
d
L
mq
i
q
e
s
i
s
o
s
o
s
o
s

Figure 8.2 Vector diagrams of a salient-pole synchronous generator in different excitation states illustrated in
accordance with the motor mode.

Figure 8.3 depicts an ordinary vector diagram of a synchronous generator according to the
generator mode. Here, a negative terminal voltage vector is employed, which is written equal with
the stator flux linkage induction e
s
. We may describe the construction process of the vector diagram
as follows: we have a small machine, the terminal voltage of which is determined by a rigid
network. This terminal voltage determines the stator flux linkage
s
, which is 90 electric degrees
behind the terminal voltage. This rotating flux linkage produces an induction e
s
, which cancels the
8.4
terminal voltage of the network. The stator current is created as an effect of the sum of the terminal
voltage and the induction of the stator flux linkage in the stator resistance of the machine. In Figure
8.3, the sum is zero, since R
s
= 0.
q
d
s
L
s
o
i
s
e
i
q
i
d
i
F
,
F
L
md
i
d
L
mq
i
q
l
md
= 1.0, l
mq
= 0.6, l
s
o
= 0.1
cos = 1.0
i
s
e
F
e
m
jeL
s
o
i
s
jeL
md
i
d
jeL
mq
i
q
e
s
= u
s

Figure 8.3 The vector diagram of a salient-pole synchronous generator in the generator mode. The illustration includes
the reactive voltage losses corresponding to the armature reaction and the leakage flux linkage. The induction e
F
is the
fictitious voltage induced by the rotor flux linkage
F
, e
m
is the voltage induced by the air gap flux linkage, and e
s
is the
voltage induced by the stator flux linkage.

Figure 8.4 shows the simplified vector diagram of a generator, this diagram being similar to the
effective value phasor diagram. Here the approach is different: the field current creates a flux
linkage, which induces the electromotive force e
F
. The armature reaction reduces the stator
induction of the loaded generator to the value of e
s
, which is now approximately the same as the
terminal voltage u
s
.

q
d
e
i
q
i
d
l
md
= 1.0, l
mq
= 0.6, l
s
o
= 0.1
cos
= 0.88, overmagn
i
s
e
F
e
m
j
e
L
s
o
i
s
j
e
L
md
i
d
j
e
L
mq
i
q
u
s
,

e
s
o

Figure 8.4 A simplified vector diagram of a synchronous generator for a overexcited generator.

Figure 8.5 illustrates the behaviour of a non-salient pole generator at a constant power with
different power factors. We can show that at the constant voltage the loci plotted by the point of the
current vector and the fictitious emf vector are straight lines when operating with different power
8.5
factors and at a constant active power. The power of the machine expressed by applying the torque
equation is written as

P
p p
p u i = = = = = =
e e
e t i i u i u i
e s s s s s s s s s s
j
3
2
3
2
3
2
3
2
3
2
cos . (8.1)

On the other hand, we know that the apparent power is

S u i u i = = +
3
2
3
2
3
2
u i
s s s s s s
j * cos sin . (8.2)

When the power is kept constant at a constant terminal voltage, i
s
cos remains constant, and the
point of the current vector plots a straight line as depicted, if the field current of the machine is
varied.

i
s
e
F
j
e
L
d
i
s
u
s
locus of the point of current

vector at constant power
o
e
F

locus plotted by the point of
at constant power
X
d
i
s
cos

Figure 8.5 The vector diagram of a non-salient pole generator with two values of the power factor at a constant terminal
voltage u
s
. Increasing the excitation raises the emf e
F
and reduces the pole angle o as well as increases the load angle .

