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To cite this article: R. WAMKEUE , I. KAMWA & X. DA-DO (1998) NUMERICAL MODELING AND SIMULATION OF UNSYMMETRICAL
TRANSIENTS ON SYNCHRONOUS MACHINES WITH NEUTRAL INCLUDED, Electric Machines & Power Systems, 26:1, 93-108, DOI:
10.1080/07313569808955810
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NUMERICAL MODELING AND SIMULATION OF
UNSYMMETRICAL TRANSIENTS ON SYNCHRONOUS
MACHINES WITH NEUTRAL INCLUDED
R. WAMKEUE
Ecole Polytechnique de Montreal
Departement de Genie Electrique et Informatique
I. KAMWA
Institut de Recherche a'Hydro-Ouebec
1800 boulevard Lkmel-Boulet, Quebec, Canada J3X 1S 1
X.DA'i-DO
Ecole Polytechnique de Montreal
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I. INTRODUCTION
For a long time linear identification tests dominated the specialized synchronous
machine literature. A need for optimal-parameter identification tests promoted serious
research into several tests which might help to accurately model the machine.This
explains today's strong interest in on-line parameter identification tests, including all the
nonlinearities of the machine. The three-phase sudden short-circuit test, with its simple
implementation and ability to give valuable information on the machine parameters, used
to be very successful but, more recently, ambivalent problems in the parameters have
shaken confidence in the three-phase short-circuit test and are still without real answers
(Kamwa et al,1991 and 1994). Among other things it is always difficult to explain the
effect of sequential circuit breaker-closing on estimated machine parameters in the
identification scheme (Sriharan et ai, 1977).
Request reprints from I. Kamwa. Manuscript received in final form August 23, 1996.
involved in the Park equations, its relation with the zero-sequence axis, and its influence
on short-circuit faults.
This work is structured as follows: In section 2 we develop an appropriate state
space synchronous-machine model in a general matrix form, in which we include not only
rotor speed variation, but the machine neutral model, the zero-sequence axis and Canay
reactances in both d- and q- axes. We then propose, in commented algorithm form in
section 3, a numerical method to analyze and simulate all the synchronous machine's
symmetrical and unsymmetrical transients with voltage control using the proposed model.
Lastly in section 4, we apply our method to simulate machine faults occurring on a
seventh-order turbine-generator.
2. MACHINE MODEL
the machine terminal are given by equation (I), where the sign of current ~ y depends on
the convention given in the nomenclature
A
'IIy=Lxyzi :+(9'y), (I a)
:
A
expression has no armature current (Chatelain, 1983). The neutral voltage vn='nr.+xnP(i:)
is obtained by Ohm's law application in Figure I, with the neutral current in=ia+ib+ic and
P=!!... The previous voltage equations are summarized in matrix form as follows
dl
A A
VIl =rn J i abc+'xnpJ(; abc) (2a)
A
vabc = R i abc + p(V' abc) + Vn (2b)
SYNCHRONOUS MACHINES 95.
Vo
(3)
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Matrices J and R are defmed in the APPENDIX. The equivalent of the neutral vector of
equation (2) in the Park reference frame denoted V(dqh) is computed using Park
n
transformation matrix also given in the APPENDIX. Equation (2) shows that the Park's
transformation of the neutral contains only the zero-sequence component Vhn=V n' The
neutral-voltage expression is unchanged in the Park zero-sequence axis. The neutral
current and zero-sequence current are in phase (ih=~;n)' Equation (3) yields to the neutral
equivalent model of Figure 2. When the neutral impedance is short-circuited, the zero-
sequence voltage is given by (Krause et ai, 1995)
A A
(4)
In practice the zero-sequence current cannot be evaluated in absence of the neutral (z""",, )
but can be theoretically predicted by ;h=~(ia+ib+ic)'
The flux crossing a given winding I' of Figure 3 can be written V'!J=(V'!J)s+(V' 1')"
where (V' !J)s and (V'!J)' are respectively armature and rotor contribution of flux V'!J'
O--:r.
r
v""1
c
--:r.J'~
a)
~3X ..
I
vll"
~
b)
x..
