TechRef SynchronousMachine

DIgSILENT PowerFactory
Technical Reference Documentation

Synchronous Machine
ElmSym
DIgSILENT GmbH
Heinrich-Hertz-Str. 9
72810 - Gomaringen
Germany
T: +49 7072 9168 00
F: +49 7072 9168 88
http://www.digsilent.de
info@digsilent.de
r1017
Copyright 2011, DIgSILENT GmbH. Copyright of this document belongs to DIgSILENT GmbH.
No part of this document may be reproduced, copied, or transmitted in any form, by any means
electronic or mechanical, without the prior written permission of DIgSILENT GmbH.
Synchronous Machine (ElmSym) 1
Contents
Contents
1 General Description 4
1.1 Load Flow Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1.1 Reactive Power/Voltage Control . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1.2 Active Power Control and Balancing . . . . . . . . . . . . . . . . . . . . . 7
1.1.3 Spinning if circuit breaker is open . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Short-Circuit Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2.1 Complete Short Circuit Method . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2.2 Short-Circuit According to IEC 60909 or VDE 102/103 . . . . . . . . . . . 11
1.2.3 ANSI-C37 Short-Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2.4 IEC 61363 Short-Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3 Optimal Power Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3.1 OPF Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3.2 Constraints: Active / Reactive Power Limits . . . . . . . . . . . . . . . . . 14
1.3.3 Operating Cost . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4 Harmonic Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.4.1 Standard Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.4.2 Consider Transient Parameters . . . . . . . . . . . . . . . . . . . . . . . . 15
1.5 Stability/Electromagnetic Transients (RMS- and EMT-Simulation) . . . . . . . . . 16
1.5.1 Mathematical Description . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.5.2 Equations with stator and rotor ux state variables in stator-side p.u.-system 17
1.5.3 Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.5.4 Equations with stator currents and rotor ux variables as used in the Pow-
erFactory model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.5.5 Parameter Denition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.5.6 Saturation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.5.7 Simplication for RMS-Simulation . . . . . . . . . . . . . . . . . . . . . . 23
1.5.8 Saturation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.6 Input-, Output and State-Variables of the PowerFactory Model . . . . . . . . . . . 25
1.7 Rotor Angle Denition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Contents
2 Input/Output Denition of Dynamic Models 28
2.1 Stability Model(RMS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.2 EMT-Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3 References 31
List of Figures 32
List of Tables 33
1 General Description
This document describes the PowerFactory synchronous machine models, as used for the vari-
ous steady state and dynamic power system analysis functions supported by PowerFactory , as
there are:
- Load ow analysis (section 1.1)
- Short Circuit Analysis (section 1.2)
- Optimal Power Flow (section 1.3)
- Harmonics Analysis (section 1.4)
- Stability/Electromagnetic Transients Analysis (section 1.5)
This document describes the model equations that are implemented in PowerFactory . A list of
input and output variables can be found in 2.
1.1 Load Flow Analysis
Figure 1.1: Load ow model of the synchronous machine
For steady state load ow calculations a synchronous machine can be modelled by an equiv-
alent voltage source behind the synchronous reactance. However, in actual load ow calcula-
tions, the controlled operation of a synchronous generator is typically modelled.
Figure 1.1 shows the basic concept of a controlled synchronous machine modelled for load ow
analysis
1.1.1 Reactive Power/Voltage Control
The PowerFactory model allows selecting between:
Voltage control
Power factor control.
Large synchronous generators at large power stations typically operate in voltage control mode
(PV mode).
Smaller synchronous generators, e.g. embedded in distribution grids typically keep the power
factor constant (PQ-mode).
When enabling the Voltage control option of the generator element, the generator will control the
voltage directly at its terminals. For more complex control schemes, e.g. controlling the voltage
at a remote bus bar or controlling the voltage at one bus bar using more than one generator, a
Station Controller model needs to be dened.
In this case, the Station Controller adds an offset to the reactive power operating point specied
in the synchronous generator element:
Q = Q
0
+K Q
SCO
(1)
For more details, please refer to the Technical Reference Document of the Station Controller.
Reactive Power Limits
There are various ways for specifying reactive power limits:
Fix reactive power limits in the element
Fix reactive power limits in the type
User-dened capability curve
Generally, reactive power limits are only considered, if the synchronous machine is in voltage
control and the load ow option Consider reactive power limits is enabled. If this option of the
Load Flow command is disabled and the specied reactive power limits are exceeded, Power-
Factory just generates a warning message but doesnt apply any actual limit to the generators
reactive power output.
In the case that it is difcult to achieve a well balanced load owstate, an additional scaling factor
can be applied to the reactive power limits. This scaling factor is more for debugging reasons
and doesnt have any physical interpretation. The reactive scaling factor is only considered if
the load ow option Consider Reactive Power Limits Scaling Factor is enabled.