The total voltage loss jeL
d
i
s
caused by the armature reaction can be expressed as

( ) ( )
( ) ( )
j j j j j
+ j
d s d s d s d s
d s d s
e

L X X X
X X
i i i i
i i
= =
=
cos sin
sin cos
(8.3)

If X
d
is constant, the component ( ) X
d s
i cos remains constant, and as the excitation state changes,
the emf vector plots the straight line depicted above. This component can also be expressed with the
load angle and the emf vector

( ) X
d s F
i e cos sin o = (8.4)

Next, we solve the current from the above
8.6

( )
i
e
s
F
d
=
sin
cos
o
X
, (8.5)

and substitute it to the power equation

P
X
= =
3
2
3
2
u i u
e
s s s
F
d
cos
sin
o
. (8.6)

We have thus found the familiar load angle equation for a non-salient pole machine. When the
terminal voltage is kept constant, also e
F
sino has to remain constant, and thus the depicted
vertical locus is realized for the emf vector.

We continue by investigating two similar parallel operating synchronous machines in Figure 8.6;
the terminal voltage is kept constant in the figure. The power of the generator 1 accounts only 40 %
of the power of the generator 2. Note that during the changes in the reactive power, both machines
behave as shown in the previous case with a constant power. In the initial state, the machines
produce the currents i
s1
and i
s2
. The field current of the generator 2 is raised in order for the voltate
in the poles of the generator to remain constant. Simultaneously, the field current of the generator 1
is reduced, and consequently, new currents i'
s1
and i'
s2
, indicated by the dashed lines, are obtained.
The changes in the currents Ai
s1
and Ai
s2
are equal and opposite, and thus the situation remains
unaltered with respect to the network. To ensure an appropriate division of the reactive power
between the parallel operating machines, the reactive power of the generators has to be adjusted by
the so-called reactive current droop.

i
s2
u
s
i
s1
i'
s2
A
i
s2
i'
s1
A
i
s1
i

Figure 8.6. Reactive power division between two parallel operating generators. Note that the opposite changes in the
field currents generate the respective changes in the reactive powers of the machines. Ai
s1
and Ai
s2
are perpendicular to
the terminal voltage and thus represent the reactive power.

Let us next consider the behaviour of two parallel operating generators, when the power of the
generator is increased without changing the field current. One of the machines maintains the
constant terminal voltage. When the torque is increased, the generator accelerates momentarily, and
its pole angle increases until a new power balance is reached. Since the field current is kept
constant, it is obvious that the emf remains constant, and the locus plotted by the vector is a circle;
the situation is illustrated in Figure 8.7. As the point of the vector of the armature reaction follows
8.7
the same path as e
F
, also the point of the current vector has to follow a circle, as shown in the figure
below.

i
s
e
F
j
e
L
d
i
s
u
s
locus plotted by the point of current vector

at constant field current
o
eF
locus plotted by the point of
current
at constant field
o
'
e
F
'
i
s
'
'

Figure 8.7 Behaviour of a non-salient pole generator at a constant field current when the power increases.

In order to maintain the terminal voltage, the corresponding changes have to be made to the other
generator, in other words, its effective power has to be reduced and the field current has to be
increased. If the common grid current vector is i, we obtain for the currents of the generator 2 in the
initial and final state

i i i i i i
s2 s s2 s
= = , ' ' . (8.7)

The emf of the generator 2 has to be adjusted at

e u i
F2 s d2 s2
j ' ' = + X . (8.8)

8.1 Synchronous Generator Connected to an Electrical Network

To ensure the power quality, the frequency of the network and the magnitude of the voltage should
be kept as constant as possible. A generator is an electromechanical energy converter, which,
connected to an electrical network, settles at a load angle corresponding to the torque of the turbine,
assuming that the preconditions for the continuous operation are met. The torque control of turbines
is based on the measurement of the network (supply) frequency; changes in the torque cause slight
changes in the network frequency. Since we have a multi-machine system, it is not possible to apply
integral rotation speed control, but the power control of the power machine is executed by the so-
called droop control: as the frequency decreases, a higher torque is requested from the power
machine. However, unlike the integral control, the droop control allows a continuous control error.
If there were an integral controller in the turbine of a small generator operating in parallel with the
network, the turbine would always give its maximum power below the 50 Hz supply frequency, and
correspondingly, at a supply frequency above 50 Hz, it would give a zero power. This is not
practical, and therefore, a droop control is applied.