FIGURE 2. (a) Park equivalent circuit of machine neutral, (b) Zero-sequence equivalent
circuit with (',,=0)
~(".,,,)
1
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h
(,,,",j
(h axis)
(q a.x is)
Since the zero-sequence current and neutral current are in phase, the zero-sequence
reactance Xh = (3,,, + xu), It is important to highlight that the sign of tV' IJ)' in this
formulation has remained constant, since the rotor is the receiver. Only the sign of tV' lJ)s
As for the flux equations, we can define the voltage across each of the main windings in
Figure 3 (Krause et aI, 1995)
(8)
(9)
(10)
I
v p = rp i p + OJ P'II p; (IJE Mr) (II)
n
v# =0; (# E Mal (12)
SYNCHRONOUS MACHINES 97
(a)
(e)
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The relations between the various inductances due to current-flux coupling are given in
the APPENDIX. We can therefore derive a complete synchronous-machine equivalent
circuit in the Park (d.q.h) reference frame of Figure 4. Canay reactance are added in d-
and q- axes equivalent circuits in order to have accurate frequency effects for frequency
domain studies (Kamwa, 1994).
(13)
and organizing the above flux and voltage equations in matrix form, the electromechanical
equations of the machine are given by
(14a)
(14b)
I
p(w rn)= 2H(Trn-Te-Dwrn) (15)
p(J)=wn(wrn-l) (16)
where W
n and W
rn are respectively the rated frequency (rad/s) and the rotor speed of
rotation in (p.u), Trn is mechanical torque applied in the positive W
rn
direction, H is
equivalent inertia in MW-sIMVA, D is the friction coefficient. The submatrices, Xs x"'
98 R. WAMKEUE ET AL.
X r , ~" and rr are defined in the APPENDIX, 03,11 is 3xn -order zero matrix. The
electrical torque 7~ is computed using the total active power Pe , supplied (alternator) or
consumed (synchronous motor) by the machine. Its expression is given by the equation
below, since operation can be unbalanced or not:
Pe I . . .
J;,=-=:;-(va'a +vb'b+vc'c)
(17)
OJ", .... m
Eliminating phase variables in terms of dqh components using inverse Park transformation
matrix listed in the APPENDIX, we have
(18)
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The equation (18) using the orthogonal inverse Park matrix becomes Te=-'--(vjd+Vqi +vhih)'
a> q
m
With such orthogonal transformation matrix, the power has the advantage to be invariant,
but it presents several disadvantages in the per-unit system translation discussed by
(Kundur, 1994). The de offset in the phase currents can be eliminated in dynamic
performance of the machine by removing the transformer voltage terms P'I'd' P'I' q , and
P'I' hin the voltage equations (8-10) (Kundur, 1994). By substituting the resulted voltage
equations in (19), we obtain
(19)
or in matrix form
(20)
We should emphasize that our goal is not to compare Park's theory and
Fortescue's theory. We are well aware that they are different, but because our study will
deals with unsymmetrical faults on machines, which is one of application fields of
Fortescue's theory and the implication of the zero-sequence in both theories, we are trying
to establish a relation between the zero-sequence in two theories. This sometimes creates
confusion: some authors say the two are not identical (Barret, 1982) while others have the
opposite opinion (Krause, 1995) but none clearly justify their positions. Let us now find
the machine neutral model in the Fortescue theory. The symmetrical components of the
neutral of phase a is given by (Fortescue, 1918)
(21)
SYNCHRONOUS MACHINES 99
A
As in section 2.1 we have Va1n=0, va2n=0 and VaOn = 3", iOf + hnP(i0f)' where
. I... I.
'OJ =3"(la+lbHc )=j /'' '
F and (J are listed in the APPENDIX. We can also define the predicted zero-sequence
A A
voltage "ofO = 'a i 0 f + xap(i 0 f) in the case of a short-circuit of neutral impedance.
