Simulation Modelling Practice and Theory 16 (2008) 678689

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Simulation Modelling Practice and Theory

journal homepage: www.elsevier.com/locate/simpat

Synchronous generator modelling and parameters estimation

using least squares method
Emile Mouni *, Slim Tnani, Grard Champenois
University of Poitiers, Laboratoire dAutomatique et dInformatique Industrielle, Btiment mcanique, 40, avenue du recteur Pineau 86022, Poitiers, France

a r t i c l e

i n f o

Article history:
Received 19 April 2006
Received in revised form 17 March 2008
Accepted 8 April 2008
Available online 27 May 2008

Keywords:
Synchronous generator
Parameters estimation
Short circuit test
Parks transformation
State space modelling

a b s t r a c t
In this paper, a technique for estimating the synchronous machines parameters using sudden short circuit test, is proposed. Before implementing estimation algorithms, a special
method of the machine modelling is given. This last one allows to perform tests such as
short-circuit, load impact and shedding test, in an easier way than the models usually
developed in the literature. Thanks to the well known electrical equivalent circuit of the
generator, the relationships between parameters generally used in the industry (i.e.,
reactances and time constants) and those used in researchers domains will be given.
Finally, simulation results of the proposed method, allows to show that the algorithm is
capable of providing very good estimated parameters tting with the actual parameters.
2008 Elsevier B.V. All rights reserved.

1. Introduction
A number of modelling of synchronous machine methods have been already developed. With the increasing cost of detailed prototyping of electrical machine, it is becoming necessary to replace or supplement it with mathematical methods
and computer simulation. Early works, see [16] have shown the crucial importance of a good model of synchronous machine taking into account dampers and other elements which are sometimes ignored or neglected in simplied modelling.
In this paper, a new method of synchronous generator modelling taking into account an inside innite resistance will be presented [7]. The particularity of such a modelling method is to make the performing of tests, usually used to validate or identify the machine, easy: short circuit test, load impact test, shedding test, etc. Once the synchronous machine has been
constructed, manufacturers use programs based on various parameters (e.g., reactances and times constants) which are been
graphically estimated to check the nest structural details of this one. To be in accordance with manufacturers methods,
relationships between transient and sub transient quantities on one hand and the modelling parameters such as mutual
and main inductances on the other hand,will be presented thank to the classical electrical circuits of the synchronous generator. In the last part of this work a numerical algorithm of synchronous machine parameters estimation based on least
squares method, will be presented. A discussion on the simulation results will be done at the end of this work to validate
the algorithm and the proposed modelling.

* Corresponding author. Tel.: +33 549453506.

E-mail addresses: bowendnere.mouni@etu.univ-poitiers.fr (E. Mouni), slim.tnani@uni-poitiers.fr (S. Tnani), gerard.champenois@univ-poitiers.fr
(G. Champenois).
1569-190X/$ - see front matter 2008 Elsevier B.V. All rights reserved.
doi:10.1016/j.simpat.2008.04.005

E. Mouni et al. / Simulation Modelling Practice and Theory 16 (2008) 678689

679

d-axis
q-axis

main eld
D

Fig. 1. Synchronous generator windings with dampers.

2. Synchronous generator modelling

Considering a synchronous generator with dampers at the rotor, the simplied scheme of the machine is given in Fig. 1:
D and Q represent, respectively, d-axis and q-axis dampers. a, b and c are the three phases of the synchronous generator
and he its electrical angle depending on the poles number.
2.1. Synchronous generator electrical equivalent circuit
As we can see on the gure above, dampers are synthesized by short circuited inductances. From this gure and adopting
generator convention, we can write machine equations in three axes frame as follows:

vabc r s  iabc

d
Wabc
dt

d
Wf
dt
d
0 rD  iD WD
dt
d
0 rQ  iQ WQ
dt
vf r f  if

where iD and iD are the direct and transverse dampers currents, WD and WQ are the direct and transverse dampers total ux,
Wabc is stator total ux, Wf is the main eld total ux. r s is the stator resistance, rf is the main eld resistance, r D and r Q are
the dampers resistances.
The study will be done in Parks frame thanks to Parks matrix dened below with the electrical angle of the machine he :

