Electric Power Systems Research, 8 (1984/85) 261 - 274

261

Theoretical Study o f a Shunt Reactor Subsynchronous Resonance Stabilizer for a Nuclear Powered Generator
M. A. LAHOUD and R. G. HARLEY

Department of Electrical Engineering, University of Natal, Durban 4001 (South Africa)

(Received August 4, 1984)
i

SUMMARY

The paper presents the results o f a theoretical investigation into the suppression o f subsynchronous resonance ( S S R ) instability o f a nuclear p o w e r e d turbogenerator by using a signal derived from the generator speed to modulate the reactance o f a shunt reactor situated at the generator terminals. The analysis and design o f such a shunt reactance controller are carried o u t by considering the full two-axis representation o f the generator and network. :Predicted results are presented to illustrate the ability o f this controller to suppress subsynchronous resonance even when the system is subjected to severe large disturbances.

I. I N T R O D U C T I O N

In order to improve the power transfer capability of an EHV transmission line, several methods of line compensation, including series capacitors, are currently used. However, the use of series capacitors leads to instability and subharmonic oscillations known as subsynchronous resonances or SSRs. The two turbogenerators to be installed at Koeberg nuclear p o w e r station in t h e Western Cape will be connected through 1400 km of 400 kV series capacitor compensated transmission line to the larger Transvaal grid. A previous investigation [1] has shown that, unless precautionary steps are taken, unstable SSR oscillationscould occur at Koeberg if the transmission system is to be operated with anything but a modest level of series capacitor compensation. Various schemes could be considered as possible solutions to the Koeberg SSR
0378-7796/85/$3.30

problem. These include twin transmission lines, an HVDC link, series static filters, auxiliary excitation control and optimal control. Although the first method would work, the additional transmission line would be expensive and detrimental to the environment. While the second technique would also work, it in turn would involve expensive terminal equipment [2], and would not permit convenient connections to other loads or generating centres at points along the route without further expensive terminal equipment. The third method, comprising static filters, would be successful only under certain conditions [3]. The fourth possibility is based on the use of an auxiliary excitation control scheme; the principles of such a stabilizer have been described b y others [ 4 - 6 ] . Although optimal control is the most sophisticated scheme, it suffers from the same problems as the auxiliary excitation control method owing to the limitation introduced by the characteristics of the rotating diode exciter, and the relatively large field time constant peculiar to the Koeberg generators. A further problem with the optimal control solution is the difficulty of measuring 22 state variables. This paper deals with the possibility of applying suitable shunt reactance control [ 7 - 9 ] to the Koeberg system in order to suppress SSR over a wide range of compensation levels. Figure 1 shows the generator and controller system; the mechanical system is represented in Fig. 2. A modal analysis [ 1 ] of this shaft system results in the m o d e diagrams and modal frequencies in Fig. 3. The now familiar mathematical models of the generator and the distributed mass system appear elsewhere [1, 4]. However, this paper illustrates the use of an alternative generator
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262

~,_.

R1

L1

II
II
Shunt

R2

L2

Reactor

L3~=
\/

I K(,)

I-

Fig. 1. 'rurbogenerator with shunt reactance stabilizer.

bus I Vb
J1 J2 J3

rr~ L
e~
J4 J5
,

J6

a specific SRC to reduce torsional interaction is then verified by simulation of the full nonlinear description of the generator, mechanical system, transmission network, automatic voltage regulator (AVR), governor and SRC, when subjected to a severe disturbance.

Fig. 2. Koeberg turbogenerator system.

2. THEORY

7
olI o o

L?
o o ~ MODE 0

OJ -1

1.05 HZ
MODEl 6.87 HZ
--o o

8 0 -I

80 -1 1] 80 1 6 o-1 ~

12.5HZ ///D,.~
~

A previous investigation [7] used a phasor representation of the generator and a number of approximations in the derivation of design equations for the reactance controller. However, this section presents the two-axis equations of the generator in a form which allows their easy combination with the two-axis equations of the transmission system and simplifies the choice of the network state variables.
2.1. Generator model The two-axis mathematical model for the Koeberg generator provides for two q-axis damper windings, one d-axis damper winding, and one d-axis field winding. These nonlinear two-axis equations can be manipulated [10] into an alternative description (see Appendix A) in order to initially represent the generator as an equivalent circuit in ABC phase variables in Fig. 4 for the purpose o f orderly choosing the minimum number of total system state variables. This is a particularly useful technique to cast the equations of a large multimachine network into two-axis form. In Appendix B the network d, q equations are derived and linked to those of the generator which are also in a synchronously rotating reference frame.

