SPEEDAM 2006

International Symposium on Power Electronics,

Electrical Drives, Automation and Motion

Dynamic modeling and analysis of three phase self-excited

induction generator using generalized state-space approach
Avinash Kishore, G. Satish Kumar
Department of Electrical and Electronics Engineering
Birla Institute of Technology, Mesra
Ranchi, INDIA- 835215
avi_kish@yahoo.co.in, garla_satish@rediffmail.com

Abstract Dynamic characteristics assessment of R : load resistance per phase

three phase self excited induction generator is one of
the main issue in isolated applications as it proves its
importance in recent years. The transient
characteristics of SEIG has important role to define
its better applicability. In this paper a generalized
state-space dynamic model of a three phase SEIG has
been developed using d-q variables in stationary
reference frame for transient analysis. The proposed
model for induction generator, load and excitation
using state space approach can handle variable prime
mover speed, and various transient conditions e.g.
load perturbation, switching states etc. Also the effect
of variation of excitation capacitance on system is
analyzed. SEIG behavior has been investigated
considering the effect of main and cross flux
saturation for various transient conditions. The
equation developed has been simulated using
powerful software MATLAB/SIMULINK, and its
responces justifies the proposed model.
Keywords- Transient characteristics, Excitation
capacitance,self-excited induction generator(SEIG),
prime mover speed, variable load.
NOMENCLATURE
Vsd,, Vrd : Stator, rotor d-axis voltages
isd, ird : Stator, rotor d-axis currents
vsq, vrq : Stator, rotor q-axis voltages
isq, irq : Stator, rotor q-axis currents
Lm : Magnetizing Inductance
Lr, Ls : Rotor, Stator Inductances
Lsd ,Lsq,Lrd, Lrq : stator and rotor dq inductance
Ldq : dq mutual inductance
Lmq, Lmd : d-axis and q-axis mutual inductance
m : magnetizing flux
Im : Magnetizing current
Te : Electromagnetic Torque
P : Number of poles
L : Load Inductance
Rs : Stator resistence
Rr : Rotor resistence
Xls : stator leakage reactance per phase
Xlr : Rotor leakage reactance per phase
C : Excitation Capacitance
Ir : rotor current
Wr : rotor speed in rad/sec
Ild, Ilq : d-q axes load current per phase
Vld ,Vlq : d-q axes excitation voltage per phase
icd,icq :d-q axes capacitor currents per phase
I. INTRODUCTION
It is well known that the three phase self excited
induction machine can be made to work as a self-excited
induction generator [7,8,10], provided capacitance should
have sufficient charge to provide necessary initial
magnetizing current. In an externally driven three phase
induction motor, if a three phase capacitor bank is
connected across its stator terminals, an EMF is induced
in the machine windings due to the self excitation
provided by the capacitors. The magnetizing requirement
of the machine is supplied by the capacitors. For self
excitation to occur, the following two conditions must be
satisfied:-
i. The rotor should have sufficient residual
magnetism.
ii. The three capacitor bank should be of sufficient
value.
If an appropriate capacitor bank is connected
across the terminals of an externally driven Induction
machine and if the rotor has sufficient residual
magnetism an EMF is induced in the machine windings
due to the excitation provided by the capacitor. The EMF
if sufficient would circulate leading currents in the
capacitors. The flux produced due to these currents would
assist the residual magnetism. This would increase the
machine flux and larger EMF will be induced. This in
turn increases the currents and the flux. The induced
voltage and the current will continue to rise until the
VAR supplied by the capacitor is balanced by the VAR
demanded by the machine, a condition which is
essentially decided by the saturation of the magnetic
circuit. This process is thus cumulative and the induced
voltage keeps on rising until saturation is reached. To
start with transient analysis the dynamic modeling of
induction motor has been used which further converted
into induction generator [4, 9, 12]. Magnetizing
inductance is the main factor for voltage buildup and
stabilization of generated voltage for unloaded and
loaded conditions. The dynamic Model of Self Excited

