Advanced Power Systems

Dr. Kar
U of Windsor
Dr. Kar
271 Essex Hall
Email: nkar@uwindsor.ca
Office Hour: Thursday, 12:00-2:00 pm
http://www.uwindsor.ca/users/n/nkar/88-514.nsf

GA: TBA
B20 Essex Hall
Email: TBA & TBA
Office Hour: -----
Course Text Book:
Electric Machinery Fundamentals by Stephen J. Chapman, 4th Edition,
McGraw-Hill, 2005
Electric Motor Drives Modeling, Analysis and Control by R. Krishnan Pren.
Hall Inc., NJ, 2001
Power Electronics Converters, Applications and Design by N. Mohan, J.
Wiley & Son Inc., NJ, 2003
Power System Stability and Control by P. Kundur, McGraw Hill Inc., 1993
Research papers

Grading Policy:
Attendance (5%)
Project (20%)
Midterm Exam (30%)
Final Exam (45%)
 Course Content

Working principles, construction, mathematical modeling,

operating characteristics and control techniques for synchronous
machines
Working principles, construction, mathematical modeling,
operating characteristics and control techniques for induction
motors
Introduction to power switching devices
Rectifiers and inverters
Variable frequency PWM-VSI drives for induction motors
Control of High Voltage Direct Current (HVDC) systems
Exam Dates

Midterm Exam:

Final Exam:
 Term Projects
Group 1:
Student 1 (---@uwindsor.ca)
Student 2 (---@uwindsor.ca)
Student 3 (---@uwindsor.ca)
Project Title:
Group 2:
Student 1 (---@uwindsor.ca)
Student 2 (---@uwindsor.ca)
Student 3 (---@uwindsor.ca)
Project Title:
Group 3:
Student 1 (---@uwindsor.ca)
Student 2 (---@uwindsor.ca)
Student 3 (---@uwindsor.ca)
Synchronous Machines

Construction
Working principles
Mathematical modeling
Operating characteristics
CONSTRUCTION
 Salient-Pole Synchronous Generator
1. Most hydraulic turbines have to turn at low speeds
(between 50 and 300 r/min)
2. A large number of poles are required on the rotor
d-axis

N Non-
uniform air-
gap
D 10 m

q-axis S S

Turbin
e N
Hydro (water)

Hydrogenerator
Salient-Pole Synchronous Generator

Stator
Cylindrical-Rotor Synchronous Generator

Stator

Cylindrical rotor
Damper Windings
 Operation Principle

The rotor of the generator is driven by a prime-mover

A dc current is flowing in the rotor winding which

produces a rotating magnetic field within the machine

The rotating magnetic field induces a three-phase

voltage in the stator winding of the generator
Electrical Frequency

Electrical frequency produced is locked or synchronized to

the mechanical speed of rotation of a synchronous
generator:

nm P
fe
120

where fe = electrical frequency in Hz

P = number of poles
nm= mechanical speed of the rotor, in r/min
Direct & Quadrature Axes

d-axis
Stator winding

N
Uniform air-gap

Stator

q-axis Rotor winding

Rotor

Turbogenerator
 PU System
Per unit system, a system of dimensionless parameters, is used for
computational convenience and for readily comparing the performance
of a set of transformers or a set of electrical machines.
Actual Quantity
PU Value
Base Quantity
Where actual quantity is a value in volts, amperes, ohms, etc.
[VA]base and [V]base are chosen first.
VAbase
I base
V base
Pbase Qbase S base VAbase V base I base
V base V base
2
V base
2
Rbase X base Z base
I base S base VAbase
I base
Ybase
V base
Z
Z PU
ohm
Z base
Classical Model of Synchronous Generator

The leakage reactance of the armature coils, Xl

Armature reaction or synchronous reactance, Xs
The resistance of the armature coils, Ra
If saliency is neglected, Xd = Xq = Xs

jXs jXl Ra
+
Ia
+
E d Vt 0o

Equivalent circuit of a cylindrical-rotor synchronous machine

Phasor Diagram

q-axis
E

IaXs

d
Vt
IaXl
f IaRa
Ia

d-axis
The following are the parameters in per unit on machine rating of a 555
MVA, 24 kV, 0.9 p.f., 60 Hz, 3600 RPM generator

Lad=1.66 Laq=1.61 Ll=0.15 Ra=0.003

(a) When the generator is delivering rated MVA at 0.9 p. f. (lag) and rated
terminal voltage, compute the following:

(i) Internal angle i in electrical degrees

(ii) Per unit values of ed, eq, id, iq, ifd
(iii) Air-gap torque Te in per unit and in Newton-meters
(b) Compute the internal angle i and field current ifd using the following
equivalent circuit
 Direct and Quadrature Axes

The direct (d) axis is centered magnetically in the center of the north
pole
The quadrature axis (q) axis is 90o ahead of the d-axis
q: angle between the d-axis and the axis of phase a
Machine parameters in abc can then be converted into d/q frame using q
Mathematical equations for synchronous machines can be obtained from
the d- and q-axis equivalent circuits
Advantage: machine parameters vary with rotor position w.r.t. stator, q,
thus making analysis harder in the abc axis frame. Whereas, in the d/q
reference frame, parameters are constant with time or q.
Disadvantage: only balanced systems can be analyzed using d/q-axis
system
 d- and q-Axis Equivalent Circuits

Xfd Xl yq Ra
Ifd Id

Ikd1 Imd
+ +
Rfd
pykd1 Rkd1
Xmd pyd Vtd
+ pyfd -
vfd Xkd1
- -
d-axis
Imd=-Id+Ifd+Ikd1
Xl - yd Ra Imq=-Iq+Ikq1
Iq

Ikq1 Imq
+
pykq1 Rkq1
Xmq pyq Vtq
-
Xkq1

q-axis
Small disturbances in a power system

o Gradual changes in loads

o Manual or automatic changes of excitation
o Irregularities in prime-mover input, etc.

Importance of steady-state stability

o Knowledge of steady-state stability provides valuable information about

the dynamic characteristics of different power system components and
assists in their design
- Power system planning
- Power system operation
- Post-disturbance analysis
 Related Terms

o Generator Modeling using the d- and q-axis equivalent circuits

o Transmission System Modeling with a RL circuit
o A Small Disturbance is a disturbance for which the set of equations
describing the power system may be linearized for the purpose of analysis
o Steady-State Stability is the ability to maintain synchronism when the
system is subjected to small disturbances
o Loss of synchronism is the usual symptom of loss of stability
o Infinite Bus is a system with constant voltage and constant frequency,
which is the rest of the power system
o Eigen values and eigen vectors are used to identify system steady-state
stability condition
The Flux Equations

y d - X md X l id X md ikd 1 X md i fd

y kd 1 - X md id X md X kd 1 ikd 1 X md i fd

y fd - X md id X md ikd 1 X md X fd i fd

y q - X mq X l iq X mq ikq1

y kq1 - X mq iq X mq X kq1 ikq1
Rearranged Flux Linkage equations

y d - X md X l X md X md id
y - X X md X kd1 X md i
kd1 md kd1
y fd - X md X md X md X fd i fd

y q


- X mq X l X mq

iq
y kq1
- X mq
- X mq X kq1
ikq1

The Voltage Equations

py d vtd Ra id y q
1
0

py kd1 - Rkd1 ikd1

1
0
1
0

p y fd v fd - R fd i fd ..(1)

1
0

p y q vtq Ra iq -y d

1
0

p y kq1 - Rkq1 ikq1
The Mechanical Equations

dd
- 0
dt
d 0
Tm - Te
dt 2 H ..(2)

where
Te y d I q -y q I d
Linearized Form of the Machine Model
1 y q0
y d vtd Ra id y q
0 0
1
y kd1 - Rkd1 ikd1
0
1
y v fd - R fd i fd
0 fd

1 y d0
y q vtq Ra iq - y d - ..(3)
0 0
1
y kq1 - Rkq1 ikq1
0

d
0
Tm - Te
2H
Te y d 0 I q I q 0 y d -y q 0 I d - I d 0 y q
Terminal Voltage

The d- and q-axis components of the machine terminal voltage

can be described by the following equations:

vtd Vt sin d .(4)

vtq Vt cosd
where, Vt is the machine terminal voltage in per unit.