MODE3
16,1 HZ

MODE4 17.5HZ

+1]~ ~ ~

~
~ / "

MO

8 01]~

DE 5 92.6 HZ

Fig. 3. Mode diagrams and modal frequencies of the Koeberg turbogenerator.

representation which is useful in the presence of a shunt load such as a reactance, and particularly in the case of a multimachine SSR investigation. It also describes the design of the shunt reactance controller (SRC) by examining the eigenvalue behaviour of the linearized mathematical model. The ability of

263
vc

i2

----4-'-3
R2
Infinite bus R3

or~
L2

vt
Ra

torque balance equation is given by the following set of second-order differential equations:
0 = [J]p2b + [D]p5 + [K]~ + r

(2)

i3

"

ig

where b is the vector of angular deviations, [J] is a diagonal matrix of inertias, [D] is a diagonal matrix of damping coefficients, [K] is a symmetric matrix of shaft stiffnesses and T is a forcing torque vector.
2.4. The turbine and governor The turbine and governor mathematical models illustrated by the block diagram in Fig. 5 were simplified in order to reduce the complexity of the total model for the purpose of this investigation. These simplifications are justified, since the relatively slow turbine and governing system have no major effect on the suppression of SSR. Numerical values of the parameters in Fig. 5 appear in Appendix C. 2.5. Exciter and automatic voltage regulator The rotating diode exciter and AVR mathematical models closely describe the actual equipment. Their block diagram appears in Fig. 6 and their parametric values in Appendix C. The adjustable AVR gain Kay is chosen according to the methods presented in ref. 11. 2.6. S h u n t reactance controller (SRC) The SRC proposed in this paper uses a conditioned generator speed deviation signal to modulate the shunt reactance. The controller function K(s) in Fig. 1 may, in general, have a lag-lead or lead-lag form depending on the values of W1 and W2, hence: K(s)
=

Fig. 4. System configuration when the generator is represented by an equivalent AC circuit.

The generator state variables are chosen as the d- and q-axis components i2D and i2q of the stator current i2 (flowing through L* in Fig. 4) in addition to the rotor flux linkages ~rd and ~rq where:

-- [ [Rrd] [Lrd] -I

[ [o]

[0]

[R,.]

+ [ [Rrd] [Lrd]- IMdT

[0

] 0 [Rrq][Lrq]-lMqTl [i2Q ] [T] i2D

[Lrq]_l] [ ~rd

~,q

(I)
2.2. N e t w o r k description The chosen network states in Fig. 4 are the d, q components of vc, i3 and i2. The two-axis components of i2 are also the generator stator state variables i2D and i2Q. 2.3. Turbogenerator shaft system The Koeberg turbine and generator mechanical system can be modelled [1] by six lumped inertias and five torsional interconnecting shafts as illustrated in Fig. 2. The
I Pref phase advance compensation saturation servo motor

K(s + WI)/(s + W2)

(3)

The state space decomposition of eqn. (3) is given by:

p x = pag -- W2x Yl = (xW1 + p x ) K
(4)

(5)

entrained steam

reheater

"+

Iv

. I,,!"

L!

,/

Fig. 5. Simplified block diagram of the Koeberg governor and turbine.