1-4244-0194-1/06/$20.00 2006 IEEE

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Induction Generator is helpful to analyze all matrix formulation[14] using dq axes modeling is used to
characteristic especially dynamic characteristics. For the represent the dynamics of conventional induction
past few years the researches has been developed machine operating as a generator. The representation
positively in the steady state models of three phase self includes the self and mutual inductances as coefficients
excited induction generator(SEIG) [1,5,11] and proposed widely used in machine theory. Using such a matrix
the steady state equivalent circuit which represents the representation, one can obtain the instantaneous voltages
SEIG, the critical capacitance requirement and excitation and currents during the self-excitation process, as well as
balancing has been proposed [1, 5, 6]. Accordingly the during load variations.
better applicability of induction motor as a generator for
isolated applications has been proposed [8]. The model
was found suitable for steady state analysis but not
transient analysis. Thus for analyzing the transient
characteristics, dynamic model of SEIG has been
developed [4,9,12,13] and analyzed the dynamic
characteristics for various transient conditions and
stability.
In this paper d-q modeling of three phase SEIG
has been proposed. The d-q equivalent circuit with
inductive load has been shown in figure (1). The state
space approach [14] has been found better representation
of transient equation of SEIG. The d-q axes stator-rotor
voltage and current equations (A) are the functions of
machine parameters. This is four first order differential
equations. The solution of such equations has been
obtained assuming all the non linear parameters as it is.
The effect of main flux and cross flux has been taken into
consideration,which in many of previous researches has
not been considered. Different constraints such as Fig. 1. d-q axes equivalent circuit of SEIG
variation of prime mover speed and loads has been taken
into accounts and accordingly the effects on generated
voltages and currents has been analyzed. The effect of LOAD AND SELF EXCITATION CAPACITOR MODEL:
excitation capacitance on generated voltage has also been
analyzed. The equations (2) and (3) represents the self
Different constraints for analyzing transient excitation capacitor currents and voltages in d-q axes
conditions: representation.
1. The machine is run as a induction motor and
then increase the speed above synchronous speed to make
it as a generator, after complete excitation the variation of ids = iCd + ild (2a)
generated voltages observed by applications of various
loads.
2. The machine is started as a induction generator iqs = iCq + ilq (2b)
with the rated load and transient response is observed
with various excitation and rotor speed. d 1 1
3. The machine is started as induction generator v ld = ids ild (3a)
with no load and the voltage variations has been observed dt C C
by applying the load after complete excitation.
4. The analysis has been extended to variation of d 1 1
the excitation capacitance under no load and rated load vlq = iqs ilq (3b)
by keeping rotor speed above synchronous speed and by dt C C
keeping capacitance constant and the rotor speed is varied
above synchronous speed. The resultant voltage and
current waveforms has been observed.
5. The transient periods of voltage build up and
voltage collapses has been observed when switching
periods between the excitation and application of load
varies. Equations (4) and (5) represents the d-q axes load
voltages and currents.
II. SEIG MODELING
d
Fig(1) shows the dq axes equivalent circuit of a Self vld = R.ild + L ild (4a)
dt
Excited Induction Generator(SEIG) supplying an
inductive load. Equation (A) and figure (1) is a classical

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 d variables ids , iqs , idr , iqr , vld , vlq , ild , ilq as shown in
vlq = R.ilq + L ilq (4b)
dt equation (B) is the generlazed state space representation
of a SEIG model.
d 1 R That is in the form of classical state space equation
iid = vld ild (5a)
dt L L p[x] = [ A][. x] + [B][. u ] , or:
d 1 R
iiq = v lq ilq (5b)
dt L L

(6)

GENERALIZED SEIG MODELING:

The complete dynamic model is represented by the

set of eight differential equations corresponding to
_______________________________________________________________________________________

(A)

(B)

Where G, C and L refer, respectively, to the partition

of matrix [A]into matrices for the induction generator
Vector [x] is the transposed matrix [iG vC iL ] , and the
parameters, the self-excitation capacitance, and the load. sub matrixes [G ], [C ] and [L ] are defined as:

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and
The excitation vector [u ] = [vG ] of Equation (6) is
multiplied by the excitation parameter matrix [B ] shown
below. Therefore , [B ][u ] = [vG ][
. u ] defines the voltage
corresponding to the residual magnetism in the machine
core.
The simultaneous solution of this system of equation
th
can be obtained using the Runge-kutta 4 order
integration method with automatic adjustment of step.
This gives the instantaneous values of d-q axes voltages
and currents for stator and rotor.
The following assumptions are made in this
analysis:
I. Core and mechanical losses in the machine are
neglected.
II. All machine parameters, except the magnetizing
inductance (Lm), are assumed to be constant.
III. Stator windings, self-excitation capacitors and
the load are star connected.
The variation of the magnetizing inductance is the
main factor in the dynamics of the voltage build up and
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stabilization in SEIG. The relationship between
magnetizing inductance (Lm )and magnetizing current (Im )
for induction machine was obtained experimentally taken
from reference[14]. The non linear relationship between
magnetizing inductance and magnetizing current is given
as
Lm = 6.89 10 6 I m4 + 1.38 10 4 I m3 1.22 10 3 I m2
+ 1.28 10 3 I m + 4.62 10 2
(7)
Where Im is given as
Im = (ids + idr )2 + (iqs + iqr )2 (8)
and Electromagnetic Torque developed is evaluated
as
3 P
Te = . .Lm (ids .iqr iqs .i dr ) (9)
2 2
III. SIMULATION OF SELF- EXCITED
INDUCTION GENERATOR
Simulation and the equations described above
has been implemented in MATLAB/SIMULINK block
sets. The equations from (B) have been implemented in
subsystem Induction_Generator whose outputs are
currents. The load and excitation model is implemented
in subsystem Load and excitation as shown in fig.3,4 by
using equations (2) to (5). The XY plot of magnetizing
Inductance Vs magnetizing current has been observed.
Equation (B) shown has eight first order differential
equations, for which the solutions gives the four currents
(stator d-q axis currents and rotor d-q axis currents), load
currents and capacitor voltages. Further these currents
are the function of constants viz. stator and rotor
inductances, resistances, speed, excitation capacitance
and load impedance. And also variables like magnetizing
inductance, magnetizing currents and electromagnetic
torque generated, has been evaluated using (7) to (9). The
constraints of non linear magnetizing inductance has been
taken into account, the curve between non linear
magnetizing inductance Vs magnetizing currents is
shown in figure (5). The equation(7) of this non linear
graph has been obtained by curve fitting and hence fourth
order nonlinear polynomial equation which is showing
the relation between magnetizing inductance Vs
Magnetizing current. This equation has been
implemented using function block.
 Fig .2. SIMULINK Model of Three Phase Self Excited Induction Generator.