Fix reactive power limits. Fix reactive power limits can either be specied at Element or Type
level of the synchronous machine. Type limits are used when the option Use Limits Spec-
ied in Type is enabled, otherwise, the model takes the Element limits that can either be
dened on a p.u.-basis or using actual units (Mvar).
User-dened Capability Curve. The user-dened capability curve allows specifying a com-
plete, active power and voltage dependent capability diagram (see Figure 1.2). User-
dened capability diagrams are dened using the object IntQlim, which is stored in the
Operational Library.
Figure 1.2: Capability curve object
For more information, please refer to the Technical Reference of the Capability Diagram
For assigning a capability diagram to a Synchronous Machine Element, the correspond-
ing reference (pQlim) must be set (see Figure 1.3). If this pointer is assigned, all other
attributes relating to reactive power limits are hidden and the local capability diagram of
the Synchronous Machine Element displays the reactive power limits dened by the Ca-
pability Curve object (IntQlim) at nominal voltage.
Figure 1.3: Load ow page of the synchronous machine object
1.1.2 Active Power Control and Balancing
Fix Active Power
Active power will be set to a x value if
Option Reference Machine is disabled
No Secondary Controller object is selected
No Primary Frequency bias is dened
Besides these local settings, the corresponding options on the Active Power Control-tab of
the Load Flow Command either activate or deactivate the inuence of Secondary Controller or
Primary Frequency Bias.
Reference Machine
The option Reference Machine has two consequences:
Voltage angle at the machines terminal is xed.
Machine balances active power if the Load Flow option As Dispatched is selected and the
Balancing-Option by Reference Machine is enabled, or the Load Flow Option Secondary
Control is selected and no Secondary Controller is specied in the network.
Primary Frequency Bias
The primary frequency bias is considered if:
Parameter Kpf (in MW/Hz) is >0 and
Load Flow Option According to Primary Control is selected
In this case, PowerFactory considers in all isolated grids a common frequency deviation df and
establishes an active power balance through this variable and the primary frequency bias of the
individual generators:
P = P
0
+K
pf
F
With:
P: Actual active power in MW
P0: Active power setpoint in MW
Kpf: Primary frequency bias in MW/Hz
dF: Frequency deviation in Hz
The Primary Controlled Load Flow represents that state of a power system following an active
power disturbance, in which the primary governors have settled and the system nds a quasi
steady-state before the secondary controlled power plants take over the active power balancing
task.
During the primary frequency controlled state, there is a deviation from nominal frequency.
External Secondary Controller
For bringing frequency back to nominal frequency and/or for re-establishing area exchange
ows of an interconnected power system, secondary controlled power plants take over the active
power balancing task from the primary control after a few minutes (typically ve minutes).
For simulating the Secondary Controlled state, which is an (articial) steady state following the
settling of the secondary control system:
A Power Frequency Controlled has to be specied and assigned to the machine
The Load Flow Option According to Secondary Control has to be activated.
The actual active power of each generator is the dened by:
P = P
0
+K P
SCO
(2)
with:
P: Actual active power of the machine in MW
P0: Active power setpoint in MW
K: Participation factor (to be specied in the power-frequency control object)
dPsco: Total active power deviation of all units controlled by the respective power fre-
quency controller.
For more information related to the Power Frequency Controller object, please refer to the cor-
responding Technical Reference Manual.
Inertial Power Flow
During the rst seconds following an active power disturbance such as a loss of generation or
load, before the primary control takes over, the active power balance of the systemis established
by releasing energy from the rotating masses of all electrical machines.
This situation can be modelled by enabling the Load Flow Option According to Inertias. In this
case, the variable dF represents an equivalent frequency rate of change and active power will be
balanced according to the inertia of all generators (dened by the Acceleration Time Constant,
to be found on the RMS-/EMT-Simulation page).
Active Power: Operational Limits, Ratings
The active power rating can be entered as a Rating Factor on basis of the Nominal Active
Power, which is calculated by the rated Apparent Power times the Rated Power Factor (type-
level). De-rating of generators can be considered by entering a rating factor < 1.
When considering active power limits in a load ow calculation, PowerFactory makes reference
to the Operational Limits (Min. and Max.).
These limits are considered when:
Generator participates in the active power balancing
Load Flow Option Consider Active Power Limits is selected.
1.1.3 Spinning if circuit breaker is open
This option decides whether a synchronous machine can be used for driving an island-network.
Typical applications are:
Load ow set-up for a dynamic simulation of a synchronisation event.
Island around this generator shall form a supplied island-grid when disconnected from the
main-grid (e.g. during Contingency Analysis).
