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A Brushless Exciter Model Incorporating Multiple Rectifier Modes and Preisachs Hysteresis Theory PDF
A Brushless Exciter Model Incorporating Multiple Rectifier Modes and Preisachs Hysteresis Theory PDF
1, MARCH 2006
I. INTRODUCTION
the rectifier are mounted on the same shaft as the main alternator
(Fig. 1). Since the generator’s output voltage is regulated by [14]; it was originally devised for small-signal analyses and
controlling the exciter’s field current, the exciter is an integral its applicability to large-disturbance studies remains question-
part of a generator’s control loop and has significant impact on able [15]. An average-value machine-rectifier model that allows
a power system’s dynamic behavior. linking of a -axes machine model to dc quantities was derived
This paper sets forth a brushless exciter model suitable for in [16]. This model is based on the actual physical structure of
use in time-domain simulations of power systems. The analysis an electric machine and maintains its validity during large-tran-
follows the common approach of decoupling the main generator sient simulations.
from the exciter–rectifier. Because of the large inductance of a In this paper, the theory of [16] (which covered only mode I
generator’s field winding, the field current is slow varying [3], operation) is extended to all three rectification modes [17].
[4]. Therefore, the modeling problem may be reduced to that This is necessary for brushless excitation systems, because the
of a synchronous machine (the exciter) connected to a rectifier exciter’s armature current—directly related to the generator’s
load. field current—is strongly linked to power system dynamics
For power system studies, detailed waveforms of rotating rec- [3]. During transients, the rectifier’s operation may vary from
tifier quantities are usually not important (unless, for example, mode I to the complete short-circuit occurring at the end of
diode failures [5] or estimation of winding losses are of in- mode III [6]. The exciter–rectifier configuration is analyzed on
terest). Moreover, avoiding the simulation of the internal rec- an average-value basis in a later section.
tifier increases computational efficiency and reduces modeling The incorporation of ferromagnetic hysteresis is an additional
complexity [6], [7]. The machine-rectifier configuration may be feature of the proposed model. Brushless synchronous gener-
viewed as an ac voltage source in series with a constant com- ators may use the exciter’s remanent magnetism to facilitate
mutating inductance [8]; however, this overly simplified model self-starting, when no other source is available to power the
does not accurately capture the system’s operational character- voltage regulator. However, the magnetization state directly af-
istics [9]–[13]. The widely used brushless exciter model pro- fects the level of excitation required to maintain a commanded
posed by the IEEE represents the exciter as a first-order system voltage at the generator terminals. Hence, representation of hys-
teresis enhances the model’s fidelity with respect to the voltage
regulator variables.
Manuscript received October 28, 2003; revised September 29, 2004. This
work was supported by the “Naval Combat Survivability” effort under Grant Hysteresis is modeled herein using Preisach’s theory [18],
N00024-02-NR-60427. Paper no. TEC-00312-2003. [19]. The Preisach model guarantees that minor loops close to
D. C. Aliprantis is with the Greek Armed Forces (e-mail: the previous reversal point [20]–[22]. This property is essen-
aliprantis@alumni.purdue.edu).
S. D. Sudhoff is with the Department of Electrical and Computer Engi- tial for accurate representation of the exciter’s magnetizing path
neering, Purdue University, West Lafayette, IN 47907-1285 USA (e-mail: behavior. Hysteresis models that do not predict closed minor
sudhoff@ecn.purdue.edu). loops, such as the widely used Jiles–Atherton model [23], are
B. T. Kuhn is with the SmartSpark Energy Systems, Inc., Champaign, IL
61820 USA (e-mail: b.kuhn@smartsparkenergy.com). not appropriate. To see this, consider a brushless generator con-
Digital Object Identifier 10.1109/TEC.2005.847968 nected to a nonlinear load that induces terminal current ripple.
0885-8969/$20.00 © 2005 IEEE
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ALIPRANTIS et al.: A BRUSHLESS EXCITER MODEL INCORPORATING MULTIPLE RECTIFIER MODES 137
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138 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 21, NO. 1, MARCH 2006
(3)
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ALIPRANTIS et al.: A BRUSHLESS EXCITER MODEL INCORPORATING MULTIPLE RECTIFIER MODES 139
are injected by the rectifier model. The state variables are se- denote upwards and downwards moving (increasing and de-
lected to be and . There are no states associated with the creasing) magnetic fields; an additional “ ” superscript denotes
-axis, because its equation is purely algebraic. The hysteresis that the material is initially demagnetized, so that the initial
model determines the incremental magnetizing inductance. In curve is being traversed. The appropriate equation is selected
the following sections, the submodels are presented in detail. based on the direction of change of the magnetizing current.
