62

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 48, NO. 1, JANUARY/FEBRUARY 2012

Modeling of Saturated Synchronous Generator

Based on Steady-State Operating Data
Marin Despalatovic, Martin Jadric, Member, IEEE, and Boo Terzic, Member, IEEE

AbstractThis paper deals with modeling of the saturated

salient-pole synchronous machines using analytical saturation
model obtained based on measurements of steady-state variables.
Two different saturation models are considered in order to investigate impact of the reciprocity property of the mutual inductance
between d- and q-axis on transients of the saturated machine.
It is shown that the simpler saturation model, which is obtained
by neglecting the reciprocity property condition, may be used to
model saturation in both steady-state and transient conditions.
The developed model of the saturated machine is validated with
measurements performed on the 34-MVA hydroturbine generator.
Index TermsMain flux saturation, modeling, monitoring,
parameter estimation, simulation, synchronous machines.

I. I NTRODUCTION

TRADITIONAL approach to magnetic saturation modeling of salient-pole synchronous machines is based on

the d-axis magnetizing curve, that is in general known, and
an assumption that the degree of d- and q-axis saturation is
the same. Consequently, one saturation factor obtained from
the open-circuit characteristic has been used for modifying the
d- and q-axis inductances [1][4]. In this approach, the accuracy
of the machine-saturated inductances is found to be poor,
particularly when the salient-pole machine is considered [5].
This is because of ignoring the effect of any magnetic coupling
between the d- and q-axis windings that is usually called in the
literature cross-magnetizing effect. An existence of the crossmagnetizing phenomenon in synchronous machines has been
verified experimentally, and different theoretical approaches
have been proposed to determine parameters that represent the
cross-magnetizing effect [5][9]. Some papers have investigated the reciprocity property that must hold for the mutual
inductance between d- and q-axis [10], [11]. On the other hand,
in [12], behavior of various models of the saturated salient-pole
machine is considered when dynamic cross-saturation effect is
neglected.
An experimental approach to determine the saturated synchronous inductances, which includes the cross-magnetizing

Manuscript received May 4, 2011; revised August 13, 2011; accepted

August 15, 2011. Date of publication November 9, 2011; date of current
version January 20, 2012. Paper 2011-EMC-124.R1, presented at the 2010 XIX
International Conference on Electrical Machines, Rome, Italy, September 68,
and approved for publication in the IEEE T RANSACTIONS ON I NDUSTRY
A PPLICATIONS by the Electric Machines Committee of the IEEE Industry
Applications Society.
The authors are with the Department of Power Engineering, University of Split, 21000 Split, Croatia (e-mail: marin.despalatovic@fesb.hr;
martin.jadric@fesb.hr; bozo.terzic@fesb.hr).
Digital Object Identifier 10.1109/TIA.2011.2175429

effect, is based on the synchronous machine operating data

[13][18]. In [13][15], an approach has been proposed that
uses the time domain online small disturbance data. Based
on this data, collected under unsaturated condition, the fieldto-armature turns ratio is estimated firstly. The saturated synchronous inductances are then identified for a wide range of
operating conditions. In [16], an artificial neural network-based
estimator is used to model these saturated inductances. Another
method for identification and modeling of the saturated synchronous inductances of the salient-pole synchronous machine
is proposed in [17], [18]. This approach is based on a specific
procedure for estimation of the field-to-armature turns ratio
and requires measurements of steady-state variables only. The
saturated synchronous inductances are modeled analytically
using fitting surfaces defined as polynomial functions in two
variables.
In this paper, modeling of the saturated salient-pole synchronous generator is considered based on the analytical saturation
model presented in [17]. Two different saturation models are
incorporated into the standard machine model with the winding
currents as state-space variables. The first saturation model
satisfies the reciprocity property condition, and the other is
obtained from the first one by neglecting this condition. Based
on these two models, it is shown that the reciprocity condition
may be neglected when modeling saturation in both steadystate and transient conditions. This has been the main target
of performed investigations. The measurement configuration
installed on the generator in hydropower plant (HPP), which
has been used for data collection, is described. Furthermore,
the simulation and experimental results are also presented.

