Electric Machines IIIA

COURSE EPM 405A

FOR
4th Year Power and Machines
ELECTRICAL DEPARTMENT

Lecture 05

Dr. Amr AbdAllah

Synchronous Machine Modeling

Introduction:

A synchronous machine is a doubly excited machine. Its rotor poles are

excited by a dc current and its stator winding are connected to the ac
supply*.
a

Stator

Salient
Pole rotor

Non-salient
pole rotor

S
S

Structure:

- Three phase distributed windings on the stator (similar to the IM) and is
called armature windings.

- Field winding on the rotor carrying direct current fed normally fromSlip
anrings
external dc source through slip rings and brushes.

Dr. Amr AbdAllah

b c

3 phase AC

+ -

Brushes

DC excitation
2

Synchronous Machine Modeling

Introduction:

Synchronous machines are broadly divided into two groups:

1- High speed machines with cylindrical (non-salient) rotors

Used in large generators (several hundred mega watts) with two or
sometimes four poles and are usually driven by steam turbines. The
rotors are long and have small diameters. Non-salient pole rotor has
one distributed winding and an essentially uniform airgap.

2- Low speed machines with salient pole rotors

Salient pole rotors have concentrated windings on the poles and a nonuniform airgap. Salient pole generators have a large number of poles
(sometimes as many as 50) and operates at lower speeds. These
generators are rated for ten or hundred mega watts and are driven
by water turbines. The rotors are shorter but have larger diameter.

Dr. Amr AbdAllah

Synchronous Machine Modeling

Nature of Inductance:

1- Mutual inductances and self inductance of stator windings

depends on rotor position (r) and are periodic every 180
(that is equivalent to be dependent on 2r
bs axis
bs axis
fq axis

f
axis
r
Kq
r q
Kq
r
r
as axis

Kq

as axis

Kq

cs axis

fd axis

POSITION 1

fd axis

cs axis

POSITION 2
Dr. Amr AbdAllah

Synchronous Machine Modeling

Nature of Inductance:

2- Mutual inductances between rotor and stator windings

depends on rotor position (r) and are periodic every 360
(because the flux linkage change direction at the 180)
bs axis
bs axis
Value is only
fq axis

f
axis
repeated after
r
Kq
r q
Kq
360
r
r
as axis

Kq

as axis

Kq

Value is
repeated each
180

cs axis

fd axis

POSITION 1

fd axis

cs axis

POSITION 2
Dr. Amr AbdAllah

Synchronous Machine Modeling

Nature of Inductance:

3- Mutual and self inductances between rotor windings are

independent on rotor position (r).
Kq

Kq

Kd

K d
K
d

f
K
d

Kq

Kq

POSITION 1

POSITION 2

A general equation that describes the mutual coupling between

any two windings of a salient pole machine can then be given
as:

Lxy L0cos( x - y ) L2cos( x y )

Dr. Amr AbdAllah

Synchronous Machine Modeling

Notes on the salient pole machine
inductances:

L0

cos( x -inductance
y ) L2cos(can
x be
y ) computed from
xy L
All the salientLpole
machine
0
the relation:

Ny
Ny
Nx
Nx
L2 ( ) ( ) 0 r l 2
( ) ( ) 0 r l
1
2
2
2
2
2

1 1
1
(

)
1 2 g min g max

LA
Lsfd

Ns 2
(Definitions
)
2

r l
1

1 1
1
(

)
2 2 g min g max

Ns 2
LB ( ) 0 r l 2
2
2

Nf
Nf 2
Ns
2
( ) ( ) 0 r l ( ) Lmfd ( ) 0 r l ( 2 )
1 2
1 2
2
2
2
Dr. Amr AbdAllah

Synchronous Machine Modeling

Machine inductances:

Dr. Amr AbdAllah

Synchronous Machine Modeling

Machine stator inductances:

Lasas L L L cos(2 r )
A B
ls
Lbsbs L L L cos(2 r 120)
A B
ls
Lcsc s L L L cos(2 r 240)
A B
ls
1
Lasbs L L cos(2 r 120)
2 A B
1
Lbscs L L cos(2 r )
2 A B
1
Lcsas L L cos(2 r 120)
2 A B

as r ; bs 240 r ;
cs 120 r
fd kd 90; kq1 kq 2 0

Dr. Amr AbdAllah

Synchronous Machine Modeling

Machine rotor self inductances:

L fdfd L L0 cos(0) L cos(90 90)

2
lfd
L ( L0 L )
2
lfd
with N x N y N
f
L fdfd L L
lfd
mfd

Llkd Lmkd
Lkq1kq1 Llkq1 Lmkq1
Lkq 2 kq 2 Llkq 2 Lmkq 2

Similarly,Lkdkd

Lmkd

as r ; bs 240 r ;
cs 120 r
fd kd 90; kq1 kq 2 0

N kd 2
( ) 0 r l (1 2 )
2
2

Lmkq1 (

N kq1
2

) r l (
2

2)