264

where p6g is the speed deviation of the generator's inertia and y ~ is the modulating parameter for the shunt reactance. In other words, if the shunt inductance has some nominal value L 3 nora, the actual modulated inductance L 3 is given by:
L3=

(1

+ Yl)Lanom

(6)

The choice of the parameters W1, W2, K and Lahore is based upon the eigenvalue loci in Figs. 7 and 8.

made up as follows: ten for the network and generator, twelve for the shaft system, eight for the AVR, governor and turbine, and one for the shunt reactance controller. In order to use eigenvalue techniques during the design of this controller, any nonlinear equations are linearized about some steady operating point to produce a set of 31 linearized equations, which can be summarized as follows: [P] Apz = [E] Az + [S] A u
where

(7)

2.7. Linearized form of the nonlinear state equations The entire system discussed so far is therefore described by 31 differential equations (some of which are nonlinear), which are
Vref Input filter I compensation

Z =

[~Jrd,

~/rq,

p6,

6,

i2DQ, i3DQ,

VcDQ, X,
U = [VbDQ,

A,/G] T
bDQ, Old, Pt] T

(Sa)

(8b)

Exciter

Uel
1 Vfma Vfd

d l I+ mm
Ue2

saturation

Fig. 6. Block diagram of the Koeberg A V R and excitation system.

125.00
M4
tO \
[3

100.00,

M3

<Z rr

M2
C---7 75. 0 0 . ~t_ - - J
L

I
50. 0 0 . >n~
,,(

/-

M1

Z 0 25.00.

77.0]- I

MO
0. 0 0

0.80
1 - .00 i -.50 i 0. 0 0
I

0.I~:
= .50 1.00

-1. 50

REAL I/S Fig. 7. Selected eigenvalue loci as X3 nora varies from 6 to 10 p.u. for the generator without an SRC.

265
102. 00,

\ 0

<

n~

101. 00.

"

Wl

100. 00.

>[E ,( Z
C3 <

gg. 0 0 .

gs. 00 -I.

25

-1.00

- . 75

50

-. 25

0.

(a)
7g. 50

REAL

1/S

CJl \ 0

7g. 00.

78. 50.

Wl

78. 00. >< Z [..9~'~ < ~r 7 7 . 50.

"

:~~"~'i.

77. 00 -1. 00

-. 50

0. 00

. 50

1.

(b)

REAL

1/S

Fig. 8. Selected eigenvalue loci of the Koeberg generator fitted with an SRC for various values of K, WI and W : 2 (a) mechanical mode 3 eigenvalue; (b) mechanical mode 2 eigenvalue.

The eigenvalues o f t h e matrix [ P ] - I [ E ] are also the eigenvalues o f the system. The loci in Figs. 7 - 12 are p r o d u c e d by successive calculation o f these eigenvalues f o l l o w i n g the adjustment o f a particular parameter. H o w ever, o f the 31 eigenvalues, o n l y t h o s e critical loci which directly influence the particular aspect o f t h e system behaviour are plotted; in the case o f c o m p l e x conjugate pairs, o n l y the positive imaginary parts are drawn.

3. RESULTS

3.1. Choice o f shunt reactance controller parameters The controller was designed around the steady operating p o i n t o f
Vb = 1.0 p.u., Pm = 0 . g p . u . , Vm = 1.12 p.u.

and a c o m p e n s a t i o n level o f 60%, where % c o m p e n s a t i o n _~ IOOXc/(X 1 + X2 + X*) (9)

266
125. 0 0

M4
09 \ 0 < Of 100. 0 0

M3

I I F

M2
75. 0 0 .

O 7

I I I

10

50. 00. >rY < Z

(3 < =E

M1
6
o 7

10

I I I b

25. 00.

MO
0. 00. -1. 50

F I
-1. 00 - , 50 0. 00 50

REAL

I/S

Fig. 9. Selected eigenvalue loci as X3nom varies from 6 to 10 p.u. for the generator with an SRC.
125. 0 0 .

tO \ 0 < O ~

M4100. 00_

M3

~
i

Xc=0.49

75. 0 0 .

M2

50. 00. >< Z

M1
2 5 . 00_

t_3 <

MO
0. 00 -2. 00
- 1t. 0 0

0. 00

1I. 021

2.