Phe

coshe

coshe  23p

coshe 23p

 sinhe  sinhe  23p  sinhe 23p

such as:

Phe  vabc vdq

Then, the global equation of the machine becomes

d
Wd  xe  Wq
dt
d
vq rs  iq Wq xe  Wd
dt
d
vf r f  if Wf
dt
d
0 rD  iD WD
dt
d
0 rQ  iQ WQ
dt
d
J xe T e  T r
dt
vd rs  id

T e is the electromechanical torque depending on machine current and given by [8]

Te

3
pWd iq  Wq id
2

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E. Mouni et al. / Simulation Modelling Practice and Theory 16 (2008) 678689

d-axis
sd

dD

Damper

f D

q-axis

{DQ

sq
1
2

Legend
1 two poles rotor

2 stator armature
Fig. 2. Synchronous generator leakage and linkage ux.

T r is resistant torque depending on the external load 2  p is the machines poles number and J is the machine inertia. In
order to make the simulations in accordance with our future experimental conditions, the electrical speed is supposed to
be constant. Indeed, in the test bench which is being achieved for validating the algorithms and control laws that we developed, the synchronous generator is involved by a DC motor. This last one is controlled by a motor drive: VNTC4075 from
Alstom Company. Then, the state space equation of the machine will be given by using this assumption.
In order determine synchronous generator equivalent circuit, a two salient poles machine will be considered. The
scheme of this one is given in Fig. 2: where WrD and WrQ are the direct and transverse dampers leakage ux, Wrsd and
Wrsq are the direct and transverse stator leakage ux, WrdD is the linkage ux between direct axis and direct dampers,
WrfD linkage ux between main eld and direct dampers, Wad and Waq are the direct and transverse main ux but implicitly
omitted in Fig. 2.
The effect of main eld on the stator Wrfs is neglected, then the following relationships can be written

8
Wd Wad Wrsd WrdD lad  id iD if  lrsd  id lrdD  iD  id
>
>
>
>
>
Wq Waq Wrsq laq  iq iQ  lrsq  iq
>
>
>
<
Wf Wad Wrf WrfD lad  id iD if lrfD  if iD lrf  if
>
> WD Wad WrfD WrdD WrD
>
>
>
>
lad  id iD if lrfD  if iD lrD  iD lrdD  id iD
>
>
:
WQ Waq WrQ laq  iq iQ lrQ  iQ

From these equations, we can deduce the synchronous generator electrical scheme (Fig. 3) [9,10]: where lrsd and lrsq are
the direct and transverse stator leakage inductances, lrf is the main eld leakage inductance, lad and laq are the direct and
transverse stator main inductances, lrdD is the linkage inductance between stator d-axis and the direct damper, lrfD is the
linkage inductance between rotor and the direct damper, lrD and lrQ are dampers leakage inductances.

rs

l sd l f D

rf

l f i
f

lad

vd

rD

vf
l D
iD

l dD
id
e q

rs

vq

l sq
laq

iQ
rQ
l Q

e d

iq

Fig. 3. d-axis and q-axis electrical equivalent circuits.

E. Mouni et al. / Simulation Modelling Practice and Theory 16 (2008) 678689

681

It is well known that reactance and inductance are linked by x lx; so thanks to the Eq. (5) we can deduce the following
relationships between main and mutual inductances on one hand and reactances on the other hand:

8
x
l xad ; laq xaqe ; ld xxde xad xrxsdexrdD
>
>
< ad xe
x
x x
rfD xrdD
lq xqe aqxe rsq ; lD xad xrD x
xe
>
>
x
x
: l aq rQ ; l xad xrf xrfD ; m xad ; m xaq
Q
sQ
f
sf
xe
xe
xe
xe

The relations between main reactances and machines parameters are:

8
q
>
< xad T 0d0  r f  xe  xd  x0d
q
>
: xaq xq  r Q  xe  T 00q0  T 00q

where xd is steady state reactance, x0d is the direct transient reactance, x00d is the direct sub transient reactance, x00q is the transverse sub transient q-reactance, T 0d is the direct transient time constant, T 00d is the direct sub transient time constant, T 0d0 is the
open direct transient time constant, T 00q0 is the open transverse sub transient time constant, and xe is the machine electrical
speed corresponding to the time derivative of he .
Thus, from the expressions in (7), the machine can be represented by reactances and time constants and uent relationships between parameters usually used in industry and those form academic domains can be deduced.
2.2. Synchronous machine modelling by state equations
The model used in this paper is given by Fig. 4.
In this modelling, a star-connected innite resistance rin 106 X is incorporated. This allows ones to generate threephase voltage and then to create terminals A, B and C on which a three-phase load can be connected. On Fig. 4, vf and
the output currents are used in the input vector. For this, inside currents ia , ib and ic are transformed into id and iq on one
hand and load currents isa , isb and isc into idl and iql on the other hand. Consequently, the output voltage in Parks framework
can be expressed as

vd r in id  idl

vq r in iq  iql
with

idl
iql

1
isa
B C
Phe @ isb A
isc

Finally the global equation is

1
0 1
0 1
id
id
rin idl
C
B
B C
B C
i
i
r
i
B in ql C
B qC
B qC
C
B
B C
B C
B vf C R  B if C M a  d B if C
C
B
B C
B C
dt
C
B
B C
B C
@ 0 A
@ iD A
@ iD A
0

iQ

iQ

isa

ia
rin
vf

rin

isb

rin
isc

ic
x = Ax + Bu
y = Cx + Du
Fig. 4. Synchronous generator with innite inside load.

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E. Mouni et al. / Simulation Modelling Practice and Theory 16 (2008) 678689

where

r s  r in

B
B ld xe
B
RB
0
B
B
0
@
0

l q xe
r s  r in

xe msf xe msD

xe msQ
0

rf

rD

rQ

C
C
C
C;
C
C
A

B
B 0
B
Ma B
B msf
B
@ msD
0

ld

msf

msD

lq

lf

mfD

mfD

lD

msQ

C
msQ C
C
0 C
C
C
0 A
lQ

Then, the synchronous generator state-space equation is given by

x_ Ax Bu

10

y Cx Du

rin 0 0 0 0
where A M 1
is the state matrix, B M1
C
is the observation matrix,D
a R
a ,
0 rin 0 0 0



T
rin
0
0 0
T
is the state vector, y vd vq
is the output vector and
, x id iq if iD iQ
0
rin 0 0

T
u idl iql vf 0 0 is the exogenous inputs vector containing the excitation vector vf .
3. Sudden short circuit principle parameters determination
The aim of the modelling above is to perform some validation tests. The one that we will perform in this paper is the sudden short circuit. The principle is described below:
The machine is involved at the rated speed without load until the system reaches the steady state. During this steady
state, a short circuit is performed on its three phases and then, currents and voltage are measured. This test allows to determine synchronous machine parameters and then to validate or not the achieved model. Below are IEEEs recommendations
according to direct and transverse axes of Parks framework.
3.1. Direct axis parameters measurement
After the performing of sudden short circuit, the current on each phase can be described as following:




 



1
1
1
t
1
1
t
: exp  0 00  0  exp  00
 cosx  t h0 V m
0 
xd
xd xd
xd xd
Td
Td
!
!
"
#




1
1
t
1
1
t
:
exp

:
exp


cosh

cos2



x

t

0
0
x00d x00q
Ta
x00d x00q
Ta

i Vm 

11

where V m is the voltage maximum value prior the short circuit applying.
Notice that the above expression can be simplied in considering the current which aperiodic component is null (h0 p2 . If
the three currents contain aperiodic part, a little manipulation can be used to eliminate it. This manipulation consists in subtracting the exponential curve included in the short circuit current and representing the aperiodic components contribution.
Among the parameters that we used in the simulation, transverse sub transient q-reactance x00q and direct sub transient
d-reactance x00d are the same. Denitely the Eq. (11) becomes:




 



1
1
1
t
1
1
t
 exp  0 00  0  exp  00 : cosx  t h0
0 
xd
xd xd
xd xd
Td
Td

envelope
phase current

1000
Current (Amperes)

i Vm 

500
0
500
1000
1

2
time (sec.)

Fig. 5. Current and envelope.