Fig. 3. Excitation model

Fig. 5. Magnetizing Current Vs Magnetizing Inductance

The saturation-dependent coefficients of a fully saturated

induction machine (machine with main and cross
flux
saturation) are evaluated as

Lm = m , L = dm
im dim
Lsq = Lls + Lmq , Lsd = Lls + Lmd
Fig. 4. Load model

Lrq = Llr + Lmq , Lrd = Llr + Lmd

From the Fig.5. it shows that as magenitising current(Im)
increases the voltage buildups, when (Im) saturates,full
excitation is attained as shown in fig.6. to 13. Ls = Lls + Lm , Lr = Llr + Lm

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IV. RESULTS AND DISCUSSIONS
The simulations in this paper has been developed in
MATLAB/SIMULINK. The residual magnetism
magnetism in the machine is taken into account in
simulation process without which it is not possible for the
generator to self excite. Intital voltage in the capacitor is
considered. The results obtain with different
consideration as follows:
i. Excitation with no load: When generator is excited
with capacitance value C=300 F and rotor speed
increased from zero to 2100 rmp in 0.8 sec, the generated
voltage and current attains its steady state value of 400
Volts and 25 amp in 4 sec as shown in fig. 6. When it is
excited with the capacitance of C=200 F with the same
conditon, the generated voltage has been increased to its
steady state value of 600 Volts in 4 sec metioned in fig. 7.
fig.6. (a) rotor speed (y-axis = 500 rpm/div),
(b) voltage(y-axis = 100 volts/div) (c) current(y-axis = 10 amp/div)
fig.7. (a) rotor speed (y-axis = 500 rpm/div)
(b) voltage(y-axis = 200 volts/div) , (c) current(y-axis = 10 amp/div)
for fig.6,7 time, t(x-axis=1 sec/div).
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ii. Excitation with the load: When machine is
already heavily loaded (R=30 and L=44.5mH) and
excited with the capacitance value of C=300 F and the
rotor speed is increased from zero to 2100 rpm. The full
self-excitation is taking place in 4.4 sec and steady state
voltage and current is 400 V and 25 Amp respectively as
shown in fig. 8. With the same capacitance value and
with RL load(R=130 and L=22.5mH) and the rotor
speed is varied from 1680 rpm to 2100 rpm(below
synchronous speed to above synchronous speed). The full
self excitation time is reduced from 4.4 sec to 2.4 sec,
with the same voltage and currents, as shown in fig.9.
With the heavy loaded machine it takes more time to full
excitation hence transient time increases.
fig.8. (a) rotor speed (y-axis = 500 rmp/div)
(b) voltage(y-axis = 500 volts/div), (c) current(y-axis = 10 amp/div)
fig.9. (a) rotor speed (y-axis = 100 rmp/div)
(b) voltage(y-axis = 500 volts/div), (c) current(y-axis = 10 amp/div)
for fig.8,9 time, t(x-axis=1 sec/div).
iii. Load variations after full excitation: The
machine is first run as a induction motor and it is made to
run as a induction generator( rotor speed increased from
zero to 2100 rpm i.e. above synchronous speed) with the
excitation capacitance of C= 300 F, the full excitation
attains at time t = 4.2 sec. The RL load (R=130 and
L=22.5mH) at t = 5 sec is applied. It is observed that the
voltage has slightly dropped from 400V to 360V and it is
maintaining it as shown in fig.10. When a heavy RL
load(R=25 and L=12.5mH) applied at t = 7 sec with
above mentioned operating conditions, the voltage is
decreased from 400V to 310V, as shown in fig.11. After
full excitation when the load is switched on, the voltage
dropes. By adopting the suitable voltage regulator the
voltage can be maintained accordingly.
fig .10. (a) rotor speed (y-axis = 100 rmp/div)
(b) voltage(y-axis = 500 volts/div), (c) current(y-axis = 10 amp/div)
fig.11. (a) rotor speed (y-axis = 500 rpm/div)
(b) voltage(y-axis = 500 volts/div), (c) current(y-axis = 10 amp/div)
for fig.10,11 time, t(x-axis=1 sec/div).
iv. Voltage collapse and re-excitation: When the
machine is running at 1680 rpm and its voltage is 400
volts,The RL load(R=45 and L=44.5mH) is switched