The linearized form of Vtd and Vtq are:

vtd Vt cosd 0 d .(5)

vtq -Vt sin d 0 d
Substituting Vtd and Vtq in the flux equations:

1 y q0
y d Vt cos d 0 d Ra id y q
0 0
1
y kd1 - Rkd1 ikd1
0
1
y v fd - R fd i fd
0 fd

1 y d0
y q -Vt sin d 0 d Ra iq - y d - ..(6)
0 0
1
y kq1 - Rkq1 ikq1
0

d
0
Tm - Te
2H
Te y d 0 I q I q 0 y d -y q 0 I d - I d 0 y q
 Rearranging the flux equations in a matrix form:

X S X R I B U
.....(7)

where,

y d
y d
y kd1 y
y kd1 Id
fd
y fd
I kd1

X y v fd
X y q q I I fd

U
Tm
y kq1

y kq1
I q

d I kq1
d


and
0 0 0 0 0 0 0
0 0 0 0 0 0Vt cos d 0 y q0

0 0 0 0 0 0 0

S 0 - 0 0 0 0 - 0Vt sin d 0 -y d 0
0 0 0 0 0 0 0

0 0 0 0 0 0 1
0 - 0 Iq0 0 I d 0 0 0
0 0 0 0 0
2H 2H 0

B 0 0

- 0 R fd 0 0 0
0
0 0 0
0 0 Ra 0 0 0 0
2H
0 0 - 0 Rkd1 0 0

R 0 0 0 0 Ra 0
0 0 0 0 - 0 Rkq1

0 0 0 0 0
0 0y q 0 - 0y d 0
0 0
2H 2H
Flux Linkage Equations (from the d- and q-axis equivalent circuits)

y d - X md X l X md X md 0 0 id
y - X X md X kd1 X md 0 0 i
kd1 md kd1
y fd - X md X md X md X fd 0 0 i fd
- X mq X l

y q 0 0 0 X mq iq
y kq1 0 0 0 - X mq - X mq X kq1 ikq1

Linearized flux linkage equations:

y d - X md X l X md X md 0 0 id
y - X X md X kd1 X md 0 0 i
kd1 md kd1
y fd - X md X md X md X fd 0 0 i fd
- X mq X l

y q 0 0 0 X mq iq
y kq1 0 0 0 - X mq - X mq X kq1 ikq1
and thus,

id - X md X l
-1
X md X md 0 0 y d
i - X X md X kd1 X md 0 0 y
kd1 md kd1
i fd - X md X md X md X fd 0 0 y fd
- X mq X l

iq 0 0 0 X mq y q
ikq1 0 0 0 - X mq - X mq X kq1 y kq1
y d
- X md X l X md X md 0 0 0 0 y kd1
-X
X md X kd1 X md 0 0 0 0 y fd
md
- X md X md X md X fd 0 0 0 0 y q

- X mq X l

0 0 0 X mq 0 0 y kq1
- X mq X kq1

0 0 0 - X mq 0 0 d

y d
y
kd1
y fd
X reac -1 y q ...(8)
y kq1

d

 y d
id y
i kd1
kd1 y fd
I i fd X reac -1 y q X reac -1X : from (8)

iq y kq1
ikq1
d

X S X R I B U

S X R X reac -1X B U : inserting (8) into (7)

S R X reac -1 X B U
AX B U

where,

A S RX reac -1 ..(9) : system state matrix

System to be Studied

Vt

It
Generator

Infinite Bus
System State Matrix and Eigen Values

System State Matrix: A S R X reac -1

Eigen Values: 1, 2 - j
j

2
Eigen Values

o Eigen values are the roots of the characteristic equation

X AX B U

o Number of eigen values is equal to the order of the characteristic
equation or number of state variables
t
o Eigen values describe the system response (e 1 ) to any disturbance
Analyzing the Eigen Values of the System State Matrix

o Compute the eigen values of the system state matrix, A

o The eigen values will give necessary information about the steady-state
stability of the system
o Stable System: If the real parts of ALL the eigen values are negative

1 , 2 -0.15 j 2.0
Example:
3 -0.0005

o A system with the above eigen values is on the verge of instability

Machine Parameters

Salient-pole synchronous generator

3kVA, 220V, 4-pole, 60 Hz and 1800 r/min

Machine parameters Per unit values

d-axis magnetizing reactance, Xmd 1.189
q-axis magnetizing reactance, Xmq 0.7164
Armature leakage reactance, Xl 0.100
Field circuit leakage reactance, Xfd 0.276
First d-axis damper circuit leakage reactance, Xkd1 0.181
First q-axis damper circuit leakage reactance, Xkq1 0.193
Armature winding resistance, Ra 0.0186
Field winding resistance, Rfd 0.0058
First d-axis damper winding resistance, Rkd1 0.062
First q-axis damper winding resistance, Rkq1 0.052