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Campeanu Tranzitoriu Sincron
Campeanu Tranzitoriu Sincron
SYNCHRONOUS MACHINES
AUREL CMPEANU , IOAN CAUIL
1. INTRODUCTION
The dynamic regime problems and the stability of the synchronous machine
(actually the main source for obtaining electromagnetic energy) have generated
numerous long term and wide researches [79]. Generally, the high precision
evaluation of the behavior of the alternative current machines during dynamic
processes (start, self-excitation) characterized by large variations of magnetic and
electric stresses is closely determined by a correct mathematical modeling. The
complicated couplings between the windings generate non linear equations
systems, which can be solved numerically.
The mathematical models obtained by using representative phasors under
controlled hypotheses, represent a coherent and efficient research base.
In [3] the general mathematical models of the saturated synchronous machine
with salient poles for various combinations of the state variables are deduced,
considering the cross-coupling inductance.
In the following, using [3], we present and interpret the results of significant
simulations which allow the predetermination of the behavior of the synchronous
machine, in a given dynamic process.
Rev. Roum. Sci. Techn. lectrotechn. et nerg., 53, 4, p. 367376, Bucarest, 2008
368
U dq = A
d X dq
+ BX dq ; U dq = ud
dt
uq
uE
(1)
0 0 .
iq
iE
iD
iQ
correspond the
Ldq
A = Ldd
Ldd
L
dq
m 2 Ldq
Ldd
Ldq
LE + Ldd
L dq
LDE + Ldd
m 2 Ldq
LDE + Ldd
LD + Ldd
Ldq
Ldq
m Lqq
0
Rs
( Ls + m 2 Lm )
Rs
Lm
( Ls + Lm )
B=
0
0
RE
0
0
0
0
0
0
m Lqq
m 2 Ldq ,
m 2 Ldq
LQ + m 2 Lqq
m 2 Ldq
Ldd
Ls + m Lqq
m 2 Ldq
2
0
Lm
0
RD
0
Lm
0
0 ,
RQ
where m 2 = Lmq / Lmd is the saliency coefficient; the computational inductances are
cos =
'
imq
imd
;
sin
.
=
'
imq
im'
(2)
m Mr =
J d J d2
=
,
p dt
p dt2
(3)
369
where
m=
) ]
3
pLm (i E + i D )iq m 2 iQ id + 1 m 2 id iq .
2
u q = 2U sin(1t ),
where
= d t + 0 .
The speed of the main magnetic field m during the dynamic processes will be
d
+ ,
dt
(4)
where
'
1 d imq
d md
di
d
1 d mq
=
cos
sin = '
cos md sin .
d t m d t
dt
dt
im d t
The above notations are those of [3] and used by some authors.
Remark: When saturation is taken into account in the conventional way, the
cross-coupling inductance vanishes (Ldq = 0 ) . The classical approach form of the
( )
370
simplified model and the classical model are used for comparison. The simulations
were performed in Matlab using a fifth order Runge-Kutta with variable step.
With small supplying voltage (U = 100 V) when the saturation is not present
and for the same resistive torque (M r= 0), the three computing methods lead to
practically identical results. This was to be expected and validates the general
system of equations (1).
For an average saturation level (U = Un = 220 V) some small differences of
waveform and amplitude are to be remarked. Repeated simulations showed that
synchronization is possible till Mr 2 Nm. In the permanent regime the results are
practically identical, which confirm that the three mathematical models are correct.
This results were those expected and are not presented.
To underline the necessity of consideration of dynamic saturation in
formulation of the mathematical models, in the sequel the characteristics for
U = 300 V and different values of the resistive torques M r given by the three
models are shown.
371
372
373
Fig. 6 Characteristic m() for U = 300 V, Fig. 7 Characteristic (t), (t) for U = 300V,
Mr=4Nm, simplified model (Lm=0,4H), (detail).
Mr = 4 Nm, classical model, (detail).
374
Fig. 3 presents the same dynamic characteristics as above for Mr = 4 Nm, for
which the synchronization is achieved. The detailed representation from Fig. 3b
different of Fig. 2d, confirms machine synchronization through oscillations that
damp in the well defined point of synchronism. Also, taking into account that
synchronization is finally achieved, the damped oscillations of Lm and Lmt
disappear and are replaced by constant values corresponding to the level of
magnetic stress of the machine (Figs 3c and 3d).
Many other simulations show that for the high saturation level considered
(U = 300 V), the synchronous operation is achieved for Mr < 5 Nm and
asynchronous one (with a little bigger than 1n/2) for Mr > 7.8 Nm. In the
interval (5-7.8) Nm a practically synchronous operation is achieved.
Finally the results of classical and simplified methods are presented. The Figs
4a and 4b show the same characteristics when the classical model is used for
Mr = 7.5 Nm. One can see the previous results are not confirmed. We get an
asynchronous operation with a large slip, torque oscillations and repeated reversals
of (t). The classic model gives also inconclusive results for values sensibly
smaller than Mr = 7.5 Nm.
The method with constant parameters offers results comparable with the
proposed method if one considers for Lm = const , the final saturated value of the
given dynamic regime (in our case Lm 0.15 H ) ; if we take Lm = const
corresponding to the case of no saturation ( Lm 0.4 H ), the constant mathematical
model fails (Figs 5a, 5b).
For Mr = 4 Nm the classical method suggest a practically synchronous
operation (compare Fig. 6 with Fig 3b). As above, the simplified method offers
results comparable with the proposed method if one considers the saturated value
of Lm = const (in our case Lm = 0.12 H). For Lm 0.4 H we obtain a practically
synchronous operation (Fig. 7) with the same comment as for Figure 2 b.
For Mr = 8 Nm the results and interpretations corresponding to classical and
simplified methods are as above and similar to Fig. 4Fig. 7.
4. CONCLUSIONS
Many simulations allow the following general conclusions.
For usual voltages (U Un) all three models offer close results and can be
equally used.
For high voltages the effect of Lmt (of Ldq ) becomes important. One can
obtain different characteristics when using the three models. Close characteristics
are obtained by the enhanced model and the simplified model for Lm = const (if we
375
take Lm of the end of the dynamic regime given by the proposed model). This is an
indirect method for the validation of the proposed model. The classic method offer
inconclusive results.
The enhanced model is recommended for the analysis of dynamic regimes
with high solicitations, electric and magnetic. It allows valuable predeterminations
for convenient design of a synchronous machine due to operation into a given
dynamical regime.
The classic method is the most inexact. Even the method with Lm = const
that assumes a small volume of calculations is preferable.
The equation (4) contains valuable information about the velocity (t) of the
main rotating magnetic field during the transient processes. A close connection
between (t) and (t) is observed in all simulations shown above.
Finally we insist on the computational character of the inductances
L dd , L qq , L dq which depend on saturation, reference frame and state variables.
APPENDIX
The motor parameters used for simulation are
Rs = 2 , Ls = 0.017 H, LE = 0.0221 H, LD = 0.0204 H,
LQ = 0.0187 H, LDE = 0.00884 H, RE = 0.6 ,
RD = 0.6 , RQ = 6 , p = 2, J = 0.024 kgm2, m2= 0.6
The characteristics m(im), Lm(im), Lmt(im) are given in Fig. 8.
376
10
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