The terminal voltage of a synchronous generator is a function of the rotation speed, load current,
and the network impedance. A generator operating on a rigid network cannot impact significantly
on the local voltage of the network, but the network determines the terminal voltage instead. The
larger the machine, the more it can influence the local line voltage. Figure 8.8 illustrates the
8.8
behaviour of the field current at a constant terminal voltage at different types of load currents. The
type of the load is a decisive factor in determining the generators demand for field current.

i
F
/i
F0
i
s
/i
sN
0
0
1
1
inductive load
e.g. induction machines
resistive load
capacitive load
e.g. transmission line with
small load

Figure 8.8 The effect of load of a synchronous generator on the demand for field current.

The control of the field current of the generators is implemented according to two principles. In the
case of small machines, the suitable reactive power reference, which the field current controller
attempts to implement, is given to the generator or the motor. This control method is particularly
useful in situations where the machine cannot in practice impact on the local voltage level of the
network. On the other hand, if the machine is large, and its excitation state can be used to impact on
the network voltage, a PI-type voltage controller, which adjusts the field current at a suitable level,
is employed.

The voltage control of an actual power plant generator has various functions in different operating
conditions; these circumstances are presented in Table 8.1
8.9

Table 8.1 Operating conditions and functions of the voltage control of a large power plant generator

operating mode network event transient state functions of the voltage
controller
static several large machines in an
extensive network in a nearly
static state
slight changes in power and
reactive power
keeping the voltage constant,
damping of the transients
dynamic switching situation

momentaneous fault
situation, fault switch-off

failed fault switch-off, high-
speed automatic reclosing,
permanent fault
Changes in power, reactive
power, terminal voltage,
current, field current

significant temporary
changes in power, reactive
current, and field current.
Damper windings assist the
control

strong consequent temporary
changes in power, reactive
current, and field current.
Damper windings assist the
control
as steady transition to new
operating state as possible

Maintenance of stability and
damping of the pole angle
fluctuation

Smooth transition to a new
operating state, damping,
control of reactive power and
voltage, rapid shutdown,
protection of generator and
turbine

The primary function of the voltage control is to keep the terminal voltage of the generator at a
desired level in normal operating state, in which slight changes in power and reactive power are a
constant phenomenon. A secondary function is the reactive power division between the parallel
operating generators, and improving the network stability. Mrsky (1994) defines the following
requirements (Table 8.2) for the generator voltage control:

Table 8.2 Requirements for the voltage control (Mrsky 1994)

Parameter Requirement
Static accuracy: permitted deviation of the voltage from the rated value as the voltage has settled
after a transient

Dynamic accuracy: permitted deviation of the voltage from the rated value as the rated load is
connected to the generator or disconnected from the generator

Control speed: time in which the voltage has to return to the value required by the static accuracy
after the rated load has been disconnected (switched off)

Permitted deviation of the reactive power compared with the rated power between the parallel
operating generators
ca. 1 %

ca. 15 %

ca. 1 ... 3 s

ca. 10 %

A synchronous machine can be loaded momentarily with an extremely high power when compared
with the rated power of the machine. In controllable motor drives in particular, the machine is
loaded temporarily quite relentlessly depending on the dimensioning of the power electronics by
a torque amounting up to a fivefold rated torque. In a continuous operation, a PQ diagram is
typically presented for direct-on-line machines (Fig. 8.9); the diagram expresses the load capacity
of a synchronous machine, based on certain limitations.

8.10
P
Q
stability limit
stator current limit
current limit of field winding
overmagn. undermagn.
c
o
s

=

0
.
8

o
v
e
r
m
.
c
o
s

=

0
.
9

u
n
d
e
r
m
I
F
= 0, limit
I
F
= min, limit

Figure 8.9 Limits set for the power plant generator in continuous operation.

The stability limit of Fig. 8.9 is reached, if the field current of the machine is too low. We may see
from the load angle equation that in that case, e
F
decreases, and therefore, the pole angle o has to
increase correspondingly. If the emf is too low, the machine is pulled out when the turbine torque
increases.