REAL

1/s

Fig. 10. Selected eigenvalue loci as Xc varies from 0.1 to 1.1 p.u. for the generator without an SRC. Th e parameters o f the Koeberg turbogenerators (including those assumed for the mechanical damping) appear elsewhere [1]. Th e transmission system parameters are given in Appendix C. Without the SRC loop closed, but with X3,om c o n n e c t e d t o t he generator terminals, t he critical eigenvalue loci calculated at the above operating p o i n t appear in Fig. 7 for the values o f X3,om varying from 6 to 10 p.u. A low value o f X3nom gives the m os t damping t o m o d e 2 (M2), but requires a large steady state reactive current, thus increasing its MVA rating. On the ot her hand, a large value of X3nom requires less reactive current but provides less damping t o M2. For the purpose o f this paper, a value of 7 p.u. was chosen in order to proceed with the design of t he controller parameters K, WI and W2 . With X3nom = 7 p.u. the controller parameters K, W1 and W2 o f eqn. (3) were scanned and the critical resulting eigenvalue loci are shown in Fig. 8. Along locus K the gain K is varied from 0 to 0.15 while Wn and W2 remain

268 the SRC from the unstable locus in Fig. 7 to the partially stable one in Fig. 9; it has also become more sensitive since in Fig. 7 it moved from 0.81 to 0.87 and in Fig. 9 from --0.43 to 0.06. This design technique differs from that in ref. 7 (which develops a sizing relationship for the SRC reactance which depends on the angular deviation expected from the rotor), since the eigenvalue loci indicate the relative damping of each mechanical mode. These loci can be recalculated for different combinations of K, W1, W2 and X3nomto ensure some 'best' design depending on the restrictions of the parameters. However, the remainder of this paper evaluates the behaviour of the system with an SRC which has the previously selected parametric values. Calculated results are now presented in order to illustrate the effects of compensation level and system frequency upon the system's small-signal stability and then to demonstrate the damping effect of the shunt reactance controller when the system is subjected to large disturbances. the same range as in Fig. 10. The initial conditions remain as stated earlier. A comparison of the results in Figs. 10 and 11 show that the addition of the SRC (a) has a negligible effect on mode 4 (locus M4) since the generator is situated on a node of this mode, (b) stabilizes modes 2 (M2) and 3 (M3) and increases their damping, (c) increases the damping of mode 0 (M0), and (d) stabilizes mode 1 (M1) up to X c = 1.0 p.u. (compensation level of 70%) as it was designed to do. This SRC does not suffer from the tow compensation problem from which the static filter SSR solution suffers [3].

3.2. Variation of compensation level 3.2.1. SRC loop open (K = O) For this particular test the AVR and governor control loops are open and the initial operating conditions are as stated earlier. Figure 10 shows a part of the locus of eigenvalues as the capacitive line reactance is increased from 0.1 to 1.1 p.u. (a compensation level of 7% to 77%). Mode 4 (locus M4) is unaffected but modes 1 to 3 (M1, M2, M3) all exhibit considerable interaction. M3 is the first to go unstable when X reaches 0.49 p.u. or a compensation level of 34%. Although not shown in Fig. 10, m o d e 5 is unaffected by the variation in compensation level. If Xc were to be increased above 1.3 p.u. the induction generator effect would cause an electrical locus (not shown in Fig. 10) to become unstable [3]. 3.2.2. SRC loop operating This section investigates the ability of the SRC to prevent the above instabilities of modes 1 to 3. Figure 11 shows only the sensitive eigenvalue loci for the Koeberg system when equipped with its AVR and governor as well as with the SRC, while Xc is varied over

3.2.3. Variation in the power system frequency During the normal operation of a power system, there will be minor variations in the system frequency as load is shed or picked up. For a 60% compensated system equipped with SRC and the same initial conditions as before, the system eigenvatues are calculated successively while the frequency is varied from 48.75 to 51.25 Hz (i.e. 50 Hz + 2.5%). The resulting eigenvalue loci in Fig. 12 indicate that these changes in system frequency (unlike the power filter scheme [3]) do not cause the SRC equipped generator to go unstable, although there is a slight decrease in the damping of the 78 rad s-I mode (locus M2). 3.3. Transient behaviour of the SRC equipped system In order to test the ability of the SRC to suppress the dangerous transient torques in the turbogenerator shafts during SSR conditions, this section evaluates the predicted transient behaviour of the Koeberg generator at a capacitive compensation level of 60%. The 31 nonlinear differential equations referred to earlier are numerically integrated step by step. The initial conditions remain as stated earlier. 3.3.1. Temporary 20% drop in infinite bus voltage For purposes of comparison, Fig. 13 is included to illustrate how 8SR sets in on the Koeberg system without its SRC; the disturbance is a temporary 20% reduction in the

269

infinite bus voltage for 100 ms. However, for the same disturbance, the addition o f the SRC stabilizes the system as illustrated in Fig. 14

in which X 3 is regulated around a nominal value o f 7 p.u. between a maximum of about 9.5 p.u. and a minimum of about 4.6 p.u.