Since the exciter’s complete magnetic history is unknown, it
A. Hysteresis Model is assumed that it is initially demagnetized. From (10)–(13),
For the purposes of machine modeling, it is convenient to at the reversal points and at the origin of the initial
work with electrical rather than field quantities. Hence, by curve, and is everywhere else. thus depends only
analogy to , the machine’s -axis magnetizing on , , and the direction of change of (in accordance
flux linkage is written as the sum of a linear and a hysteretic with the congruency property).
component The Preisach model constantly monitors the direction of
change of , and adds the reversal points to a last-in first-out
(7) stack. The crossing of a previous reversal point signifies a
minor loop closure. In this case, the two points that define
The Preisach model is now expressed in terms of the magneti- this minor loop are deleted from the stack (as dictated by the
zation component of flux linkage , and the magnetizing deletion property).
current (instead of the magnetization , and the magnetic
field ). The inductance corresponds to the slope of the B. Reduced-Order Machine Model
magnetizing characteristic at saturation. This model is termed “reduced-order” because the (fast) tran-
The hysteresis model’s input is the magnetizing current sients associated with the rotor windings are neglected. Its in-
and its output is the incremental inductance puts are the -axes rotor currents (which will be approximated
by their average value), ,3 the exciter’s field winding voltage
(8) , and the incremental inductance . In this block, the in-
tegrations for the two states and are performed. Out-
It will be useful to note that by combining (7) and (8) puts are the magnetizing current , the VBR
-axis flux linkage , and the VBR -axis inductance .
(9) In this model, an overbar is used to emphasize the approxima-
tion of a quantity by its fast-average value (its average over the
The assumed normal distribution of hysterons given in (5) previous 60 ). Often, in such cases, it is appropriate to average
leads, after the manipulations detailed in [19], to the entire model, thereby yielding a formalized average-value
model. However, because of the nonlinearities involved with the
hysteresis model, formal averaging of the model would prove
awkward. Therefore, the interpretation applicable herein is that
quantities indicated as instantaneous (without overbars) are also
being approximated by their fast-average value.
(10)
The description of the reduced-order machine model begins
with the field winding flux linkage
(14)
(15)
yields
(12)
(16)
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140 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 21, NO. 1, MARCH 2006
for is to be selected from (10)–(13). The state equations C. Rotating-Rectifier Average-Value Model
may be obtained from (9), (15), and (16) This section contains the derivation of the rotating-rectifier
average-value model, which computes the average currents
flowing in the exciter armature from , the VBR -axis
flux linkage , and the VBR -axis inductance . (The
(17) computation also uses the VBR -axis inductance , which
is assumed constant herein.) The analysis is based on the clas-
and sical separation of a rectifier’s operation in three distinct modes
[17]. This type of rectifier modeling is valid for a constant (or
(18) slow-varying) dc current.
The transformation of the no-load versions of (25) and (26)
to the rotor reference frame yields the following three-phase
The derivative is estimated from the variation of .
voltage set:
It is convenient to approximate it by the following relationship,
written in the frequency domain: (27)
(19) (28)
(22) (31)
(32)
These equations hold for fast current transients; hence, the
overbar notation is not appropriate.
In VBR form is essentially constant for fast transients. In which may be approximated as
particular, if for fast transients (such as commutation processes)
we assume that the field flux linkage is constant, then it can be
shown that is constant as well. Upon neglecting the rotor
resistance, the VBR voltage equations may be expressed
(33)
(25)
4The standard numbering of the diodes (Fig. 1) corresponds to the order of
conduction in the case of an abc phase sequence. However, in this case, a reverse
(26) acb phase sequence is obtained, and the diodes conduct in a different order.
5This should not be confused with the symbol that was used in the Preisach
with . model section to denote the hysterons’ upper switching point.
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ALIPRANTIS et al.: A BRUSHLESS EXCITER MODEL INCORPORATING MULTIPLE RECTIFIER MODES 141
(34) (39)
and
(40)
(35)
To proceed further, the rectification mode must be considered.
1) Mode I Operation: Mode I operation (Fig. 7) may be sep- (41)
arated into the commutation and conduction subintervals. The Knowledge of and [from (39)] allows the computation
commutation lasts for less than 60 electrical degrees of the average -axes rotor currents. Equation (38) is solved
, where denotes the commutation angle. During the com- for and substituted into (36), which is transformed using (1).
mutation interval , three diodes are conducting The currents of the first subinterval (denoted by the superscript
(1, 2, and 6); during the conduction interval , “(i)”) are thus
only two diodes are conducting (1 and 6). The currents are
for
(36)
for
where is the current flowing out of the recti- (42)
fier and into the generator field, and is the (positive,
anode-to-cathode) current flowing through diode 6; Their average value is
increases from to .