When the synchronous machine is operating on a constant-voltage network, the armature current is
a function of the field current. If we neglect the stator resistance and consider a non-salient pole
machine, we obtain the V-curves, when the stator current is illustrated as a function of the field
current. The continuous lines of Figure 8.10 indicate the V-curves of an unsaturated synchronous
machine, when the pu value of the synchronous reactance is x
d
= 1.0. The dashed lines indicate the
constant cos values. Usually also the synchronous motors operate overexcited, producing the field
current for the induction motors running in parallel with them. It is also possible to use a
synchronous machine as a so-called synchronous capacitor, in which case the machine operates at
no load and overexcited. Thus, by controlling the field current, it is possible to achieve a steplessy
controlled capacitor.

Figure 8.10 V-curve of a synchronous machine. The
current axes as well as the parameter (power) are given in
pu values.
0
0.5
1.0
1.5
2.0
2.5
2.5 2.0 1.5 1.0 0.5 0
p = 0
p = 1.0
p = 1.5
p = 0.5
cos . = 0 8undermagn
cos . = 10
cos . = 08 overmagn
I
I
F
/I
F0

The reactive power division between the parallel operating generators is performed in practice by
applying the reactive power droop control. The reactive power droop, as shown in Figure 8.11, is a
8.11
property of the voltage controller, by which the voltage reference is reduced as the reactive power
given by the generator increases. The value of the reactive power droop is typically of the scale of 3
%.
U
s
I
s
sin
U
n
U
s
U
n
A
1
1
0
0
I
sN
sin
N

Figure 8.11 Principle of reactive power droop

8.2 Field Current Supply Methods

The previous discussion shows clearly that the field current has a central role in the operation of a
synchronous machine. When operating on a rigid network, the field current determines the power
factor and the load angle of the machine. The correct control of the field current improves the
stability of the machine considerably also in the dynamic states.

In power electronic controlled drives in particular, an ability to very rapidly adjust the field current
is required. Therefore, in drives with demanding dynamics, a separately magnetized slip-ring
machine is employed. When supplying the rotor of the machine from a 400 V network, the
resistance of the field winding is dimensioned such that the voltage at the nominal operating point is
of the scale of 100 V; in that case, the thyristor bridge can instantaneously feed the field winding at
a 560 V voltage, thus enabling a rapid change. Here it should be borne in mind that in a large
machine, changing the air gap flux linkage requires a considerable time. The time constant t'
d0
of a
synchronous machine can be several seconds. The larger the voltage reserve of the converter
feeding the field winding is, the easier it is to change the air gap flux linkage. On the other hand,
with a thyristor bridge, it is possible to conduct a high negative voltage to the field winding to
reduce the current for instance if the machines state of load decreases abruptly.

Figure 8.12 presents a normal supply arrangement of the field current of a synchronous machine; in
the arrangement, the field winding is fed from the grid by a thyristor bridge. Considering the control
engineering aspects, this is the best method, since at a high overvoltage, also the field current can
be changed rapidly in dynamic states. If necessary, the thyristor bridge guarantees also a negative
excitation voltage in the field winding to rapidly bring the current down.

8.12
voltage
transformer
current
transformer main machine
P
I
cos
I >
U <
switch of the starting relay
undermagn. relay

Figure 8.12 Thyristor bridge excitation of a separately magnetized slip-ring machine. If the machine is started direct-
on- line with a damper winding, a short-circuit of the field winding or the depicted resistance is required during the
start-up. The control block includes the measurements to determine the current, voltage, power, and the power factor.
The under-excitation relay releases the drive, if the field current disappears. The same control method is applicable
also to synchronous generators; however, the start-up is naturally executed by the power machine.

A brushless excitation is often required of a machine intended for continuous operation. Figure 8.13
illustrates the excitation system of a fully independent generator. A permanent magnet generator
produces the excitation power for the external pole synchronous machine, the armature winding of
which is mounted on the same axis with the rotor of the main machine. Also the rectifier rotates
along with the rotor. This yields a brushless solution, yet the dynamics of the field current suffers
considerably. The method is not applicable to dynamically demanding drives.

controller
voltage
transformer
current
transformer main
machine
exciter
PM
generator

Figure 8.13 Brushless excitation system of a synchronous machine in island operation. The field current is changed
through the time constants of the three generators. If required, the time constants of a permanent magnet machine can
be adjusted to be short, and thus using the permanent magnet machine does not significantly retard the control of the
field current of the main machine.