II. D ESCRIPTION OF M EASUREMENTS

A. Measurement Configuration
The measurement configuration that has been used for the
tests is shown in Fig. 1. This measurement configuration, designed as a system for recording large disturbances and testing
methods for online parameter identification of the synchronous
machines, is installed on the 34-MVA generator of HPP Peruca
in Croatia. The generator terminal voltages and currents are
measured via conventional voltage (V TS ) and current transformers (CTS ), respectively. High-performance voltage and
current transducers are used to monitor the terminal voltages
(vab , vbc , vca ) and currents (ia , ib , ic ), and field voltage (vf ).
These transducers provide the measurement point isolation and
make the monitoring of both the transient and steady-state

0093-9994/$26.00 2011 IEEE

DESPALATOVI C et al.: MODELING OF SATURATED SYNCHRONOUS GENERATOR BASED ON STEADY-STATE OPERATING DATA

Fig. 1.

63

Measurement configuration installed on 34-MVA hydro-generator.

quantities possible. The field current (if ) is measured via shunt,

and an isolation amplifier is used for the measurement point
isolation. The isolation amplifier and all the transducers have
current outputs. The air-gap sensor signal (vag ), originally
used for the air-gap monitoring, is also used in this study for
the power angle () measurement [19]. After conditioning,
all the signals are inputted in a data acquisition unit, which
consists of 12-bit Peripheral Component Interconnect (PCI)
bus data acquisition card and a personal computer (PC). The
selected sampling frequency for all the signals is 2 kHz. All
data processing and software tasks are performed by PC.
As is mentioned here, the measuring system shown in Fig. 1
makes possible power angle determination. For this purpose,
the air-gap and terminal voltage signals are used. Using the
method described in [19], a very good accuracy of the power
angle determination is achieved.
B. Online Estimation of Saturated Synchronous Inductances
By measuring the quantities shown in Fig. 1, after the
power angle determination, per-unit values of the d- and
q-axis terminal voltages (vd , vq ) and currents (id , iq ) are obtained [13], [14], [18]. To develop the synchronous machine
saturation model, first, the d- and q-axis saturated inductances
(Ld , Lq ) are identified from each steady-state operating data
collected at various levels of excitation and power generation.
To simplify the procedure, armature winding resistance is
neglected. This is justified considering the large size of the
machine under the test and the fact that online estimation of
the armature resistance from steady-state or small excitation
disturbance operating data can be unreliable [13][18].
In the papers dealing with online synchronous machine
parameters estimation, the procedure for the armature circuit
parameter estimation is divided into two stages. The first stage
of the estimation process involves estimation of the field-toarmature turns ratio (a). In accordance with this subject, two
different approaches can be found. The first one is based on the
test data generated by conducting a small excitation disturbance
under linear conditions, i.e., with the machine operating at
light load and underexcited conditions [13][16]. The major
drawback of this approach is that for some utility generators,

Fig. 2. Operating chart of machine under test: measurements,

chart boundaries.

as is the case for the machine under the test in this study, it is not
possible to achieve linearity at operating conditions at all. The
other approach presented in [17], [18] uses measurements of
steady-state variables at constant power generation and various
excitation conditions in order to estimate the turns ratio.
In the second stage of estimation, the saturated synchronous
inductances Ld and Lq are estimated for each steady-state
operating data collected at various levels of excitation and
power generation. When the turns ratio is known, Ld and Lq
may be calculated for each steady-state operating point using
the following equations [16][18]
vq + Ls if
if id
vd
Lq =
iq

Ld =

(1)
(2)

where Ls is the armature leakage inductance commonly obtained from manufacturer supplied values, and if is the field
current in per-unit on the reciprocal system of Rankin [20]
if =

2a if

3 2IN

(3)

where IN is the rated terminal current. Both if and IN are

expressed in amperes.
For machine under the test, for which the parameters are
given in Appendix, a total of 88 steady-state operating points,
collected at eight various levels of power generation and denoted by sign o inside of the generator operating chart shown
in Fig. 2, are used to estimate Ld and Lq .
Fig. 3 shows variations of the estimated inductances and
measured terminal voltage (Vt ) for two different active powers.
One can see that the fitting curves, determined by the linear
least-squares fitting technique, are well matched with the estimated inductances at all the considered points. This is due to
a good accuracy of the power angle measurements by applying
the method described in [19].