T E R M I N A L VOLTAGE

I. 21

ELECTRIC TORQUE

1.14

l. ll

1. Ba

Og.

l.e

O. e e

.50

I. 00
,

I. =
S
i

2. 00

40

2. I I TINE 0. 0 57. 5| GEN. LOAD ANGLE

: i i

TIME
B. F m.

TORQUE L P - G E N 3

2. 00

I. 00

0. 0 0

47. 5
- I. O R I B. 0 o

45. pl
.50 TIME 1. I I 1.50
2.00

g. g e

L=
TIME

L=

L=
S

z.=

Fig. 13. Predicted response o f the Koeberg generator (without an SRC) following a 20% drop in infinite bus voltage for 100 ms.

T E R N I N A L VOLTAGE
i i

5 Fa

GEN.

LOAD ANGLE :

58. 0 0 1.1|

07.00

I.E

55- 0 B $4. ~
55. I I

I. 0

t BB

%0
TIME

;.=
i

L=
S
o

2.,0

52. P 00 I. ' m

Lm

L=
S

2.00

TIME 10 m SHUNT REACTANCE

I. 7R
1.5~I 1.25
1.01

TORQUE LP3-GEN

.~

0. m

7. U

75

X~ 8. m
.51

25

.% 08
i

I. II
I. 00

t.SI TINE

I. II

~. SI S

| , II

4. P i. llI

%0
TINE

L=

L=
S

2.1111

Fig. 14. Predicted response o f the Koeberg generator equipped with an SRC following a 20% drop in infinite bus voltage for 100 ms.

270 In another investigation [3] it was found t h a t an auxiliary excitation controller (AEC), using generator speed feedback to the AVR, was unable to stabilize the Koeberg system after this same disturbance. This was due to the limited exciter ceiling voltages and the large time constants of the rotating diode exciter and field windings of these machines.
3.3.2. Three-phase short-circuit

4. CONCLUSIONS This paper has considered a scheme to control subsynchronous resonance (SSR) at the Koeberg power station in South Africa by using a shunt reactance at the terminals of the generator; the reactance is modulated by a signal derived from the generator speed. The equations for the generator and the network were used in a form particularly useful for multimachine studies and it has been shown how, after linearization, their eigenvalue loci can be used to design the shunt reactance controller (SRC}. The main conclusions regarding the effectiveness of this particular SRC to dampen SSR at Koeberg are as follows: (a) Torsional interaction can be suppressed up to high values of compensation (60%} even when the system is subjected to a three-phase short-circuit. (b) This controller scheme is insensitive to system frequency changes within the range 50 Hz + 2.5%. (c) The excitation system does not require any special characteristics, since the controller action takes place on the stator side and is therefore not affected by the exciter ceiling

When the generator and its SRC are subjected to a 100 ms three-phase short-circuit at the infinite bus, the SRC control action demands that the shunt reactance X 3 be regulated to instantaneous values of less than zero unless a limit is placed on this minimum value (X3min) of X 3. The results in Fig. 15 show the faulted system behaviour when X 3 m m = 0, and the terminal voltage collapse illustrates that this type of control can be viewed as a repetitive short-circuit at the machine terminals whenever X 3 = X3 ram. As a consequence the SRC is unable to dampen o u t the SSR instability. However, if the value of X 3 mm is raised to 10% (0.7 p.u.) of its nominal value (7.0 p.u.), the SRC is able to stabilize the faulted system as shown in Fig. 16.

2, gm

TERMINAL

VOLTAGE

10B. Bg

GEN.