on at time t = 4.6 sec. The voltage is collapsing at time t
= 5.4 sec.i.e. voltage collapsing period is 0.8 sec. If the
machine is excited at time t = 5 sec with the capacitance
C= 200 F, and rotor speed is increased to 2100 rpm, the
re-excitation( voltage build up) taking place at time t = 12
sec as shown in fig .12. The excitation period is 7 sec.
when a light load(R=130 and L=22.5mH) is switched
on at time t = 4.6 sec the complete voltage collapsing
period is 1.2 sec(i.e.from 4.6 sec to 5.8 sec). Before the
voltage collapses, if the machine is excited at time t = 5
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sec with capacitance of C = 200 F and rotor speed is
increased to 2100 rpm, the full excitation is attained at
time t=11.6 sec as shown in fig.13. The excitation period
is 6.4 sec. To re-excite the machine the excitation has to
be applied before complete voltage collapse otherwise it
will not build up the voltage. As the time gap between
switching on load and re-excitation is less(before voltage
collapse) the faster the full re-excitation of the machine.
fig.12. (a) rotor speed (y-axis = 50 rpm/div)
(b) voltage(y-axis = 200 volts/div), (c) current(y-axis = 5 amp/div)
fig .13. (a) rotor speed (y-axis = 50 rmp/div)
(b) voltage(y-axis = 200 volts/div), (c) current(y-axis = 5 amp/div)
for fig.12,13. time, t(x-axis=5 sec/div).
V. CONCLUSION
This paper has presented generalized state space
dynamic modeling of three phase self excited induction
generator. With this model it is possible to isolate
induction generator, excitation and load. This feature is
guaranteed by the separate parameter representation of
the machine model, the self excitation bank of the
capacitor and the load. The approach presented enhances excited induction generator for autonomous operation,
the transient characteristics with the variations of load, 1998 IEEE.
excitation and speed.Performance of SEIG system is [9] Li Wang, Jian- Yi Su, Dynamic Performances
analyzed during initial self excitation, load switching, of an Isolated Self Excited Induction Generator Under
varying prime miver speed and excitation capacitance. various loading conditions, IEEE transaction on energy
The main advantages of this approach are (i) conversion, vol. 14, No. 1, March 1999.
representation of SEIG in the form of classical state [10] Stergio Daher, Ricardo Pontes, Fernando
equation. (ii) Seperation of machine parameters from the Auntunes, A Stand alone three phase induction
self excitation capacitors from the load parameters, the generator based wind energy storage system, 1999
transient analysis can be effectively analyzed. (iii) this IEEE .
model works effectively even with the consideration of [11] Li Wang, Jian- Yi Su, Steady State analysis of
main and cross flux saturation and gives better result. an Isolated Self Excited Induction Generator Under
unbalanced excitation capacitors, IEEE transaction on
energy conversion, vol. 14, No. 4, pp. 887-893,
APPENDIX December 1999.
Table: Generator Rating And Parameters [12] S.K. Jain, J.D. Sharma and S.P. Singh
Rated Power 3 HP Transient performance of three-phase self-excited
Rated Line to Line Voltage induction generator during balanced and unbalanced
440V faults IEK Pro.-Gcner. Trans. Distrb. Vol. 149, No. 1.
Rated Frequency 60Hz January 2002.
Number of poles, P 4 poles [13] Tomonobu Senjyu, Norihide Sueyoshi, Katsumi
Uezato, Hideki Fujita, and Toshihisa Funabashi
Stator Resistance, Rs 0.32
Transient Stability Analysis of Induction Generator
Stator Leakage Reactance Xls 0.8 Using Torque-Time Characteristic IEEE transactions on
Rotor Resistance, Rr 0.41 Energy conversion, 2003.
Rotor leakage impedance, Xlr 0.8 [14] F.A. Farret, B. Palle, M.G. Simoes State Space
Modeling of Parallel Self-Excited Induction Generators
for Wind Farm Simulation IEEE transaction on Industry
applications, vol. 41, no. 4, July/August 2005.
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