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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 48, NO. 1, JANUARY/FEBRUARY 2012

Fig. 3.

Terminal voltage and synchronous inductances versus reactive power

at constant active power: measurements,

fitting curves.

III. S ATURATED M ACHINE M ODEL D EVELOPMENT

A. Formulation of Saturation Model
The nonlinear variation of the saturated mutual inductances
in the d- and q-axis, identified by online estimation presented
in previous Section, can be used for saturation model development. In the papers dealing with this subject, two different approaches can be found. A neural network approach is presented
in [16], and an analytical approach in [17], [18]. The latter
one is used in this study to establish the saturated synchronous
machine model.
The saturation characteristics that relate the synchronous
inductances and the magnetizing current in the d- and q-axis
should be modeled first. The d- and q-axis magnetizing currents
in per-unit may be expressed as follows:
imd = if + iD id

(4)

imq = iQ iq

(5)

where iD and iQ are the d- and q-axis damper winding currents,

respectively.
First, for 88 steady-state operating points, which are shown
in Fig. 2, using (3)(5) and (1) and (2), the magnitudes of
imd , imq , Ld , and Lq are calculated, respectively. Note that
under steady-state condition, iD and iQ are equal to zero.
Based on estimates for Ld and Lq at the considered operating
points, the machine saturation characteristics are modeled by
the polynomial functions in two variables as follows [17], [18]:
Ld =

m


(j + 1)ij1
md

j=1

Lq =

m

j=1

m


cjk ik+1
mq + C1

(6)

cjk (k + 1)ik1
mq + C2

(7)

k=1

ij+1
md

m

k=1

where m is a positive integer defining the order (2m) of the

polynomial functions; cjk , C1 , and C2 are the polynomial
coefficients. These coefficients are determined by using the
linear least-squares fitting technique, and for the machine under

Fig. 4. Variation of saturated inductances as function of magnetizing currents

in d- and q-axis.

the test they are given in Appendix. Above polynomials satisfy

the reciprocity property [10], which is immanent to the conservative magnetic field, and consequently they are valid for the
saturation modeling in transient conditions.
Polynomials (6) and (7) can be significantly simplified without reducing overall accuracy of saturation characteristics if
reciprocity condition is neglected. Thus, [17]
Ld =

m


ijmd

j=0

Lq =

m

j=0

n


ajk ikmq

(8)

bjk ikmd

(9)

k=0

ijmq

n

k=0

where m + n define the order of the polynomial functions, ajk

and bjk (j = 0, 1, 2, . . . , m; k = 0, 1, 2, . . . , n) are the polynomial coefficients given in Appendix. By comparison to (6)
and (7), coefficients of polynomials (8) and (9) are determined
separately for the d- and q-axis.
Based on (8) and (9), the saturation fitting surfaces for the
d- and q-axis of the machine under the test have been obtained.
These surfaces, which are shown in Fig. 4, matched very well
with the measured values for Ld and Lq at all the considered
88 points; the largest discrepancy is less than 1%. Note that the
white dashed lines in Fig. 4 bound the measured range.

DESPALATOVI C et al.: MODELING OF SATURATED SYNCHRONOUS GENERATOR BASED ON STEADY-STATE OPERATING DATA

65

B. Implementation of Saturation Into Standard

Machine Model
Now, previously presented saturation model will be implemented in the standard model of the salient-pole synchronous
machine. Assuming the positive stator currents are out of
the terminals, the voltage equations in per-unit and the rotor
reference frame may be expressed in matrix form as follows:
d
= v Ri + e
dt

(10)

where = [d , f , D , q , Q ]T is the flux linkage vector,

v = [vd , vf , 0, vq , 0]T is the voltage vector, i = [id , if , iD ,
iq , iQ ]T is the current vector, e = [q , 0, 0, d , 0]T is
speed voltage vector, and R = diag(Rs , Rf , RD , Rs , RQ ) is
resistance matrix.
Subsequently, the equation of motion may be written as
1
d
=
(TL + q id d iq )
dt
2H