LOAD A N G L E

I, 5E

5B. EB

B. Ba

51

-5m. Bm

-IBL $,a .5tl

1. BB

I. 5$

2, BB

e. ee
SHUNT

'.se
TIME
REACTANCE

1. se

~.s~
s

2. ee

TIME 311. m TORQUE LP3-GEN I

i

2B. Bi

l B . BI

B. me

-lB. m

-2B. Bg

-3B. m

B. BB

'. sB
TIME

L BB

;.5B
S

B~

BB

B. g l

. s~
TIME

I. BO

1.50 S

2. ~

Fig. 15. Predicted response of the Koeberg generator equipped with an S R C

following a temporary short-circuit

and X 3 Bin = 0.0.

271
].4F TERMINAL VOLTAGE o i i 7~MGEN. LOAD ANGLE

1oN Oil. i l a

8g

55. i l l

Oil

SiS. i l B

4il

45. i l l

.t:~

il. u

i
. '*il

/
~. u

i
1. sil 2. m

4il. i l i l LN

'.~,
TIME

l.i

t.se
S

2.u

TIME
4. ilil

TORQUE LP3-QEN
I

2il.

SHUNT REACTANCE

.~ 3. il
2.

5
a~ 15- il|

l i l . Bg

5. ile

- 2 . il~

il. ilil

'. sil
TIME

~.M

~.sil
S

2. u

El. BE il. i l e

'.~
TIME

l.m

I.~
S

2. ilil

Fig. 16. Predicted response of the Koeberg generator equipped with an S R C following a temporary short-circuit
and X 3 m i n ffi 0.7 p.u.

limits and the long exciter and field time constants peculiar to a rotating diode exciter system. Although only a radial network has been investigated, the techniques described in this paper are also applicable to more complex networks of which the possible SSR hazards will form the subject of another investigation.

Pm Pt VbDQ Vb Vm X3nom X*
~g

real power at terminals of generator power supplied to turbine d, q components of infinite bus voltage r.m.s, infinite bus voltage r.m.s, generator terminal voltage
= 090L3nom

= ~0L*

ACKNOWLEDGEMENTS

A
(~J0

The authors acknowledge the assistance of R.C.S. Peplow, D. C. Levy and H. L. Nattrass in the Digital Processes Laboratory of the Department of Electronic Engineering, University of Natal. They are also grateful for financial support received from the CSIR and the University of Natal.

load angle of generator small change operator speed of synchronously reference frame

rotating

REFERENCES

NOMENCLATURE bDQ

1 D. J. N. Limebeer, R. G. Harley and S. M. Schuck, Subsynchronous resonance of the Koeberg turbogenerators and of a laboratory micro-alternator system, Trans. S. AfT. Inst. Electr. Eng., 70 ( 1 9 7 9 ) 278 - 297.
2 S. Svensson and K. M o r t e n s e n , D a m p i n g o f subs y n c h r o n o u s oscillations b y an H V D C link. A n H V D C s i m u l a t o r s t u d y , IEEE Trans., PAS-IO0 ( 1 9 8 1 ) 1431 - 1439. 3 D. J. N. L i m e b e e r , R. G. Harley a n d M. A. L a h o u d , Suppressing s u b s y n c h r o n o u s r e s o n a n c e w i t h static filters, Proc. Inst. Electr. Eng., Part C, 128 ( 1 9 8 1 ) 33 - 44.

d, q components of generator voltage bg AVR and exciter state variables governor and turbine state variables = d / d t , derivative operator

272 4 SSR Task Force, Analysis and Control o f Subsynchronous Resonance, IEEE Publ. No. 76 CH 1066-0-PWR, 1976. 5 A. A. Fouad and K. T. Khu, Damping torsional oscillations in power systems with series compensated lines, IEEE Trans., PAS-97 (1978) 744 753. 6 E. T. Ooi and M. M. Sartawi, Concepts on field excitation control of subsynchronous resonance in synchronous machines, IEEE Trans., PAS-97 (1978) 1637 - 1645. 7 T. H. Putman and D. G. Ramey, Theory of the modulated reactance solution for subsynchronous resonance, IEEE Trans., PAS-101 (1982) 1527 1535. 8 D. G. Ramey, J. W. Dorney, D. S. Kimmel and F. H, Kroenig, Dynamic stabilizer verification tests at the San Juan station, IEEE Syrup. on
Countermeasures for Subsynchronous Resonance,