Knowing this set of equations, we can draw the equivalent Fortescue zero-sequence circuit
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model of Figure 5. By comparing 5.(a) and 4.(c) in this figure, it is clear that they are
identical in representation and have identical impedance circuits at fundamental frequency
or when the control voltages and currents are sinusoidal. The impedance of the zero-
sequence circuit is Zh = Zo = 3,,, + 'a' The difference comes from the nature of the
voltages and currents, which in Fortescue's theory may be sinusoidal, allowing the
complex representation to be used to compute the zero-sequence impedance. This shows
that, when the control voltages and currents are sinusoidal, zero-sequence axis is the same
in the two theories. This assumption will be supposed satisfied in our study. We can then
use some results of symmetrical-component transformation relative to the neutral-
impedance position, normally known as system grounding.
The purpose of system grounding is to control ground fault currents, reduce
transient overvoltages and minimize shock hazards to personnel. According to the value of
the neutral impedance, system grounding is generally standardized into four different
categories, which fall into two groups. The first group (Saint-Pierre, 1985) consists of
Ungrounded and high-resistance neutral grounded systems. In ungrounded systems, there
is no intentional connection to ground. In high-resistance neutral grounded systems,
ground impedance has a high resistance value. These two categories of grounding system
can be modeled by taking ',,="'. The equivalent zero-sequence model is given by Figure 5
(b). In this case, the zero-sequence axis of the Park reference frame is not necessary.
Many authors generally use the Park theory in this case.
The second group also comprises two system grounding methods, solidly
grounded neutral systems and low-resistance neutral grounded systems. The former is
characterized by the neutral point of the generator being connected directly to ground
without any intentional impedance( zn =0). Reactance grounding is used through a
generator, but a small reactor is added in the neutral of the generator so that the line-to-
line fault level will not be greater than the three-phase fault level, the highest for which
the machine is designed. In low-resistance neutral grounding system, a low-value resistor
is inserted in the neutral connection to ground. In this second group, the machine neutral
impedance is present and its value is low, although not quite zero. This group is
appropriate for our study with the switch (k n = I) in Figure I. It is clear that a realistic
model of Park zero-sequence axis for wye-connected machine is that given in (10).
100 R. WAMKEUE ET AL.
p(x)=A,x+B.u (23)
where
0~~3,2J;
b
(24)
A=[Z a
2,n+3 '<.,2
B-
- [ 2 ,17+3
with
c
,-----c> - - "
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of
(a) (b)
3,17 J[ cJ(T
'"r s X]"
sr +WJ . b=ru [ exs
X ]-1 sr
(25)
r X ' cJ(T X n
r sr r sr r
and
(26)
Equation (25) defines the state matrices of linear system given by (14), while (26) yields
the state and the control vectors. All the other submatrices are defined in APPENDIX. The
integer n=nd+nq+l is the number of rotor windings. The system submatrices of equations
(24-25) are built using the machine parameter vector defined in equation (27).
utt)
com
1
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(31)
102 R. WAMKEUE ET AL.
Table I. Using formula of APPENDIX and the machine parameters we compute the initial
steady-state conditions.
i a =0.5L - 31.79 ; ;acI.88L31.27; i =- O.0045 ; i =O.5 ; v
dO qO qO=O.855;
'j 0.00126 x
j O~ 1140
'Q2
0.022907 x mq 2.038 D 0.001
'D
2
0,01267 Xv2 0.1662 x
Q1
1.409 xlif
2
0.0
the neutral connection does not modify this test since the zero-sequence voltage and
current are zero. Figures 7 to 10 show that all faults have the same harmonic number in
the torque (second harmonic), which is normally due to salient poles of the synchronous
machine. The second harmonic is very low in three-phase short-circuit torque. In this case,
its presence depends on the discrepancy between the subtransient reactances xd and xq of
the d-axis and q-axis, since the magnitude of the second harmonic electrical torque is
proportional to v, (-..!...-_-..!...-) , where v, denotes the terminal voltage in p.u (Barret, 1982).