(11)

where H is the inertia constant, and TL is the externally applied

mechanical torque.
The saturation models presented in the previous subsection
enable the voltage equations to be expressed in terms of either
currents or flux linkages. When the flux linkages are chosen
as state variables, an iterative procedure needs to be applied to
calculate the currents, and this is a bottleneck in the computer
simulation since it needs to be carried out during each integration step. In this paper, a model of the saturated machine with
the currents as the state variables is presented.
Under saturated condition, from = Li, it follows:
di
d
= (L + L )
dt
dt

(12)
Fig. 5. Simulated machine variables responses during step decrease terminal
model A,

model B, unsaturated machine

where the matrix of static inductances L may be expressed as

(13), shown at the bottom of the page, and L = (dL/di)i is
matrix of the dynamics inductances. The d- and q-axis mutual
inductances in (13) are calculated from modeled values of Ld
and Lq as Lmd = Ld Ls and Lmq = Lq Ls , respectively. Assuming that the leakage inductances are constant, the
matrix L may be derived from (13)

L
Lmd
md
imd imd G33
imq imd G32

L = L
(14)
Lmq
mq
i
G
i
G
mq
23
mq
22
imd
imq

voltage by 5%:
model.

where G33 , G32 , G23 , and G22 are 3-by-3, 3-by-2, 2-by-3, and
2-by-2 matrices with all elements equal one, respectively.

The following simulation study has been conducted in

order to compare two derived saturation models in transient

Ls + Lmd

Lmd

Lmd
L=

0
0

Lmd
Lf + Lmd
Lmd
0
0

Now, by combining (10) and (12), the voltage equations may

be expressed in terms of currents
di
= (L + L )1 (v Ri + e).
dt

(15)

Equation (15) avoids tedious calculation of algebraic solution

for flux linkages and significantly speeds numerical integration.
IV. S IMULATION AND E XPERIMENTAL S TUDIES

Lmd
Lmd
LD + Lmd
0
0

0
0
0
Ls + Lmq
Lmq

Lmq
LQ + Lmq

(13)

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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 48, NO. 1, JANUARY/FEBRUARY 2012

TABLE I
M ACHINE PARAMETERS U SED IN S IMULATIONS

TABLE II
C OEFFICIENTS OF P OLYNOMIAL (8)

TABLE III
C OEFFICIENTS OF P OLYNOMIAL (9)

Fig. 6. Machine variables responses during excitation disturbance performed

at Vt = 0.975 pu, P = 0.585 pu, Q = 0.04 pu: raw measurements,
smoothed measurements,

simulation.

conditions. The generator under the test is initially operated at

steady state with the following terminal quantities Vt = 1 pu,
P = 0.627 pu, Q = 0.362 pu (Point C in Fig. 2). The transient
selected for analysis is a step 5% decrease in the stator terminal
voltage what is common in similar simulation studies [12].
Simulation was at first performed using the saturated machine

model A and then using the saturated machine model B.

Next, the same transient was simulated using the unsaturated
machine model with d- and q-axis mutual inductances set to the
constant value that corresponds to the previous steady state obtained using the saturation model A (Lmd = 0.797 pu, Lmq =
0.328 pu). Thus, all the variables in the unsaturated model and
saturated model A have therefore identical initial values. On the
other hand, the previous steady-state variables in the model B
are slightly different from those in the model A. This is due
to slight discrepancy between saturation characteristics used in
the model A and model B. A sample of results is given in Fig. 5
where responses of the field current, d- and q-axis armature
current and power angle are shown. For the sake of clarity of
the current responses, the response for the load angle obtained
using the unsaturated model is given only. Except a slight
offset (approximately 0.7%), caused by mentioned discrepancy
between saturation characteristics, no observable difference is
present in the results obtained using the model A and model B,
respectively. Thus, the simpler saturation model B is verified to
be valid for transient analysis, i.e., the reciprocity property for
the d- and q-axis saturated mutual inductances can be neglected.
To verify the developed model of the saturated salient-pole
synchronous machine, the following test has been performed.
The generator under the test has been initially operated at Vt =
0.975 pu, P = 0.585 pu, Q = 0.04 pu, and the step increase
of the terminal voltage reference by 2% has been applied.
This step change of the armature reference has been chosen