Figure 8.14 shows a modification of the above example, designed for direct-on-line operation; in
this application, the energy required by the field winding of the excitation machine is taken from
the grid by using a thyristor bridge.
8.13
controller
voltage
transformer
current
transformer main
machine
exciter
network

Figure 8.14 Brushless excitation system of a synchronous generator. The field current is altered through the time
constants of the two generators. In principle, the system can made faster than the previous one. The method is common
also in continuous motors; however, the machine has always to be started up by an auxiliary system. If we want to start
the machine with damper windings, a protection (e.g. a resistance) has to be arranged for the field winding against the
high induced voltages occurring in the start-up. Besides, this kind of protection may be required for the fault situations
of the generator.

Figure 8.15 illustrates a somewhat out-of-date usage of a DC generator in the excitation of a
synchronous machine. A separately excited DC generator is mounted on the same axis with the
main machine; however, in this case, both slip rings and a commutator are required. Applications of
this kind are probably no longer in production.

controller
voltage
transformer
current
transformer main
machine
exciter
DC machine
network

Figure 8.15 Traditional DC generator excitation.

The field current arrangements of brushless generators are in principle applicable to direct-on-line
motors also. However, if a power electronics-controlled brushless motor is required, it is necessary
to be able to supply the field current also at zero speed. In that case, a solution related to a
cyclococonverter drive (Figure 8.16) is required; in this solution, the field current is produced by a
rotating-field machine, equipped with a poly-phase winding both on the stator and the rotor. Now,
when the main machine operates at zero speed, it is possible to supply field current to the machine
8.14
by rotating excitation of the exciter. It is advisable to select the direction of the exciter to be
opposite to the rotation direction of the main machine; thus, when the main machine starts up, the
frequency of the exciter tends to increase, and the frequency of the exciter can be decreased, if
required. As the main machine has accelerated to its rated speed, if desired, direct current can be fed
to the poly-phase winding of the exciter. In dynamic transients, the field winding of the exciter
can be fed by the inverter at varying frequencies, in which case the induction can in principle be
intensified when necessary. In any case, the dynamics of the method is slower than the dynamics of
slip rings. Since the method is non-wearing, it is adapted for instance to marine drives.

main machine
rotating-field
exciter
or
rotating transformer
network
u
sa
sb
sc
u
u
network

Figure 8.16 A method for supplying field current to a brushless synchronous motor so that the cyclo drive can be
operated also at zero speed.

8.3 Dynamic Response of a Synchronous Machine in DTC Drive When Applying
Different Field Current Control Methods

Figure 8.17 depicts the behaviour of the stator current and the stator flux linkage during a torque
step in a vector-controlled synchronous motor, when the voltage supplying the field winding is kept
constant. The transients of a synchronous machine can best be investigated in a rotor reference
frame. The angular speed of the stator flux linkage in the rotor reference frame depends on the
voltage reserve available; this reserve is the difference of the electromotive force and the available
stator voltage

s
max
s s
max
s res
e = ~ u e u u , 0
s
~ R . (8.9)

When the voltage reserve is known, the angular speed of the flux linkage vector can be determined
by the per unit value equation

e
e
co
c
co
ct
r
b
res
s
= = =
1
t
u
. (8.10)

8.15
In Eq. (8.10), o represents the pole angle of the stator flux linkage, that is, the angle between the
rotor and the stator flux linkage. If the voltage reserve u
res
is assumed constant, the DTC rotates the
flux linkage vector at a constant speed in the rotor reference frame during the torque step. The
behaviour of the stator current instead depends on the control of the field current.