Ugd= [~qpO,

O, 0] T O, 0] T

Ugq----[--~dPO,
0 = COot + 5

Following minor manipulations:

[vd]
vq

0
+ pO

Lq*

0}[ d l
iq 0 bd iq (A-2)

--Ld* i~

IEEE Publ. No. 81 TH 0086-9-PWR. 9 O. Wasynczuk, Damping subsynchronous resonance using reactive power control, IEEE Trans., PAS-IO0 (1981) 1096 - 1104. 10 N. Jaleeli, E. Vaahedi and D. C. Macdonald, Multimachine system stability, IEEE PICA Conf. Proc., Toronto, May 1977, IEEE Publ. NO. 77 CH ll31-2-PWR, pp. 51 - 58. 11 D. J. N. Limebeer and R. G. Harley, Synchronous machine stability using composite governor and voltage regulator models, Electr. Power Syst. Res., 1 (1978) 68 - 75.

where Ld* = L d - - Ma T [L~d]- 1Md

Lq* = L q - - M q T [ L~q]- ' M q

Md = [Lind,

Lind] T, Lmd ] Lkkd ] Lmq ] Lkkq2

Mq = [Lmq , Lmq] T

[L~d] =

L~fd Lma

[ Lkkql [Lrq ] = APPENDIX A: THE GENERATOR EQUIVALENT CIRCUIT This A p p e n d i x s h o w s briefly h o w t h e t w o axis e q u a t i o n s o f t h e s y n c h r o n o u s m a c h i n e m o d e l are d e v e l o p e d into an e q u i v a l e n t AC circuit m o d e l consisting o f a resistance, an inductance and a nonlinear voltage source [10]. T h e t w o - a x i s e q u a t i o n s in a r o t o r r e f e r e n c e f r a m e are: Lm q

+pO

--MdT[Lrd]-' (A-3)
T h e r o t o r flux linkages are: @rd = Mdid + [Lrd] ird
~rq = M q i q + [L~q]i~q

(A-4)

Vgd = P ~ g d + [Rgd]igd + Ugd Vgq = p ~ g q + [Rgq]igq + Ugq

where

(A-l)
Using eqns. ( A - l ) a n d (A-4):

[Rgd] =diag{Ra,
[Rgq] = d i a g { R a ,

Rf, Rkd}
Rkql, Rkq2}

lord
0] T

Vgd = [Vd, Ufd, 0] T,

Vgq = [Vq, 0,

_ [ [R~j [L~J-, [0

Vrd : [Ufd , 0] T,
igd =

Vrq---- [0,
igq= [iq, irq = [ikql,

0] T
ik~tl, ikq2] T /kq2] T (A-5)

[id,

ifd,

ikd] T,

ird = [ifd,

ikd] T,

273 If a synchronously rotating reference frame is chosen for the network, the transformation between rotor reference frame quantities Ydq and synchronous reference frame quantities )'DQ is as follows: Ydq = [T]YDQ where (A-6) resistance Ra in series with the network as shown in Fig. 4.

APPENDIX B: THE N E T W O R K EQUATIONS By examining the network in Fig. 4, the following four basic equations in A B C phase variables are obtained:
Vb
=

[T] =

cos ~ sin 6

--sin cos

Rli I + LlPi I + vc + R3i 3 + L3pi 3

(B-l)

Applying this transformation to the stator currents, the derivative of stator currents and the terminal voltage in eqn. (A-2) yields

R 3 i 3 + L 3 P i 3 = (R 2 + Ra)i 2 + (L2 + L * ) P i 2 + bg

(B-2)

i I = i2 + i a
PVc = i l / C

(B-3)

(B-4)

+ R a [iD where

,1 [::]
+

(A-7)

Rearrangement of eqns. (B-l) to (B-4) yields the following state variables:

Pi2 = --{(R2 Ra)i2 - - R 3 i 3 - - L3[Vb -- R l i 2

L* = (Ld* + Lq*)/2,

L y = (Ld* -- Lq*)/2

- - i3(R 1 + R3) -- Vc]/(L 1 + L3) + bg}/Lj

(B-5)
p i 3 = ((R 2 + Ra)i 2 - R 3 i 3 + (L* + L2)[v b - - R l i 2 - - i3(R , + R 3 ) - - Vc]/L 1 + b g ) / L k

+ L y [--sin(2~)

--cos(2~i)J
(B-6)

~ _ [sin(25)
+LY(~+zPS)[cos(25)

cos(25)][in] --sin(2~)] i e (A-8)

p v e = (i2 + i3)/C

(B-7)

where
L| = L 3 L I / ( L 1 + L3) + L* + L2

The instantaneous phase A variables bg, vt, i2 corresponding to bD, b e and VD, Ve and iD, iQ are found in eqn. (A-9) b y applying the relevent inverse Park transformation to eqn. (A-7): bg = b D cos(o.~0t ) + b e sin(o~ot ) vt = VD COS(~Oot) + Ve sin(o~0t) i2 = i2D COS((-'J0t) + i2e sin(e~0t) (A-Oa) (A-9b) (A-9c)

Lk -- (L* + L2)(LI + L 3 ) / L 1 + L 3 Equations (B-5) to (B-7) are now recast into equivalent d, q equations in a synchronous reference frame by application of the appropriate Park transformation:
Pi2D Q = - - { ( R 2 + Ra)i2v Q - - R 3i3VQ - - L 3 [VbV Q

where i D in the stator is also i2D in the network. Similarly iQ = i2e. This means that the generator can be represented by an equivalent circuit in ABC phase variables consisting o f a nonlinear voltage source bg, an inductor L* and the stator phase

- - R I i 2 D Q - - i3DQ(R1 + R3) - - VcDQ]/(L, + L3) + b D Q } / L j

--[

06.~0

O0]/2DQ

(B-8)

274

P/3DQ =

((R2

+ Ra)i2DQ

-- R

3i3DQ

Exciter and A VR parameters

AVR gain, Kay AVR compensator time constants, Tvl Tv2 Tv3 Tv4 Input filter time constant, Tvs Exciter time constant, T x Exciter ceiling, Yfma AVR ceiling, Ema AVR ceiling, Emi Pfd for rated armature voltage at no-load 0.0055 0.62 s 2.18 s 0.20 s 0.04 s 0.02 s 0.49 s 0.0122 p.u. 0.0335 p.u. --0.0248 p.u. 0.62 10 -3 p.u.

+ (L* + L2)[VbD Q - - R I i 2 D Q --i3DQ(R1 + R3) - - VcDQ]/LI

0
+ bDQ}/Lk ---CO 0

COo]
0

i3DQ

(S-9)
i2DQ + i3DQ C [ 0 --(D O 090 ] 0 VcDQ

pVcD Q -

(B-10)
T h e n e t w o r k a n d t h e m a c h i n e are t h e r e f o r e described by the ten differential equations c o n s i s t i n g o f f o u r in eqn. (A-5), a n d six in eqns. (B-8) t o (B-10).

T h e e x c i t e r s a t u r a t i o n f a c t o r Se is given b y : Se = 0 . 6 0 9 3 exp(0.2165V~d)

Transmission system parameters

Fig. 4)

(refer

to

APPENDIX

C: S Y S T E M

PARAMETERS

Turbine and governor system parameters

Governor gain, Kg Phase advance compensation, Tgl Phase advance compensation, Tg2 M a x i m u m turbine output, Pmax Servo time constant, T3 Entrained steam delay, Tg4 Steam reheat time constant, Tgs Shaft output ahead of reheater, F 0.05 0.30 s 0.03 s 1.2 p.u. 0.15 s 0.62 s 2.56 s 0.337 p.u.

R 1 = 0 . 0 8 4 4 p.u. X l = 1 . 1 5 4 7 p.u. R 3 = 0.01 p.u. X 3 = 7.0 p.u.

R 2 = 0.001 p.u. X2 = 0 . 0 0 5 p.u. X c = 0 . 8 4 6 3 p.u. (60% compensation)