2 xd xq
In Figures 8 to 10, the behavior of the neutral current is a sine of constant magnitude,
since the zero-sequence voltage is also sinusoidal. The synchronous machine neutral
impedance helps to control the overvoltages and for the protection of the equipment and
pu
field current if neutral eurrenl
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pu.:~
o s 0.2
.:1
o
i
0.1 s 0.2
annature current is ermemre current ib
pu.:~ .::tmWWWfd
o s 0.2
pu
o s 0.2
.'~I::t1 ,"~r;::a
o s 0.2 o s 0.2
pu.:r-4
o s
armature current 18
0.2
annature current ib
10
~~:~
o s
electrical torque
0.2
,"'"]"21 pu.I~
o 0.2 o 0.2
s s
personnel. When the neutral impedance is short-circuited (full lines, Figures 8 and 9), the
phase a current increases and, also, the neutral current. During a phase-to-phase short-
circuit, the phase a and, the neutral currents are higher than other currents. However this
effect is limited to the magnitudes of armature currents, with little impact on the rotor
speed. The currents must be limited by choosing a suitable neutral-impedance value so
that their magnitude does not exceed the tree-phase short-circuit level.
puJMW~
o 0.2
armature current ta armature current ib
pu_::rm_ Pul:~
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-10
o 0.2 a s 0.2
~'].2J '"~R
o s 0.2 0 s 0.2
PU:~
o
field current if
0.2
pu neutral current
0.5,---------,
-0.5.\--
0
----:,----"..,,-- ...J
armaturecurrentla armature currenllb
pu_:~ pu_::~
o s 0.2 o s 0.2
~"r21,"~B
o u 0 u
For the high-impedance grounded system in Figure 10, the zero-sequence component does
not affect the armature machine behavior, since the zero-sequence current (or neutral
current) is forced to zero by a high neutral impedance. It is clear that in this context
synchronous machines only can be modeled in the d and q axes. Nowadays, however, this
SYNCHRONOUS MACHINES 105
S. CONCLUSION
(alternator or synchronous condenser and motor) in global state space form taking into
account the Canay reactances in both the d- and q- axes, the rotor speed variation and the
neutral connection of the machine. We also propose a method to analyze the synchronous-
machine transients using the control voltages. This technique can be used equally well to
compute the unbalanced steady-state test, in frequency response tests for voltage supply
with harmonics, to compute the current response analysis for a reverse-voltage sequence
supply, and so on. The approach is practical for the machine's parameter estimation
scheme, with the advantage that the zero-sequence axis parameters and mechanical
constants can be identified in our generalized framework. The efficiency of the method is
reflected in the simulation results of short-circuit tests. However, this method is not
appropriate when the voltages are not controlled and when the current form is imposed by
the load connected to the machine (i.e power electronic device). A practical example of
parameter identification with our method could be interesting if actual test data were
available.
inductance of coil A,
(hr ) mutual inductance and ('or) self inductance
106 R. WAMKEUE ET AL.
VCdqh)" =[ v"d vnq Vnh]T neutral voltage vector in the (d.q.h) reference frame
r
JO
APPENDIX
(3Ia)
(3Ib)
(32)
nd
'kf=I: 'kf. ;'ff='md+XJ+XkJ; 'dd = 'md + Xu ='d; '</f='Jd='Vd=xdV ='md (33)
1=1 ' / J
/
'm
J~/
='vJ='vv
/ / k
='V k o / =XVkV/ -'v/ ;k,l=l...nd <o.o
/ / = 'md +'V/ + L'kJ; ;/=l...nd(34)
;=1
nq-}
Xqq=Xmq+Xa=Xq ;Xkq= .2. "), (36a)
J=I J
xqQ
r = 'oI' q = x.,q ; x Q Q =xQ Q =xQ Q -x Q
I' k' k' I' t: t: r ;k' ,I.=I....q
(36b)
xQ Q ~xQ (37a)
rv: =xQk'/'
Q
/'/'
Q -x Q ;k',I'=l...llq;
r
r
'oI' Qr =xmq+X Q +
/'
L Xkq ;1=I....q-1
j=1 j
(37b)
(39)
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(40)
Electromechanical transient
Gqi ]
Gdi
Gj = Ghi ; (4 Ja)
[
n.n+3
Gqi=['a xq 0 01,1l'd+l et mq EXmq Jl,n+3 (41b)
(43)
~p2+Q2 p _
1,=-'--';
V,
COSlp=-' ; e =V, - ('a +) .x );a = E L 5Q ;
V,.J, a q a (69a)
(71)
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New York
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Kamwa, 1.,1994, Synchronous Machine Identification: State of the Art and Coming
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