In case of contingencies that split the system two of more isolated areas, PowerFactory requires
at least one synchronous generator with this option being enabled for assuming that the cor-
responding island can continue operating after having been islanded. Otherwise, the load ow
calculation will assume a complete black out in the corresponding island (all loads and genera-
tors unsupplied).
1.2 Short-Circuit Analysis
For short-circuit analysis, synchronous machines are represented by their
Subtransient equivalent
Transient equivalent
Synchronous equivalent
depending on the considered time phase following grid fault.
The distinction of the time dependence is due to the effect of increased stator currents on the
induced currents in the damper windings, rotor mass and eld winding. In the case of a fault
near to a generator the stator current can increase so that the resulting magnetic eld weakens
the rotor eld considerably. In steady state short circuit analysis, this eld-weakening effect is
represented by the corresponding equivalent source voltage and reactance. The associated
positive sequence model of a synchronous machine is shown in Figure 1.4. The delayed effect
of the stator eld on the excitation and damping eld is modelled by switching between the
source voltage E, E and E depending on the time frame of the calculation.
Figure 1.4: Single-phase equivalent circuit diagram of a generator for short-circuit current cal-
culations which include the modelling of the eld attenuation
1.2.1 Complete Short Circuit Method
In the complete short circuit method, the internal voltage source is initialized by a preceding
load ow calculation.
The complete short circuit method calculates subtransient and transient fault currents using
subtransient and transient voltage sources and impedances.
Based on the calculated subtransient and transient (AC-) currents, PowerFactory derives other
relevant short-circuit indices, such as peak short circuit current, peak-break current, AC-break
current, equivalent thermal short circuit current by applying the relevant methods according to
IEC60909 (see next section).
1.2.2 Short-Circuit According to IEC 60909 or VDE 102/103
The IEC 60909 (equivalent to VDE 102/103) series of standards only calculates the subtransient
time phase. Short circuit currents of longer time phases are assessed based on empirical
methods by multiplying the subtransient fault current with corresponding factors.
Figure 1.5 shows the basic IEC 60909 short circuit model of a synchronous machine.
Figure 1.5: Short-circuit model for a synchronous machine
When calculating initial symmetrical short-circuit currents in systems fed directly from genera-
tors without unit transformers, for example in industrial networks or in low-voltage networks, the
following impedances have to be used
Positive sequence system:
Z
S1
= R
S
+j
d
(3)
Negative sequence system:
Z
S2
= R
S
+jX
2
= R
S
+jX
2
(4)
Normally it is assumed that X
2
= X
d
. If X
d
and X
q
differ signicantly the following can be
used:
X
2
= X
2
=
1
2

d
+X
(5)
Zero sequence system:
Z
S0
= R
S0
+jX
S0
(6)
For the subtransient reactance, the saturated value has to be used leading to highest possible
fault currents.
IEC 60909 makes no provision of the pre-fault state. It always considers a voltage factor cmax of
1,1 (or 1,05 in LV-networks). Because this approach would lead to overestimated fault currents,
the impedance is corrected by a correction factor K
G
:
K
G
=
U
n
U
rG
C
max
1 +
d
sin
rG
(7)
with C
max
: Voltage factor, see IEC 60909-0, item 2.3.2, page 41, Table 1.1.
All other short circuit indices are calculated precisely according to the IEC60909 (VDE 102/103)-
standard.
1.2.3 ANSI-C37 Short-Circuit
Besides IEC60909, PowerFactory supports short circuit calculation according to ANSI C-37.
Similar to short circuit calculations according to IEC60909, only subtransient fault currents are
actually calculated.
For further details related to ANSI C-37, please refer to the original ANSI C-37 standard and
corresponding literature.
1.2.4 IEC 61363 Short-Circuit
The IEC 61363 standard describes procedures for calculating short-circuits currents in three-
phase ac radial electrical installations on ships and on mobile and xed offshore units.
The calculation of the short-circuit current for a synchronous machine is based on evaluating the
envelope of the maximum values of the machines actual time-dependent short-circuit current.
The resulting envelope is a function of the basic machine parameters (power, impedance, etc.)
and the active voltages (E, E, E) behind the machines subtransient, transient and steady-state
impedance. The impedance are dependent upon the machine operating conditions immediately
prior to the occurrence of the short-circuit condition.
When calculating the short-circuit current, only the highest values of the current are considered.