Lmkq 2 (

N kq 2

) r l ( 2 )

Dr. Amr AbdAllah

2

10

Synchronous Machine Modeling

Machine rotor mutual inductances:

L fdkd L0 cos( 0 ) L2 cos( 90 90 )

( L0 L2 )
with N x N f ; N y N kd
Nf
N kd
L fdkd
L

L
N f mfd N kd mkd
Similarly,

Lkq1kq 2 L0 cos( 0 ) L2 cos( 0 0 )

( L0 L2 )

as r ; bs 240 r ;
cs 120 r
fd kd 90; kq1 kq 2 0

with N x N kq1; N y N kq 2
Note
N kq 2
N kq1
Lkfkq1 Lkfkq 2 Lkdkq1 Lkdkq 2 0
Lkq1kq 2
Lmkq1
Lmkq 2
Dr. Amr AbdAllah
N kq1
N kq 2
11

Synchronous Machine Modeling

Machine stator-rotor mutual inductances:

Lasfd L0 cos( r 90) L2 cos( r 90)

( L0 L2 ) sin( r )
Lbsfd L0 cos( r 240 90) L2 cos( r 240 90)
( L0 L2 ) sin( r 120)
Lacfd L0 cos( r 120 90) L2 cos( r 120 90)
( L0 L2 ) sin( r 120)
Similarly,
in all of the above equations
Nx N ; N y N
s
f
thus

Lasfd Lsfd sin( r )

Lsfd

Nf
Ns
( ) ( ) 0 r l ( 2 )
1 2
2
2

Lbsfd Lsfd sin( r 120)

Lcsfd Lsfd sin( r 120)

Dr. Amr AbdAllah

as r ; bs 240 r ;
cs 120 r
fd kd 90; kq1 kq 2 0
12

Synchronous Machine Modeling

Machine stator-rotor mutual inductances:
Laskq1 Lskq1 cos( r )
Laskd Lskd sin( r )
Lbsfd Lskd sin( r 120) Lbskq1 L cos( 120)
skq1
r
Lacfd Lskd sin( r 120) Lcskq1 L cos( 120)
skq1
r
Laskq 2 Lskq 2 cos( r )
Lbskq 2 Lskq 2 cos( r 120)

where

Lcskq 2 Lskq 2 cos( r 120)

Ns
N kd
Lskd ( ) ( ) 0 r l ( 2 )
1 2
2
2

N kq1
Ns
Lskq1 ( ) (
) r l ( 2 )
0
1 2
2
2

N kq 2
Ns
2)
Lskq 2 ( ) (
) r l ( Dr.
0
1 2 Amr AbdAllah
2
2

as r ; bs 240 r ;
cs 120 r
fd kd 90; kq1 kq 2 0
13

Synchronous Machine Modeling

Machine voltage equations in machine variables:

(f abcs )T f as f bs f cs
(f qdr )T f kq1 f kq 2 f fd f kd

v abcs rs i abcs p abcs

v qdr rr i qdr p qdr

rkq1

0 0

rs 0 0
equations is to indicate the currents are assumed to
Note that the negative sign in the stator voltage 0
rkq2 0 0

rs out0of therterminals.
0
be positive
This
assumption
is
considered
since the synchronous machine is
s
rr
generally operated
0 as0a generator.

0
0
r
0
r
fd
s

rkd

Dr. Amr AbdAllah

14

Synchronous Machine Modeling

Machine voltage equations in machine variables:
The flux linkage equation can thus be written as:

abcs L s L sr - i abcs

T
Again

i
L rspreceding
L r the stator
Lthers positive
Lassumption
the negative
sr
qdr
sign
qdrcurrent
is to describe
of the current out of the machine terminals, which is in the direction of negative flux
linkages.

Dr. Amr AbdAllah

15

Synchronous Machine Modeling

Machine voltage equations in machine variables:
The inductance matrix for the stator circuits Ls is given by:

The mutual coupling matrix between stator and rotor

windings Lsr is give as:

Dr. Amr AbdAllah

16

Synchronous Machine Modeling

Machine voltage equations in machine variables:
The rotor circuits inductance matrix Lr is given by:

It is convenient to define the following inductances for

synchronous machines:
3
Notice that for cylinderical rotor (nonLmq ( LA LB )
salient LB=0
2
r l =1/g
This means that Lmq=Lmd=3/2
LA where
3
Ns 2
0
Lmd ( LA LB )
L

(
)

A
(uniform air-gap) with
2
2
g
Dr. Amr AbdAllah

17

Synchronous Machine Modeling

Machine inductances using Lmq and Lmd inductances:

N kq1
2
Ns
2 N kq1
Lskq1 (
)(
) 0 r l (1
) (
) Lmq
2
2
2
3 Ns
Lskq 2

N kq 2
2
Ns
2 N kq 2
(
)(
) 0 r l (1
) (
) Lmq
2
2
2
3 Ns

Lsfd

2
Nf
Ns
2 Nf
( )(
) 0 r l (1
) (
) Lmd
2
2
2
3 Ns

Lskd

2
Ns
N kd
2 N kd
(
)(
) 0 r l (1
) (
) Lmd
2
2
2
3 Ns
Dr. Amr AbdAllah

18

Synchronous Machine Modeling

Machine inductances using Lmq and Lmd inductances:

2

N kq 2

2 N kq1 2
Lmkq1 (
) 0 r l ( 1 ) (
) Lmq
2
2
3 Ns
Lmkq 2

N kq1

2 N kq 2 2
(
) 0 r l ( 1 ) (
) Lmq
2
2
3 Ns
Nf

Lmfd

2 Nf 2
(
) 0 r l (1
) (
) Lmd
2
2
3 Ns

Lmkd

2
N kd 2
2 N kd 2
(
) 0 r l ( 1 ) (
) Lmd
2
2
3 Ns

Dr. Amr AbdAllah

19

Synchronous Machine Modeling

Referring rotor variables to stator:
The following relations are needed to refer the rotor
variables to the stator:

j can be Kq1, Kq 2, fd or kd

Using these equations for referring the rotor variables to

stator we get:

abcs L s Lsr - i abcs

qdr Lrs Lr iqdr

2
T

L rs L sr
3

Dr. Amr AbdAllah

20

Synchronous Machine Modeling

Referring rotor variables to stator:
Lsr and Lr are given as:

3 N s
Llj
Llj

2 Nj

j can be Kq1, Kq 2, fd or kd
Dr. Amr AbdAllah

21

Synchronous Machine Modeling

Machine voltage equations with variables referred to stator:

rs pL s
pLsr

v abcs

vqdr 2 p (L )T
rr pLr
sr

3 matrix r is given by:

The elements of the

- i abcs
iqdr

3 N s
j can be Kq1, Kq 2, fd or kd
rj
rj
N
2
j
equations
The voltage
expressed above can be adapted for the positive
direction of the current being going to the machine terminals (that
motor operation) just by removing the negative sign preceding the
vector of stator currents.
Dr. Amr AbdAllah

22

NEXT LECTURE

CHAPTER III Contd

1- Torque equation.
2- Synchronous Machine Dynamic Modeling in
qd0 reference frames

Dr. Amr AbdAllah

23

Derivation
vas rs ias pas
rs ias p (ias ( Lls LA LB cos(2 r ))
ibs (0.5 LA LB cos(2 r 120))
ics (0.5 LA LB cos(2 r 120))
2 N kq1
3 N
(
)ikq1 ( s ) Lskq1 cos( r )
3 Ns
2 N kq1
2 N kq 2
3 N
(
)ikq 2 ( s ) Lskq 2 cos( r )
3 Ns
2 N kq 2
2 Nf
3 N
( )i f ( s ) Lsfd cos( r )
3 Ns
2 Nf
2 N
3 N
( kd )ikd ( s ) Lskd cos( r ))
3 Ns
2 N kd
Dr. Amr AbdAllah

2 N kq1
Lskq1 (
) Lmq
3 Ns
2 N kq 2
Lskq 2 (
) Lmq
3 Ns
2 Nf
Lsfd (
) Lmd
3 Ns
2 N
Lskd ( kd ) Lmd
3 Ns

24

Derivation
vkq1 rkq1ikq1 pkq1

Lmq
3 N
2 N kq1
3 N
2 N kq1
( s ) rkq1 (
) ikq1 p( ias ( ( s ) Lskq1 cos( r ) (
)
2 N kq1
3 Ns
2 N kq1
3 Ns
Lmq
3 N
2 N kq1
ibs ( ( s ) Lskq1 cos( r 120) (
))
2 N kq1
2 N kq1
3 Ns
This is the reason thatL
(
) Lmq
skq
1
Lmq
3 Ns
[Lrs]=2/3 [Lsr]T
3 N
2 N kq1
2 N kq 2
ics ( ( s ) Lskq1 cos( r 120) (
)))
Lskq 2 (
) Lmq
2 N kq1
3 Ns
3 Ns
N kq1
2 N kq1
3 N
(
) ikq1 ( s ) 2 ( Llkq1 Lmkq1 ) (
)
3 Ns
2 N kq1
Ns
N kq1
2 N kq 2
3 N
N
(
) ikq 2 ( s )( s ) Lkq1kq 2 (
)
3 Ns
2 N kq 2 N kq1
Ns
Dr. Amr AbdAllah

2 N kq1 2
Lmkq1 (
) Lmq
3 Ns
2 N kq 2
Lkq1kq 2 (
) Lmkq1
3 N kq1
N kq1 2
2 N kq 2
(
)(
) Lmq
3 N kq1
Ns

25