u
n+1
A
t
u
n+2
A
t
u
n+3
A
t
u
n+4
A
t
u
n+5
A
t
s0
s1
i
s0
i
s1

A

i
n+1
d
q

A

i
n+2

A

i
n+3

A

i
n+4 A

i
n+5
m0
m1
l
s
o
i
s1
l
s
o
i
s0

Figure 8.17 Behaviour of the stator flux linkage and the stator current in transients. The behaviour of the stator current
depends on the control of the field current. Here, a constant excitation voltage in the field winding voltage is assumed.
(Pyrhnen, O. 1998)

Next, the torque step is investigated with three different field current control methods, which are a
constant voltage in the field winding, a constant current in the field winding, and a reaction control.
The reaction control keeps the d-component of the air gap flux linkage constant, in other words, it
compensates the changes in the stator current with equal, opposite changes in the field winding. It is
further assumed that the transient is fast when compared with the time constants of the damper
windings. Now the transients can be investigated with the so-called transient inductance, which
expresses the dependence between the stator flux linkage and the stator current in a fast transient.

When the voltage in the field winding is kept constant, the d-axis stator current component has, in
addition to the magnetizing inductance, two leakage flux paths; the transient inductance is written
as

F D F md D md
F md D
s constant uF tr, d,
l l l l l l
l l l
l l
+ +

+ =
. (8.11)

8.16

l
so
l
md
l l
Fo
u
F
-

constant
D
o

Figure 8.18 The paths of the d-axis stator current component during a transient, when the excitation voltage in the field
winding is kept constant.

If, instead of the constant voltage in the field winding (field voltage?), the field current is kept
constant, unlike in the previous case, there is no leakage flux path in the field winding, and the
transient inductance becomes

md D
md D
s vakio iF tr, d,
l l
l l
l l
+
+ =
. (8.12)

l
so
l
md
l
Do
l
Fo
u
F
i
F
-

constant

Figure 8.19 The d-axis components of the stator current in a transient, when the field current is kept constant

In the last case, reaction control is used; now, the d-axis component of the air gap flux is kept
constant. The transient inductance in this case is written as

s control reaction tr, d,
l l = (8.13)
i
F
l
so
l
md
l
D
o l
Fo
u
F
i
d
md
-constant

Figure 8.20 The paths of the d-axis component of the stator current, when the d-axis component of the air gap flux is
kept constant.

There are no rotor windings on the quadrature axis to be controlled, and thus the transient
inductance in that direction is always the same

8.17
.
Q mq
Q mq
s tr q,
l l
l l
l l
+
+ = (8.14)

As we know now that the DTC rotates the stator flux linkage at a constant speed in the rotor
reference frame during the torque step, and on the other hand, we also know the relationship
between the stator flux linkage and the stator current during a transient, we are able to determine
also the behaviour of the torque.

The change in the stator current component can be expressed by the change of the stator flux
linkage component and the transient inductance,

A A
A A
i
l
i
l
d
d,tr
sd
q
q,tr
sq
,
.
=
=
1
1
(8.15)

The torque is obtained from the cross product of the stator flux linkage and the stator current

) )( ( ) )( (
d 0 d sq 0 sq q 0 q sd 0 sd d sq q sd e
i i i i i i + + + + = = t
)
1
)( ( )
1
)( (
sd
tr d,
0 d sq 0 sq sq
tr q,
0 q sd 0 sd

l
i
l
i + + + + = . (8.16)

We assume further that the initial state starts from no-load operation, and thus
sq0
= 0; the equation
can be simplified into the form

sd
tr d,
sq sq
tr q,
sd 0 sd e

1

1
) (
l l
+ = t . (8.17)

The changes in the stator flux linkage components can be expressed by the pole angle and the
magnitude of the stator flux linkage

. sin
, ) 1 (cos
s sq
s sd
o
o
=
=
(8.18)

By substituting Eq. (8.18) to Eq. (8.17) we obtain

|
|
.
|
\
|
|
|
.
|
\
|
+ = o o cos
1 1 1
sin
tr d, tr q, tr d,
2
s e
l l l
t . (8.19)

The maximum value for the torque can be obtained by deriving Eq. (8.19) with respect to the pole
angle o

8.18

c
co
o o
t
e
s
q,tr d,tr d,tr q,tr d,tr
cos cos =
|
\
|
.
|
|
+ +
|
\
|
.
|
|
2
2
2
1 1 1 1 1
l l l l l
. (8.20)