The highest values vary as a function of time along the top envelope of the complex time-
dependent function. The current dened by this top envelope is calculated from the equation:
i
K
(t) =
2I
ac
(t) +i
dc
(t) (8)
The a.c. component I
ac
(t) is calculated with:
I
ac
(t) = (I
kd
I
kd
)e
t/T
d
+ (I
kd
I
kd
)e
t/T
d
+I
kd
(9)
The subtransient, transient and steady-state currents are evaluated using equations:
I
kd
= E
q0
/Z
d
with Z
d
= (R
a
+jX
d
) (10)
and
I
kd
= E
q0
/Z
d
with Z
d
= (R
a
+jX
d
) (11)
Internal voltages considering terminal voltage and pre-load conditions are calculated using
equations:
E
q0
= U
0
/
3 +I
0
Z
d
(12)
E
q0
= U
0
/
3 +I
0
Z
d
(13)
The d.c. component can be evaluated from equation:
I
dc
(t) =
2(I
kd
I
0
sin
0
)e
t/T
dc
(14)
1.3 Optimal Power Flow
The OPF (Optimal Power Flow) function in PowerFactory allows the user to calculate optimal
operational conditions, e.g. the minimization of losses or production costs by adjusting the
active and reactive power dispatch of the generators.
To consider the synchronous machine in the OPF calculation the following options have to be
assigned on the Optimization tab of the synchronous machine element.
1.3.1 OPF Controls
It is possible to enable and disable the active and reactive power optimization of the machine.
The active power ag allows the active power dispatch of the machine to be optimized in the
OPF calculation. On the other hand, the reactive power ag allows the voltage reference of the
machine to be adapted according to the OPF optimization function.
When these options are disabled, the synchronous machine is treated as in a conventional load
ow calculation during the execution of the OPF.
1.3.2 Constraints: Active / Reactive Power Limits
For every machine a minimum and maximum active and reactive power limit can be dened.
For the reactive power limits there is also the possibility to use the limits which are specied in
the synchronous machine type (enable the ag Use limits specied in type).
The active and reactive power limits will be considered in the OPF if and only if the individual
constraint ag is checked in the synchronous machine element and the corresponding global
ag is enabled in the OPF dialogue.
1.3.3 Operating Cost
The table Operating Costs species the costs ($/h) for the produced active power (MW) of the
units. The representation of the data is shown automatically on the diagram below the table for
checking purposes. The cost curve of a synchronous machine is calculated as the interpolation
of the predened cost points.
1.4 Harmonic Analysis
1.4.1 Standard Model
The equivalent circuits of the synchronous machine model for harmonics are shown in Figure
1.6.
Figure 1.6: Synchronous machine models for positive, negative and zero sequences
The average inductance experienced by harmonic currents, which involve both the direct axis
and quadrature axis reactances, is approximated by
L
=
L
d
+L
q
2
(15)
At harmonic frequencies the fundamental frequency reactance can be directly proportioned.
The inuence of the skin effect on the resistance can be dened in a Frequency Polynomial
Characteristic (ChaPol).
R = k(f) r with k(f) = (1 a) +a (f/f
nom
)
b
(16)
1.4.2 Consider Transient Parameters
When enabling the option Consider Transient Parameters the harmonic inductance is calculated
from xd, xd and xd, as entered for the RMS-simulation or EMT-simulation functions. Only in
a very narrow band around nominal frequency, the effect of the transient and synchronous
reactance is visible (see also Figure 1.7).
Because of the highly accurate representation around nominal frequency this model can in-
crease the accuracy of subsynchronous resonance studies based on frequency domain analy-
sis.
Figure 1.7: Frequency domain representation of synchronous machine (Consider Transient Pa-
rameters)
1.5 Stability/Electromagnetic Transients (RMS- and EMT-Simulation)
Figure 1.8 to Figure 1.10 show the equivalent circuit diagrams of the PowerFactory synchronous
machine models, which are represented in a rotor-oriented reference system (Park coordinates,
dq-reference frame).
The d-axis is always modelled by 2 rotor loops representing the damping and the excitation
winding.
For the q-axis, PowerFactory supports two models, a model with one rotor loop (for Salient Pole
machines) and a model with two rotor loops (for Round Rotor Machines).
Figure 1.8: d-axis equivalent circuit for the synchronous machine representation
1.5.1 Mathematical Description
Based on the equivalent circuit diagrams according to Figure 1.8 to Figure 1.10, the following
differential equations can be derived describing the PowerFactory synchronous machine model
for time domain simulations.
Figure 1.9: q-axis equivalent circuit for the synchronous machine representation (round rotor)
Figure 1.10: q-axis equivalent circuit for the synchronous machine representation (salient rotor)
1.5.2 Equations with stator and rotor ux state variables in stator-side p.u.-system
Using stator and rotor ux as state variables for the description of the synchronous machine
model the following set of equations is resulting
1
.