12

E. Mouni et al. / Simulation Modelling Practice and Theory 16 (2008) 678689

683

The IEEE standards, [12,13], recommend to draw an envelope which ts the best with output current. Then calculations are
made with this last one. The gure below shows this draw applied to simulated generator and corresponds to a current without aperiodic component (see Fig. 5).
The envelope equation is obtained in considering the current peaks. Thus the Eq. (12) becomes:


ienv V m 




 



1
1
1
t
1
1
t
: exp  0 00  0 : exp  00
0 
xd
xd xd
xd xd
Td
Td

13

3.1.1. Direct steady state reactance

This reactance is easy to calculate. It corresponds to the reactance of the machine when it works at steady state. In the Eq.
(13), as the exponential functions are decreasing, direct steady state reactance can be deduced as following:

xd

Vm
isteady

14

3.1.2. Direct transient reactance and time constant

Once the steady current value is found, it is subtract to ienv as presented below:




 



1
1
t
1
1
t
:
exp


:
exp

ienv  is V m :


x0d xd
x00d x0d
T 0d
T 00d

15

The IEEE standards recommendations are about the use of semi logarithmic frame to determine reactances and time constants. These recommendations allow to go from an exponential curve to a sum of real straight curves. This leads to have
easier calculations. Nevertheless an assumption is made on the time constants:
00
Assumption: Transient time constant is very high besides sub transient time constant T 0d  Td .
Consequently The sub transient component decreases quickly in relation to the transient one. So its effects can be neglected from a certain time. This assumption leads to make an approximation of the above current difference ienv  is . That
means:





1
1
t
:
exp

ienv  is  V m :

0
x0d xd
Td

16

Using semi logarithmic method, we can say that it exists two quantities A and B such as

lnienv  is  A  t B

17

A is the slope and B the value at the frame origin.

The transient parameters can be then obtained by solving the following equations system:

8 0
< T d  A1

: ln V m : x10  x1
B

18

3.1.3. Direct sub-transient reactance and time constant

The last part of this section is about sub transient parameters calculation. The method is the same as described above.
Therefore, the approximation is made on the quantity below:

lnienv  is  itrans  A0  t B0

19

where itrans is the transient current calculated above with steady and transient parameters.
This leads to the following new system of equations:

8 00
< T d  A10

: ln V m  x100  x10
B0
d

20

Note that, several other methods are used to determine direct axis parameters, see [1416]. The one presented in this paper
is easy to implement and the results we got are satisfactory.
3.2. Transverse axis parameters measurement
To determine q-axis parameters, a Park transformation on currents is used. In this part, only q-axis current is used. The
gure below shows this current after sudden short circuit application: (see Fig. 6)
According to IEEE standards the shape above can be represented by the following equation.

iq 



Vm
t
 sinx  t h0

exp

Ta
x00q

21

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E. Mouni et al. / Simulation Modelling Practice and Theory 16 (2008) 678689

1500
transverse current
1000

i (A)

500
0
500
1000
20

20.05

20.1

20.15

20.2

Time (sec)
Fig. 6. Current on q-axis.

We can use the same method as described above, but it is also simple to consider some peaks and to solve an equation system as following

>
< iq1  Vxm00  exp  Tt1a
q

>
: iq2  Vxm00  exp  Tt2
a

22

Because of the easiness of the calculation of transverse parameters, we will only apply the least squares method to the direct
parameters.
3.3. Time constants in open circuit
These time constants are deduced from the above calculations. According to the IEEE standards, to calculate open circuit
time constants, the following relationships are used:
 Open circuit direct transient.

xd T 0d0
0
x0d
Td

23

 Open circuit direct sub transient.

x0d T 00d0
00
x00d
Td

24

 Open circuit transverse sub-transient.

00
xq T q0

x00q
T 00q

25

4. Parameters estimation using least squares method

The Fig. 7 above shows the strategy used to implement the algorithm. Initially, a sudden short circuit test is performed on
the synchronous machine and the measured outputs are obtained. These data are used to make an estimation of synchronous
machine parameters. The estimation method is based on the IEEE standards described above. Each set of parameters is used
to simulate a new system. From this last one an error between the actual model and the simulated model is calculated such
as (for the kth set of parameters for instance):

v
u N
uX
Jk t iactual i  isim i; k2

26

i1

where k is the iteration order or set of parameters order, iactual i is the actual current value for ith sampling point, isim i; k is
the simulated current value for ith sampling point with the kth set of parameters, N is the number of sampling points, Jk the
criterion value with the kth set of parameters.