DESPALATOVI C et al.: MODELING OF SATURATED SYNCHRONOUS GENERATOR BASED ON STEADY-STATE OPERATING DATA

67

TABLE IV
C OEFFICIENTS cjk OF P OLYNOMIALS (6) AND (7)

in accordance with the HPP Peruca operating conditions. The

measured responses of some selected machine quantities are
shown in Fig. 6. To compare simulated and measured responses,
the simulation has been performed using the measurements of
the field voltage and the d- and q-axis armature voltages (calculated from the terminal voltage and power angle responses)
as input variables. In Fig. 6, the simulated responses of the
field current, d- and q-axis armature currents, active power and
reactive power are compared against the corresponding actual
measurements. As can be seen, the smoothed responses of input
variables (vf , Vt , and ) are almost without measurement noise,
which is obtained by digital low-pass filtering. Obviously, a
very good matching between measured and simulated responses
is achieved. Thus, the developed model of the saturated salientpole synchronous machine is verified. Namely, the damper
winding parameters practically do not affect the considered
responses, and the armature and field winding parameters used
in simulations were identified by measurements.

referred to the stator and expressed in per-unit, are listed in

Table I. The fitting surfaces coefficients of polynomials (8) and
(9) defining saturation model B are listed in Tables II and III,
respectively. These coefficients are calculated in accordance
with the procedure explained in [17]. Saturation model A that
satisfies reciprocity condition and is defined by polynomials (6)
and (7) is determined with the fitting surfaces coefficients listed
in Table IV.
The coefficients cjk of polynomials (6) and (7) can be
determined by the linear least-squares fitting technique [21].
For instance, the solution may be written in the matrix form
as
1

C = (WT W) WT Z

(16)

where
C =[C1 ,C2 ,c11 ,c12 , . . . ,c1m , . . . ,cm1 ,cm2 , . . . ,cmm ]T (17)
Z =[Ld1 ,Ld2 , . . . ,Ldi , . . . ,

V. C ONCLUSION
In this paper, modeling of the saturated synchronous hydrogenerator based on measurements at steady-state operation is
discussed. Two different saturation models are used in order
to investigate impact of the reciprocity property condition on
transients of the saturated machine. It is shown that this condition may be neglected what significantly simplifies the saturated
machine model. The developed model of the saturated machine
is verified by comparison of simulated machine responses with
measured ones during a step change of the armature voltage
reference applied on the utility hydro-generator.
A PPENDIX
The machine under the test is 32-pole hydroturbine generator, and its nominal ratings are as follows: 34 MVA, 50 Hz,
10.5 kV, 1870 A, power factor 0.9, and 187.5 rpm. All the
parameters of the hydro-generator used in the simulations,

LdN ,Lq1 ,Lq2 , . . . ,Lqi , . . . ,LqN ]T .

(18)

One can see that the matrix W, which is given in (21), shown
at the top of the next page, mainly consists of following two
matrices:

2 3 4
k+1
m+1
Ydi = Fqi
(19)
Fqi Fqi . . . Fqi
. . . Fqi

2
k
m1
Yqi = 2 3Fqi 4Fqi
. (20)
. . . (k+1)Fqi
. . . (m+1)Fqi
In the above expressions, N is the total number of
the measured operating points, and integer 2m defines the
order of polynomials: i = 1, 2, . . . , N , j = 1, 2, . . . , m, k =
1, 2, . . . , m. Ldi , Lqi , and Fdi , Fqi are measured steady-state
per-unit values of the synchronous inductances and magnetizing currents [see (4) and (5)] in the d- and q-axis, respectively.
First, the order of polynomials should be determined by trial
and error. It has been found that m = 8 give a good approximation for the saturation fitting surfaces in the d- and q-axis

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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 48, NO. 1, JANUARY/FEBRUARY 2012

1
1

.
..

.
..

W=
0

..
.

.
..
0

0
0
..
.
0
..
.
0
1
1
..
.
1
..
.
1

2Yd1
2Yd2
..
.
2Ydi
..
.
2YdN
2
Fd1
Yq1
2
Fd2 Yq2
..
.
2
Yqi
Fdi
..
.
2
YqN
FdN

3Fd1 Yd1
3Fd2 Yd2
..
.
3Fdi Ydi
..
.
3FdN YdN
3
Fd1
Yq1
3
Fd2 Yq2
..
.
3
Fdi
Yqi
..
.
3
FdN
YqN

2
4Fd1
Yd1
2
4Fd2 Yd2
..
.
2
4Fdi
Ydi
..
.
2
4FdN
YdN
4
Fd1
Yq1
4
Fd2
Yq2
..
.
4
Fdi
Yqi
..
.
4
FdN
YqN

of the machine under the test. Thus, after matrices (18)(21)

are filled with the corresponding measured data, the matrix
multiplication should be used, in accordance with (16) and (17),
to obtain the polynomial coefficients.