The stator voltage equations can be described as follows:
u
d
= r
s
i
d
+
1
n
d
d
dt
n
q
u
q
= r
s
i
q
+
1
n
d
q
dt
+n
d
u
0
= r
s
i
0
+
1
n
d
0
dt
(17)
Rotor voltage equations, d-axis:
u
e
= r
e
i
e
+
d
e
n
dt
0 = r
D
i
D
+
d
D
n
dt
(18)
Rotor voltage equations, q-axis, round rotor:
1
The equations of this section are expressed in load orientation for all currents, which is in contrast to the orientation
of currents in Figure 1.8 to Figure 1.10 showing the actual orientation of currents of the PowerFactory model
0 = r
k
i
k
+
d
k
CO
n
dt
0 = r
Q
i
Q
+
d
Q
CO
n
dt
(19)
Rotor voltage equations, q-axis, salient pole:
0 = r
Q
i
Q
+
d
Q
n
dt
(20)
For completing the model, the ux linkage equations are required:
d-axis:
d
= (x
l
+x
md
)i
d
+x
md
i
e
+x
md
i
D
e
= x
md
i
d
+ (x
md
+x
rl
+x
le
)i
e
+ (x
md
+x
rl
)i
D
D
= x
md
i
d
+ (x
md
+x
rl
)i
e
+ (x
md
+x
rl
+x
lD
)i
D
(21)
q-axis, round-rotor:
q
= (x
l
+x
mq
)i
q
+x
mq
i
x
+x
mq
i
Q
x
= x
mq
i
q
+ (x
mq
+x
rl
+x
lx
)i
x
+ (x
mq
+x
rl
)i
Q
Q
= x
mq
i
q
+ (x
mq
+x
rl
)i
x
+ (x
mq
+x
rl
+x
lQ
)i
Q
(22)
q-axis, salient rotor:
q
= (x
l
+x
mq
)i
q
+x
mq
i
Q
Q
= x
mq
i
q
+ (x
mq
+x
rl
+x
lQ
)i
Q
(23)
Electrical torque t
e
in [p.u.]:
t
e
=
d
i
q
q
i
d
(24)
1.5.3 Mechanics
The accelerating torque is the difference between the input torque (mechanical torque) t
m
and
the output torque (electromechanic torque) t
e
of the generator.
The equations of motion of the generator can then be expressed as:
J
tot
2
n
p
2
z
P
r
dn
dt
= T
a,tot
dn
dt
= t
m
+t
e
d
dt
=
n
n
(25)
The inertia of the generator and the turbine, plus the inertia of the mechanical load, can then be
expressed in a normalized per unit form as the inertia time constant H
tot
in [s], with
H
tot
= H +H
me
=
1
2
J
2
0
p
2
z
P
r
+
1
2
J
me
2
0
p
2
z
P
r
g
2
ratio
(26)
where p
z
is the number of pole pairs of the machine.
The inertia time constant H can be given based on the rated apparent generator power, as
shown in the equation above, or based on the rated active generator power. The mechanical
starting time or acceleration time constant T
a,tot
in [s] is then
T
a,tot
= T
a
+T
a,me
= 2 H
tot
(27)
Both H and T
a
can be entered in PowerFactory based on S
r
or P
r
.
1.5.4 Equations with stator currents and rotor ux variables as used in the PowerFac-
tory model
For obtaining maximum effectiveness with regard to the numerical accuracy and robustness of
the model, the multiple time-scale properties of the equation systemshall be used by partionning
the equations into fast and slow equations.
PowerFactory uses rotor ux and stator currents as state variables because this choice of state
variables leads to the best possible multiple time-scale separation and hence to the best nu-
merical properties.
Introducing the subtransient Flux:
d
= k
e
e
+k
D
q
= k
x
x
+k
Q
Q
(28)
with the following denition of the factors k:
k
e
=
x
md
x
lD
xd
2
k
D
=
x
md
x
le
xd
2
k
k
=
x
mq
x
lQ
xq
2
k
Q
=
x
mq
x
lx
xq
2
(29)
and:
xd
2
= x
le
x
lD
+ (x
md
+x
rl
)(x
le
+x
lD
)
xq
2
= x
lx
x
lQ
+ (x
mq
+x
rl
)(x
lx
+x
lQ
)
(30)
The stator ux linkage equations can now be expressed by:
d
= x
d
i
d
+
q
= x
q
i
q
+
q
(31)
With these denitions, the subtransient voltage can be introduced as follows:
u
d
=
1
n
d
d
dt
n
q
u
q
=
1
n
d
q
dt
+n
d
(32)
Stator equations with stator currents and subtransient voltages:
u
d
= r
s
i
d
+
x
n
di
d
dt
nx
q
i
q
+u
d
u
q
= r
s
i
q
+
x
n
di
q
dt
nx
d
i
d
+u
d
u
0
= r
s
i
0
+
x0
n
di
0
dt
(33)
1.5.5 Parameter Denition
Table 1.1: Set of internal parameters
Parameter Name in PF Description Unit
rs rstr Stator resistance p.u.
xl xl Stator leakage reactance p.u.
xrl xrl Rotor leakage reactance p.u.
xmd d-axis magnetizing reactiance p.u.
xmq q-axis magnetizing reactance p.u.
xlD Leakage reactance of d-axis damper winding p.u.
xlQ Leakage reactance of q-axis damper winding p.u.
xle Leakage reactance of excitation winding p.u.
xlx Leakage reactance of x-winding p.u.
rD Resistance of d-axis damper winding p.u.
rQ Resistance of q-axis damper winding p.u.
re Resistance of excitation winding p.u.
rx Resistance of x-winding p.u.