E. Mouni et al. / Simulation Modelling Practice and Theory 16 (2008) 678689

685

Test data
loading
Parameters
Estimation

Simulated
System

no
Least squares
Algorithm

Recording

end?
yes

Minimum
estimation
Fig. 7. Parameters estimation framework.

For each iteration the criterion value, extended to the whole range of variation is stored in a vector. The operation is done
again until the instruction end is reached. From there, the vector J allows to get the optimal set of parameters. The following
ow chart given by Fig. 8 explains how the algorithm is performed:
First of all, initialization is done (imax , jmax , i 0; . . .), then steady reactance is calculated and some ranges are dened to
determine transient set of parameters. These ranges are chosen far enough from short circuit start point and their width depends on the machine and the simulation step. For instance, the simulation we performed uses 1000 samples per transient
range and the simulation step is 0:25 ms. As regards to sub transient ranges they are chosen near the start point. Fig. 9 shows
the subdivisions made on the current envelope.
From the Fig. 8, we can notice that for each transient range, jmax sub transient parameters are calculated. At the end of the
process, the criterion J is a vector which length is imax  jmax . Each value of this vector corresponds to a particular set of parameters. Minimizing this criterion allows to get the parameters which t the best with accurate values. When this criterion is
plotted, this leads to Fig. 10.
The Fig. 10 shows the different parts corresponding to transient ranges. For each transient range, a minimum can be found
as specied below by Fig. 11.
The algorithm, we elaborated, works in order to nd a particular value kopt corresponding to the general minimum such as:

8v9
<u
=
N
uX
Jkopt Min t iactual i  isim i; k2
: i1
;

27

k2K

where K is the iterations group which length is dened above imax  jmax , N the envelope length.
When this optimum iteration kopt is found, the different validation curves can be plotted to check whether actual quantities and estimated ones match each other.
5. Simulation results and discussion
Once the state space modelling with inside high enough load is done, the estimation algorithm based on the least squares
method is implemented. The data used to perform this algorithm are shown in the Table 1.
The machine involved in the modelling presents the following characteristics:
Rated phase to phase voltage U n 530 V,
Rated current In 243 A.
The rated impedance of the synchronous machine zn can then be deduced by

Un
zn p
3  In

28

This last value allows to convert reactances in per units (p.u).

5.1. Validation of machine modelling
The implementation of the synchronous machine is done by SimulinkTM/S-function. Before performing a short circuit on
the simulated machine, a load test is achieved. The results, corresponding to the steady state, are presented below (see Figs.
12 and 13.
The currents and the voltages shown by the gures above, are sinusoidal and well balanced.

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E. Mouni et al. / Simulation Modelling Practice and Theory 16 (2008) 678689

Initialization
jmax
imax
k 0
i=0
xd

No

imax ?

end of the
process

Yes
j=0
xd

i
Tdo

i 1
Td

j=j+1
xd

Tdo

Td

k 1
J(k)
j

jmax

jmax

Fig. 8. Flow chart for parameters estimation.

envelope (Amperes)
j

1500
j

jmax

1
sub transient
ranges

i
i

1 Transient
imax ranges

isteady
2.4
0.4
Time sec
Fig. 9. Transient and sub transient ranges subdivision.

5.2. Parameters estimation results

As mentioned above, the simulated machine is involve until the steady state is reached. Then a sudden short circuit is
applied on its three phases. After this short circuit currents and voltages are recorded and the developed algorithm allows
to obtain reactances and time constants given in Table 2:
The error we calculated is referred to the accurate parameters values in Table 1 by using the following relation

error

accurate value  simulated value

accurate value

29

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E. Mouni et al. / Simulation Modelling Practice and Theory 16 (2008) 678689

x 10 4

criterion J

4
3

zoom area

2
1
0
0

500
1000
iterations (k)

jmax

1500

Fig. 10. Criterion curve.

