a axis

d axis
Va

H
G q axis

Vf

Vc

b axis
Vb
c axis
Synchronous Machine
Electrical Equation

= [1 ] + [2 ] + [1 ] + [2 ]

0 0 0 0 0
0 0 0 0 0

1\ 0 1\ 0 0 0
[1 ] = 1/ 0 0 1/ 0 0

0 1/ 0 0 1/ 0

0 1/ 0 0 0 1/
 0
0

0 0
[2 ] =
0 0
0 0
0 0

0
0

[1 ] = 0 0
0 0
0 0
0 0

0
0

/( ( )
[2 ] =
0
0
0

= +

Mechanical Equations

2
= ( )

=

Simulation Results
Appendix
clear all
clc
%format long
clc
T1=0.2;
T2=35;
wB=2*3.1415*50;
Ra=.003;
w=2*3.1415*50*1.01;
xd=1.8;
xdd=0.3;
xddd=0.23;
xq=1.7;
xqd=0.65;
xqdd=0.25;
Td0d=5;
Td0dd=0.03;
Tq0d=1;
Tq0dd=0.07;
H=3;
Tm=0;

a=(1-xd./xdd +xd./xddd);
b=-(Td0d+Td0dd);
c=(xddd./xdd).*Td0d.*Td0dd;
Tddd1=(-b + sqrt(b.*b-4*a.*c))./(2*a);
Tddd2=(-b - sqrt(b.*b-4*a.*c))./(2*a);
Tddd=min(Tddd1,Tddd2);
Tdd=Td0d.*Td0dd.*(xddd./xd)./Tddd;

a=(1-xq./xqd +xq./xqdd);
b=-(Tq0d+Tq0dd);
c=(xqdd./xqd).*Tq0d.*Tq0dd;
Tqdd1=(-b + sqrt(b.*b-4*a.*c))./(2*a);
Tqdd2=(-b - sqrt(b.*b-4*a.*c))./(2*a);
Tqdd=min(Tqdd1,Tqdd2);
Tqd=Tq0d.*Tq0dd.*(xqdd./xq)./Tqdd;

RL=1000;
A1=[ 0 -w 0 0 0 0;
w 0 0 0 0 0;
1/Tddd 0 -1/Tddd 0 0 0;
1/Tdd 0 0 -1/Tdd 0 0;
0 1/Tqdd 0 0 -1/Tqdd 0 ;
0 1/Tqd 0 0 0 -1/Tqd ];
A2=[-Ra-RL 0;
0 -Ra-RL;
0 0;
0 0;
0 0;
0 0]*wB;
B2=[0; 0; 0; 1/Tdd*xdd/(xd-xdd);0;0];

A3=[ 1/xddd 0 -( xdd-xddd)/xdd*1/xddd -(xd-xdd)/xd*1/xdd 0 0;

0 1/xqdd 0 0 -(xqd-xqdd)/xqd*1/xqdd -(xq-xqd)/xq*1/xqd];
A=A1+(A2*A3);
%//% Staedy state values of various variables ( open circuit conditon with
%//% Efd=1.0)
Efd=1.0;
xss= -A\B2*Efd; %//% initial state psi

t=0;
tstep=0.005;
x_old=xss;%//% initial state psi
w_old=w; %//% Initial speed
wo=wB; %//% infinite bus voltage freq
delta_old=0.0;
x_new=[0;0;0;0;0;0];
for k=1:round(T1/tstep)
t=tstep+t;
j(k)=t;
A1=[ 0 -w_old 0 0 0 0;
w_old 0 0 0 0 0;
1/Tddd 0 -1/Tddd 0 0 0;
1/Tdd 0 0 -1/Tdd 0 0;
0 1/Tqdd 0 0 -1/Tqdd 0 ;
0 1/Tqd 0 0 0 -1/Tqd ];%//% neglected fast transient

A=A1+A2*A3;%//% Numerical integration Eulers method

Aeq= A(3:6,3:6)-A(3:6,1:2)* inv(A(1:2,1:2))*A(1:2,3:6);
x_new(3:6)=(eye(4,4)+Aeq*tstep)*x_old(3:6)+B2(3:6)*tstep*Efd;
x_new(1:2)=-inv(A(1:2,1:2))*A(1:2,3:6)*x_new(3:6);
elec_torque(k)=x_old(1)*[0 1]*A3*x_old-x_old(2)*[1 0]*A3*x_old;
id(k)=[1 0]*A3*x_old;
iq(k)=[0 1]*A3*x_old;
w(k)=w_old+tstep*wB/2/H*(Tm-elec_torque(k));
delta(k)=delta_old+(w_old-wo)*tstep;%//% forward Euler
ia(k)=sqrt(2/3)*(cos(w(k)*t)*id(k)+sin(w(k)*t)*iq(k));
w_old=w(k);
delta_old=delta(k);
x_old=x_new;

end

V=1;
for k=round((T1/tstep))+1:round(T2/tstep)
t=tstep+t;
j(k)=t;

A1=[ 0 -w_old 0 0 0 0;
w_old 0 0 0 0 0;
1/Tddd 0 -1/Tddd 0 0 0;
1/Tdd 0 0 -1/Tdd 0 0;
0 1/Tqdd 0 0 -1/Tqdd 0 ;
0 1/Tqd 0 0 0 -1/Tqd ];

A2=[-Ra 0;
0 -Ra;
0 0;
0 0;
0 0;
0 0]*wB;
A=A1+A2*A3;
Aeq= A(3:6,3:6)-A(3:6,1:2)* inv(A(1:2,1:2))*A(1:2,3:6);
B1=-wB*[-V*sin(delta_old); V*cos(delta_old); 0; 0; 0; 0];
Bleq=-A(3:6,1:2)*inv(A(1:2,1:2))*B1(1:2);
 x_new(3:6)=(eye(4,4)+Aeq*tstep)*x_old(3:6)+B2(3:6)*tstep*Efd +
Bleq*tstep;
x_new(1:2)=-inv(A(1:2,1:2))*A(1:2,3:6)*x_new(3:6)-
inv(A(1:2,1:2))*B1(1:2);
elec_torque(k)=x_old(1)*[0 1]*A3*x_old- x_old(2)*[1 0]*A3*x_old;
id(k)=[1 0]*A3*x_old;
iq(k)=[0 1 ]*A3*x_old;

if(t>5)
Tm=0.25;
Efd=1.0;
end
if(t>10)
Tm=0.75;
Efd=1.0;
end
delta(k)=delta_old+(w_old-wo)*tstep;
w(k)=w_old+tstep*wB/2/H*(Tm-elec_torque(k));
ia(k)=sqrt(2/3)*(cos(w(k)*t)*id(k)+sin(w(k)*t)*iq(k));
delta_old=delta(k);
w_old=w(k);
x_old=x_new;

end
plot(j,delta)
hold on;
grid on;
xlabel ('Time') ;
ylabel (' Delta');
title('Delta Vs Time');
figure
plot(j,w)
hold on;
grid on;
xlabel ('Time(s)') ;
ylabel (' Speed');
title('Speed Vs Time');
drawnow;
 AVR

7.0 V

+

1 + Field Voltage


- 7.0