The parameters according to Table 1.1 that have been used in the equation systems and the
equivalent circuit diagrams are typically not available for synchronous machines.
The classical input parameters of a synchronous machine, as they can be entered directly into
the PowerFactory synchronous machine model are depicted in Table 1.2.
For converting the set of input parameters according to Table 1.2 into the set of internal parame-
ters according to Table 1.1, there are several methods described in the literature. Some of them
are more accurate, some of them are highly simplied but easier to realize.
Table 1.2: Standard input parameters of the synchronous machine
Parameter Name in PF Description Unit
rs rstr Stator resistance p.u.
xl xl Stator leakage reactance p.u.
xrl xrl Rotor leakage reactance p.u.
xd, xq xd, xq synchronous reactance (d- and q-axis) p.u.
xd, xq xds, xqs Transient reactance (d- and q-axis) p.u.
xd, xq xdss, xqss Subtransient reactance (d- and q-axis) p.u.
Td, Tq Tds, Tqs Transient time constant (short-circuit) sec
Td, Tq Tdss, Tqss Subtransient time constant (short-circuit) sec
PowerFactory applies a highly accurate parameter conversion method, as described in [1]. This
method consists of th following formulas for the d-axis: Auxiliary variables:
x
1
= x
d
x
1
+x
rl
x
2
= x
1
(x
d
x
l
)
2
x
d
x
3
=
x
2
x
1
x
d
x
d
1
x
d
x
d
(34)
T
1
=
x
d
x
d
T
d
+
1
x
d
x
d
+
xd
x
d
T
2
= T
d
+T
d
T
3
=
d
T
d
(35)
a =
x
2
T
1
x
1
T
2
x
1
x
2
b =
x
3
x
3
x
2
T
2
3
(36)
T
le
=
a
2
+
a
2
4
b
T
lD
=
a
2
+
a
2
4
b
(37)
Calculation of internal model parameter:
x
le
=
T
le
T
lD
T
1
T
2
x
1
x
2
+
T
lD
x
3
x
lD
=
T
lD
T
le
T
1
T
2
x
1
x
2
+
T
le
x
3
r
e
=
x
le
n
T
le
r
D
=
x
lD
n
T
lD
(38)
The q-axis parameters can be calculated analogously to the d-axsis parameters in case of a
round rotor machine (2 rotor-loops).
For a salient pole machine (1 rotor loop), the internal parameters can be calculated as follows:
x
lQ
=
(x
q
x
l
)(x
q
x
l
)
x
q
x
q
r
Q
=
x
q
x
q
x
q
x
l
+x
lQ
n
T
q
(39)
1.5.6 Saturation
The model described in the previous section was a purely linear model not considering any
saturation effects.
Generally, there exists saturation for all reactances of the synchronous machine model. How-
ever, for the purpose of system analysis, only main ux saturation has to be considered in the
model by considering saturation of the magnetizing reactiances x
m
d and x
m
q.
In the PowerFactory model saturation is considered in d- and q-axis:
x
md
= k
satd
x
md0
x
mq
= k
satq
x
mq0
(40)
whereas the level of saturation depends on the magnitude of the magnetizing ux:
m
=
(
d
+x
l
i
d
)
2
+ (
q
+x
l
i
q
)
2
(41)
PowerFactory supports different approximations for saturation. In case of the saturation model
1, based on the two parameters SG10/SG12, a quadratic approximation is applied:
If
m
> A
g
:
c
sat
=
B
g
(
m
A
g
)
2
m
(42)
else:
c
sat
= 0 (43)
In case of a tabular input, csat is calculated based on a spline approximation of the sampled
values.
Saturation in d-axis can be measured by no-load eld tests. However, the saturation of the
mutual reactance x
mq
in the q- axis cannot be measured easily and therefore assumptions
have to be taken for q-axis saturation:
In case of a round rotor machine, it is assumed that saturation in q-axis is equal to d-axis
saturation.
In case of a salient rotor machine the saturation characteristic in q-axis is weighted by the
ratio x
q
/x
d
.
k
satd
=
1
1 +c
sat
k
satq
=
1
1 +
x
mq0
x
md0
c
sat
(44)
Saturated magnetizing reactances apply to all formulas (21), (25), (23) and (28), (29), (30).