2500

criterion J

2000

1500

1000
optimum

500
0

200

400

600 800 1000 1200 1400

iterations (k)

Fig. 11. Zoom on criterion curve.

Table 1
Table of Synchronous machine parameters
Parameters

xd (%)

x0d (%)

x00d (%)

xq (%)

x00q (%)

T 0d0 (s)

T 0d (s)

T 00d0 (ms)

T 00d (ms)

T 00q0 (ms)

T 00q (ms)

Accurate values

176

36.1

26.5

150

26.5

3.12

0.64

41

30

41

s = second; ms = millisecond.

400

va
vb
vc

300
Voltage (V)

200
100
0
100
200
300
400
9.985

9.99

9.995 10
10.005 10.01
Time (Sec.)

Fig. 12. Steady state output voltage in abc frame.

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E. Mouni et al. / Simulation Modelling Practice and Theory 16 (2008) 678689

300

ia
ib
ic

Current (A)

200
100
0
100
200
300
9.985

9.99

9.995
10
Time(sec.)

10.005

10.01

Fig. 13. Steady state output current in abc frame.

Table 2
Table of synchronous machine estimated parameters
Parameters

xd (%)

x0d (%)

x00d (%)

x00q (%)

T 0d0 (s)

T 0d (s)

T 00d0 (ms)

T 00d (ms)

Simulated values
Error%

175.7
0.09

34.5
4.1

23
12.9

26.8
1.5

3.28
5.1

0.645
0.8

39
4.9

26
13.3

accurate envelope
estimated envelope

2000

ienv (A)

1500

1000

500
0

4
6
time (sec.)

10

Fig. 14. Actual and simulated current envelopes.

5.3. Discussion on results

The Table 2 shows that the estimation of reactances by least squares method provide good results. The precision is such as
the error is less than 0.1% in the case of transient reactance. Neverthless, an error of 12.9% is found in the direct subtransient
reactance estimation. Even if this last value is high, it is less than those obtained with the traditional method which is widely
graphical and which errors sometimes reach 20% or 25% of accurate values, see [17]. As regards the estimated time constants,
they match very well with the accurate parameters. Even the sub transient time constant which is difcult to determine with
the traditional method, is satisfying. For this last value we got 26 ms instead of 30 ms. Globally, the obtained results are in
accordance with what we are supposed to get.
Below is the reconstructed envelope from the estimated quantities (i.e., reactances and time constants). In this gure, a
comparison with the actual short circuit envelope is done:
As we can see on the Fig. 14, there is an accordance between actual signal and the estimated one. This gure reinforces the
conclusions we made from Table 2 on the effectiveness of the algorithm we proposed.
6. Conclusion
In this paper, a complete modelling of synchronous machine taking in account of the existence of dampers and using only
reactances and time constants as parameters is presented. The Parks framework is used and the modelling is performed with

E. Mouni et al. / Simulation Modelling Practice and Theory 16 (2008) 678689

689

the state space modelling. The particularity of this one is the use of an inside innite resistance which allows to create terminals on the model. Therefore a series of external loads can be connected and disconnected without modifying the proper
structure of the model. This model is handier than those found in literature which usually include load [7,11]. Indeed, thanks
to such a model, tests often performed on the machine to validate it [12] or to identify it [1], become easier to achieve.In the
second part of this paper, a statistical technique for determining synchronous machine parameters is proposed. This method
is based on only electrical quantities (currents and voltages), so it could be easily achieved by using standard equipments.
The method is very efcient and the obtained results suit strongly with those that we were supposed to get. Thus, the method presented in this paper allows not only to determine synchronous machine parameters but also to validate the model
built on Matlab/SimulinkTM ).
References
[1] A. Launay-Querr, J. Gabano, G. Champenois, Parameter estimation of a synchronous generator, Electrimacs, MontrTal, Canada.
[2] F. Bruck, F. Himmelstoss, Modelling and simulation of synchronous machine, in: IEEE Computers in Power Electronics, 6th Workshop on 1922 July,
1998, pp. 8186.
[3] P. Pillay, R. Krishnan, Modeling, simulation, and analysis of permanent-magnet motor drives. Part 1: The permanent-magnet synchronous motor drive,
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