Finally, we may solve coso, at which the maximum torque is achieved

cos
d,tr d,tr q,tr d,tr
q,tr d,tr
o =
+ +
|
\
|
.
|
|
|
\
|
.
|
|
1 1
8
1 1
4
1 1
2
2
l l l l
l l
. (8.21)

Table (8.3) presents a case example for torque transients with different field current control
methods, when the magnitude of the flux linkage is |
s
| = 0.3 pu, in other words, the machine
operates in the field weakening range. The motor parameters are given at the end of this chapter.

Table 8.3 Characteristics of torque transients with different field current control methods

field current control l
d,tr
|pu| l
q,tr
|pu| |t
e
|
d,max
|pu| o
d,max
|deg|
A. Constant voltage 0.1724 0.2268 0.5361 102.5
B. Constant current 0.1856 0.2268 0.4925 99.8
C. Damper compensation 0.1200 0.2268 0.8184 110.7

Figure 8.21 illustrates the behaviour of the stator current vector and the stator flux linkage vector
with different excitation methods, and Figure 8.22 depicts the development of the torque as a
function of pole angle in these three cases.
i
s,A
A
B
C
D
s
q
d
i
s,B
i
s,C

Figure 8.21 The trajectory curves of the stator flux linkage and the stator current during a torque step. A) a constant
excitation voltage in the field winding, B) a constant field current, C) reaction excitation control (Pyrhnen, O. 1998).

8.19
0 50 100 150 200
0
0.2
0.4
0.6
0.8
A
B
C

o
/deg
T
e

Figure 8.22 Torque development (response) during a torque step as a function of the pole angle. A) constant excitation
voltage, B) constant field current, C) reaction excitation is applied to (Pyrhnen, O. 1998).

A more detailed analysis of the transient can be carried out by employing operator inductances,
which also take into account the resistive voltage losses of the rotor during the transient.

8.4 Field Current Control of the DTC Drive of a Synchronous Machine
8.4.1 Field Current Control in the Constant Flux Range

In the DTC method, the stator current is not a control parameter. Instead, the magnitude of the
stator flux linkage and the torque are controlled. Therefore, the traditional methods for the field
current control that are linked with the control of the stator current components cannot be applied
to.

A DTC control is capable of keeping the torque at the setpoint value in the stable operation range of
the synchronous machine. The dynamic errors in the field current control are not a problem for the
accuracy of the torque control. However, the field current has to manage to keep the drive in the
stable operating range by increasing the field current as a function of torque. A field winding
reference that produces the power factor one can be calculated as a function of torque and flux
linkage, if the inductances of the synchronous machine are known.

(
(
+
+
=
2
ref
s
2
ref
e
2
sq
2
ref
s md
2
ref
s
2
ref
e
sq sd
2
ref
s
ref , F
l l
l l
i (8.22)
8.20

Using Eq. (8.22) links the field current control to the control fo the main control parameters of the
DTC, and the oscillation of the magnetic energy between the stator and rotor can be avoided. Due
to saturation, also the inductance values become erroneous. The correction term is obtained by
investigating the angle between the stator flux linkage and the stator current, which has to be a right
angle at the power factor one. In that case, the field current control as a whole can implemented as
shown in Figure 8.23.

|T
e
|
ref

|
s
|
ref

s
i
s
s,f s,f
i
P
ex
Open loop control
Feedback control
+
i
F,ref
s,f
i
s,f
LPF
(
(
+
+
=
2
ref
s
2
ref
e
2
sq
2
ref
s md
2
ref
s
2
ref
e
sq sd
2
ref
s
OpenLoop , F
l l
l l
i

Figure 8.23 Excitation control of a DTC synchronous motor drive in the constant flux range (Pyrhnen, O. 1998).