Saturation in subtransient reactances is not considered, which represents a valid approximation
because the subtransient reactance of a generator is only very weakly inuenced by main ux
saturation.
The saturation of stator leakage reactances is a current-dependent saturation, i.e. high currents
after short-circuits will lead to a saturation effect of the leakage reactances. Because the use
of unsaturated subtransient reactances would therefore lead to underestimated maximum short
circuit currents, it is recommended to use saturated values for xd and xq (saturated refers
here to current saturation).
For all other parameters (transient and synchronous reactance), unsaturated values shall be
entered. The inuence of main ux saturation is considered by the model as described above.
1.5.7 Simplication for RMS-Simulation
For RMS-simulations, stator ux transients are generally not considered. Neglecting stator ux
transients in (33) leads to the following simplied stator voltage equations for RMS-simulations:
u
q
= r
s
i
d
x
q
i
q
+u
d
u
d
= r
s
i
q
x
d
i
d
+u
q
(45)
with the subtransiert voltages:
u
d
= n
q
u
q
= n
d
(46)
Assumption that magnetizing voltage is approx. equal to magnetizing ux (for saturation) leads
to the following approximation:
m
u
m
=
(u
d
+r
s
i
d
x
l
i
q
)
2
+ (u
q
+r
s
i
q
+x
l
i
d
)
2
(47)
1.5.8 Saturation
Figure 1.11 shows the denition of the main ux saturation curve. The linear line represents the
air-gap line indicating the excitation current required overcoming the reluctance of the air-gap.
The degree of saturation is the deviation of the open loop characteristic from the air-gap line.
Figure 1.11: Open loop saturation
The characteristic is given by specifying the excitation current I
1.0pu
and I
1.2pu
needed to obtain
1 p.u respectively 1.2 p.u. of the rated generator voltage under no-load conditions. With these
values the parameters s
g1.0
(=c
sat
(1.0pu) ) and s
g1.2
(=c
sat
(1.2pu) ) can be calculated.
Calculation of internal coefcients based on
s
g1.0
=
i
e
(1.0p.u)
i
0
1
s
g1.2
=
i
e
(1.2p.u)
1.2i
0
1
(48)
For quadratic saturation function
A
g
=
1.2
1.2
s
g1.2
s
g1.0
1
1.2
s
g1.2
s
g1.0
B
g
=
s
g1.0
(1 A
g
)
2
(49)
Alternatively, a sampled excitation current vs. voltage curve can be entered into the PowerFac-
tory model.
1.6 Input-, Output and State-Variables of the PowerFactory Model
Rotor current and rotor ux of the PowerFactory model is not expressed in a stator per-unit
system as it has been used in section 1.5. PowerFactory uses the following p.u. denitions,
which are also known as no load p.u.-system:
Rotor currents:
i
e
= x
md0
i
e
i
D
= x
md0
i
D
i
x
= x
mq0
i
x
i
Q
= x
mq0
i
Q
(50)
Rotor-ux:
e
=
x
md0
x
e0
D
=
x
md0
x
D0
x
=
x
mq0
x
x0
Q
=
x
mq0
x
Q0
Q
(51)
With
x
e0
= x
md0
+x
lr
+x
le
x
D0
= x
md0
+x
lr
+x
lD
x
x0
= x
mq0
+x
lr
+x
lx
x
Q0
= x
mq0
+x
lr
+x
lQ
(52)
Rotor voltage equations, d-axis:
u
e
=
i
e
+T
e0
d
e
dt
0 =
i
D
+T
D0
d
D
dt
(53)
Rotor voltage equations, q-axis, round rotor:
0 =
i
x
+T
x0
d
x
dt
0 =
i
Q
+T
Q0
d
Q
dt
(54)
Rotor voltage equations, q-axis, salient pole:
0 =
i
Q
+T
Q0
dpsi
Q
dt
(55)
with
T
e0
=
x
e0
r
e
n
T
D0
=
x
D0
r
D
n
T
x0
=
x
x0
r
x
n
T
Q0
=
x
Q0
r
Q
n
(56)
In the p.u.-system used for rotor variables of the PowerFactory model, there will be 1 p.u. stator
voltage in case of no load conditions and 1 p.u. excitation voltage (and no saturation).
1.7 Rotor Angle Denition
PowerFactory denes several rotor angles based on different references. The rotor angle is
dened as the position of the d-axis. The following variables are available:
pol / [deg]: Rotor angle with reference to the local bus voltage of the generator (terminal
voltage)
rot / [deg]: Rotor angle with reference to the reference voltage of the network (slack bus
voltage)
rel / [deg]: Rotor angle with reference to the reference machine rotor angle (slack gener-
ator)
dfrot / [deg]: identical to rel
phi / [rad]: Rotor angle of the q-axis with reference to the reference voltage of the network
(=rot-90
)
All rotor angles are shown in Figure 1.12.