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...
...
..
.
...
..
.
...
...
...
..
.
...
..
.
...

j1
(j + 1)Fd1
Yd1
j1
(j + 1)Fd2 Yd2
..
.
j1
(j + 1)Fdi
Ydi
..
.
j1
(j + 1)FdN
YdN
j+1
Fd1 Yq1
j+1
Fd2
Yq2
..
.
j+1
Fdi
Yqi
..
.
j+1
FdN
YqN

...
...
..
.
...
..
.
...
...
...
..
.
...
..
.
...

m1
(m + 1)Fd1
Yd1
m1
(m + 1)Fd2
Yd2

..

m1
(m + 1)Fdi Ydi

..

m1
(m + 1)FdN YdN

m+1

Fd1
Yq1

m+1

Fd2 Yq2

..

m+1

Fdi Yqi

..

(21)

m+1
FdN
YqN

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[18] M. Despalatovic, M. Jadric, and B. Terzic, Influence of saturation on
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[19] M. Despalatovic, M. Jadric, and B. Terzic, Real-time power angle determination of salient-pole synchronous machine based on air gap measurements, Elect Power Syst. Res., vol. 78, no. 11, pp. 18731880,
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[20] IEEE Guide: Test Procedures for Synchronous Machines, IEEE Standard
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[21] G. H. Golub and C. F. Van Loan, Matrix Computations, 3rd ed.
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Marin Despalatovic was born in Split, Croatia, in

1976. He received the B.S. and Ph.D. degrees in
electrical engineering from the Faculty of Electrical
Engineering, Mechanical Engineering, and Naval
Architecture, University of Split, Split, Croatia, in
2000 and 2009, respectively.
Since 2001, he has been with the Department of
Power Engineering at the University of Split as a
Research Assistant. His research interests include
electrical machines and drives, in particular, modeling and parameter identification of electric machines.

DESPALATOVI C et al.: MODELING OF SATURATED SYNCHRONOUS GENERATOR BASED ON STEADY-STATE OPERATING DATA

Martin Jadric (M95) received the B.S. degree in

electrical engineering from the University of Split,
Split, Croatia, in 1964, and the M.S. and Ph.D. degrees from the University of Zagreb, Zagreb, Croatia,
in 1970 and 1976, respectively.
After completing his graduate studies, he joined
Koncar Company, Zagreb, Croatia. Since 1966, he
has been with the Faculty of Electrical Engineering,
Mechanical Engineering, and Naval Architecture,
University of Split, first as an Assistant (through
1978), then as an Associate Professor (19781984),
and currently as a Full Professor. During his career with the university, he
has been responsible for the electric machines and drives curriculum, was the
Head of the Department of Power Engineering and, from 1980 to 1983, he was
the Dean of the Faculty of Electrical Engineering, Mechanical Engineering,
and Naval Architecture. He has been involved in numerous government- and
industry-sponsored projects in the areas of electrical machines and drives, and
has authored more than 70 published technical papers and one book, Dynamics
of Electrical Machines (Zagreb, Croatia, Graphis, 2004) (in Croatian).

69

Boo Terzic (M11) was born in Grab, Croatia, in

1962. He received the B.S. and Ph.D. degrees in
electrical engineering from the Faculty of Electrical
Engineering, Mechanical Engineering, and Naval
Architecture, University of Split, Split, Croatia, in
1986 and 1998, respectively, and the M.S. degree
from the Faculty of Electrical Engineering, University of Zagreb, Croatia, in 1993.
In 1986, he became an Assistant in the Department
of Power Engineering, Faculty of Electrical Engineering, Mechanical Engineering, and Naval Architecture, University of Split, where, since 2009, he has been a Full Professor.
Currently, he is the Head of the Department of Power Engineering. His research
interests include ac electrical machines and drives.