8.4.2 Field Current Control in the Field Weakening Range

In the field weakening range, the performance of the drive is constrained by two factors, namely the
low voltage reserve, and at the same time, the current limit of the drive. In the previous dynamic
analysis, it was shown that the best torque response is obtained by employing reaction control.
Reaction control contradicts with the field current reference of Eq. (8.22), since Eq. (8.22) does not
keep the d-axis component of the air gap flux linkage constant, Figure 8.24.
8.21
0.5 1 1.5 2
0.2
0.4
0.6
0.8
|Te|
pu

md
pu
|
s |=0.5
|
s |=1.0
0
0

Figure 8.24 Change of the d-axis component of the air gap flux linkage, when cos = 1, the field current reference is
determined according to Eq. (8.22) (Pyrhnen, O. 1998).

However, field current can be controlled so that on one hand, the d-axis component of the air gap
flux linkage remains constant, and on the other hand, the power factor cos = 1 is achieved
simultaneously as the current limit is reached. Now the dynamics is good, and the maximum value
available for the stator current produces a theoretical maximum torque. The resulting excitation
curve is illustrated in Figure 8.25.

The disadvantage of the method is the high stator and rotor current at small loads, in which case the
losses of the drive are increased considerably. Another problem related to the high overexcitation is
the high overvoltage in a fault situation.

0 0.2 0.4 0.6 0.8 1
1
2
3
4
B
A
iF pu
|
Te| pu
b
1
b2

Figure 8.25 Excitation curve B, which keeps the d-axis component of the air gap flux linkage constant irrespective of
the torque. Also the curve A at cos = 1 is illustrated. Note that the power factor cos = 1 is reached at the assumed
maximum current, point b
2
(Pyrhnen, O. 1998).

8.22
Figure 8.26 shows the initial and final states of the vectors in the dq reference frame when using the
field current of Figure 8.25.
i
F
*
i
F0
m0
m
*
s0
s
*
i
s0
i
s
*
d
q
md

Figure 8.26 The d-axis component of the air gap flux linkage remains constant, when the field current is controlled
according to the excitation curve B of Fig. 8.25. Thus, in the no-load operation, the machine highly overexcited, which
is clearly indicated in the illustration (Pyrhnen, O. 1998).

Figure 8.27 presents the implementation of the reaction control in the DTC synchronous machine
drive. In the case of reaction control, the fastest possible rise of the field current is constrained by
the excitation voltage reserve available. At low speeds, large changes can be made very rapidly in
the stator side, and therefore, the allowed rise speed of the torque has to be limited depending on the
excitation voltage reserve available. The voltage reserve is naturally located in the DC winding.

u u i r
F, res F, max F F
= . (8.23)

T
ramp
DTC
|

s
|
ref
t
e ref
u
F
u
s
i
F,ref
FIELD WINDING
CURRENT
CONTROL
t
e
ref
R
FIELD WINDING
CURRENT
SUPPLY
CONVERTER

Figure 8.27 Reaction excitation control in the DTC synchronous machine drive. The rise time of the torque reference
has to be limited. The time constant is adjusted to achieve the best torque response (Pyrhnen, O. 1998).

8.23

The motor parameters used in simulations are given in Table 8.4.

Table 8.4 Motor parameters used in simulations.
Parameter Value Notes
direct-axis magnetizing inductance l
md
1.05 saturation dependent
quadrature-axis magnetizing inductance l
mq
0.45 saturation dependent
Stator leakage inductance l
so
0.12
Stator resistance r
s
0.05
Excitation winding leakage inductance l
so
0.27
D-damper winding leakage inductance l
Do
0.07
Q-damper winding leakage inductance l
Qo
0.14
D-damper winding resistance r
D
* changes during the transient
Q-damper winding resistance r
Q
* changes during the transient

References

Mrsky, J. and Mrsky, J. 1994. Voimalaitosten yhteiskytn tekniikka. Helsinki: Otatieto.

Pyrhnen, O. 1998. Analysis and Control of Excitation, Field Weakening and Stability in Direct
Torque Controlled Electrically Excited Synchronous Motor Drives. Research Papers 74.
Dissertation, Lappeenranta University of Technology.

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Electrical Drives Juha Pyrhnen, LUT, Department of Electrical Engineering

locus of the point of current

locus plotted by the point of current vector

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