Figure 1.12: Rotor Angle Denition
2 Input/Output Denition of Dynamic Models
2.1 Stability Model(RMS)
Figure 2.1: Input/Output Denition of the synchronous machine model for stability analysis
(RMS-simulation)
Table 2.1: Input Denition of the RMS-Model
Parameter Symbol/Equation Description Unit
Ve Excitation Voltage p.u.
Pt Turbine Power p.u.
Xmdm tm/(25), (24) Torque Input p.u.
Table 2.2: Output Denition of the RMS-Model
Psie
e
/(21), (51) Excitation Flux p.u.
psiD
D
/(21), (51) Flux in Damper Winding, d-axis
Psix
x
/(21), (51) Flux in x-Winding p.u.
psieQ
Q
/(21), (51) Flux in Damper Winding, q-axis p.u.
Xspeed n/(25) Speed p.u.
Phi Rotor Angle rad
Fref Reference Frequency p.u.
Ut Terminal Voltage p.u.
Pgt Electrical Power p.u.
Outofstep Out of step signal (=1 if generator is out of
step, =0 otherwise)
Xme te/(25) Electrical Torque p.u.
Xmt Mechanical Torque p.u.
cur1 Positive-sequence current p.u.
cur1r Positive-sequence current p.u.
cur1i Positive-sequence current p.u.
P1 Positive-sequence active power MW
Q1 Positive-sequence reactive power Mvar
Utr Terminal Voltage, real part p.u
Uti Terminal Voltage, imaginary part p.u.
2.2 EMT-Model
Figure 2.2: Input/Output Denition of the synchronous machine model for stability analysis
(EMT-simulation)
Table 2.3: Input Denition of the EMT-Model
Ve Excitation Voltage p.u.
Pt Turbine Power p.u.
Xmdm tm/(25), (24) Torque Input p.u.
Table 2.4: Output Denition of the EMT-Model
Psie
e
/(21), (51) Excitation Flux p.u.
psiD
D
/(21), (51) Flux in Damper Winding, d-axis
Psix
x
/(21), (51) Flux in x-Winding p.u.
psieQ
Q
/(21), (51) Flux in Damper Winding, q-axis p.u.
Xspeed n/(25) Speed p.u.
Phi Rotor Angle rad
Fref Reference Frequency p.u.
Ut Terminal Voltage p.u.
Pgt Electrical Power p.u.
Outofstep Out of step signal (=1 if generator is out of
step, =0 otherwise)
Xme te/(25) Electrical Torque p.u.
Xmt Mechanical Torque p.u.
cur1 Positive-sequence current p.u.
cur1r Positive-sequence current p.u.
cur1i Positive-sequence current p.u.
P1 Positive-sequence active power MW
Q1 Positive-sequence reactive power Mvar
Utr Terminal Voltage, real part p.u
Uti Terminal Voltage, imaginary part p.u.
3 References
3 References
[1] B. Oswald. Netzberechnung 2: Berechnung transienter Vorgnge in
Elektroenergieversorgungs-netzen. VDE-Verlag, 1 edition, 1996.
List of Figures
List of Figures
1.1 Load ow model of the synchronous machine . . . . . . . . . . . . . . . . . . . . 4
1.2 Capability curve object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Load ow page of the synchronous machine object . . . . . . . . . . . . . . . . . 7
1.4 Single-phase equivalent circuit diagram of a generator for short-circuit current
calculations which include the modelling of the eld attenuation . . . . . . . . . . 10
1.5 Short-circuit model for a synchronous machine . . . . . . . . . . . . . . . . . . . 11
1.6 Synchronous machine models for positive, negative and zero sequences . . . . 15
1.7 Frequency domain representation of synchronous machine (Consider Transient
Parameters) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.8 d-axis equivalent circuit for the synchronous machine representation . . . . . . . 16
1.9 q-axis equivalent circuit for the synchronous machine representation (round rotor) 17
1.10 q-axis equivalent circuit for the synchronous machine representation (salient rotor) 17
1.11 Open loop saturation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.12 Rotor Angle Denition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.1 Input/Output Denition of the synchronous machine model for stability analysis
(RMS-simulation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.2 Input/Output Denition of the synchronous machine model for stability analysis
(EMT-simulation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
List of Tables
List of Tables
1.1 Set of internal parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.2 Standard input parameters of the synchronous machine . . . . . . . . . . . . . . 21
2.1 Input Denition of the RMS-Model . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.2 Output Denition of the RMS-Model . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.3 Input Denition of the EMT-Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.4 Output Denition of the EMT-Model . . . . . . . . . . . . . . . . . . . . . . . . . . 30
List of Tables

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