The average dc voltage may be computed from (33), after (43)
substituting (36) into (34); this sequence of operations yields
(38) (45)
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142 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 21, NO. 1, MARCH 2006
2) Mode II Operation: In mode II operation (Fig. 8), the , there are three diodes conducting (1, 2,
commutation angle is 60 , but commutation is auto-delayed by and 6), and a line-to-line short circuit is imposed on the exciter.
the angle . There are always three diodes con- Due to symmetry considerations, . The cur-
ducting, and the currents are rents are
(46)
(47)
(48)
(52)
The expression (42) for is valid throughout com-
mutation, and the average -axes currents are respectively. Substitution of the values of and at the three
separating angles , , and ,
into (38), (51), and (52), yields
(49)
(53)
3) Mode III Operation: In mode III operation (Fig. 9), com-
mutation is delayed by and . (54)
This mode may be split into two subintervals. During
, two commutations are taking place simul-
taneously; four diodes are conducting (3, 1, 2, and 6), and a
three-phase short-circuit is applied to the exciter, so .
At , the commutation of diode 1 is at a further com-
mutation stage than the commutation of diode 6, which is just
starting ( , ). At , the
commutation of diode 3 to diode 1 finishes ; (55)
the current of diode 6 has increased to . During
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ALIPRANTIS et al.: A BRUSHLESS EXCITER MODEL INCORPORATING MULTIPLE RECTIFIER MODES 143
(63)
(64)
(65)
(59)
This mode separation is valid if the boundaries are well or-
The average first subinterval -axes currents may thus be eval-
dered. Note that is always true; on the other
uated analytically. After manipulation
hand, is satisfied only for the following range of
VBR inductance parameters:
(66)
(60)
The second subinterval -axes currents are given by At first glance, (66) imposes a significant constraint on the
(42) and may be evaluated by numerical integration model parameters. However, in the proposed model,
assumes values closer to a leakage inductance, while is
dominated by a magnetizing inductance term. Hence, it is gen-
(61)
erally expected that (66) will be satisfied for all “reasonable”
inductance values.
4) Mode IV Operation: Traditionally, a rectifier’s operation 6) Solving the Nonlinear Equations: According to the oper-
is divided into three distinct modes; these modes naturally occur ation mode, a numerical solution to one of the nonlinear equa-
when the rectifier is feeding a passive resistive load. Herein, tions (41), (48), or (56) needs to be obtained. Recall that a con-
however, an additional fourth mode (mode IV) needs to be con- tinuous function has a root if
sidered. This mode is an extension to mode III, and occurs when . In this case, it suffices to show i) , ii)
the rectifier’s dc current exceeds the maximum possible current , and iii) .
that the ac source alone (i.e., the exciter) may supply. This sit- For mode I operation, where , it may be
uation may arise, for example, when is decreased rapidly shown that
enough, while decays at a much slower pace, constrained by (67)
the main alternator field inductance.
During mode IV, a constant three-phase short circuit is im- (68)
posed on the exciter , and at any given instant there
are four diodes conducting (diodes 3, 1, 2, and 6 during the time For mode II, and
frame considered in this analysis). The auto-delay and commu-
tation angles are at their maximum possible values ( (69)
and ), and the currents become purely sinusoidal,
as may be readily seen by analyzing the mode III equations. (70)
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144 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 21, NO. 1, MARCH 2006
(71)
(72)
Hence, a solution to all three equations will always exist. Further
algebraic manipulations—not shown herein—reveal that the so-
Fig. 10. Schematic of experimental setup; the brushless synchronous
lution is unique. It may thus be obtained with arbitrary precision generator is feeding a nonlinear rectifier load.
in a finite number of steps using the bisection algorithm [25].
7) Incorporating Resistive Losses: The model’s accuracy
If mode II:
may be improved by taking into account the resistive losses
of the armature and the voltage drop of the rotating rectifier a) Solve (48) for .
diodes. Their incorporation affects the magnitude of the brush- b) Compute from (47).
less exciter steady-state field current, as well as the transient c) Compute average currents from (42) and (49).
behavior of the synchronous generator.
In the previous sections, the armature resistance and the If mode III:
diodes were ignored. The rigorous incorporation of these terms a) Compute from (57).
in the model would entail considerable modifications and pos- b) Solve (56) for .
sibly would make the algebra intractable. Hence, to simplify c) Compute average currents from (60) and (61).
the analysis, the computation of the losses is decoupled from
the computation of the average dc voltage. Thus, the average
If mode IV:
voltage applied across the main generator field is
a) Set .
(73) b) Compute average currents from (62).
The average voltage loss is computed by averaging the drop 10) Compute from (73) and (74).
across diodes 1 and 6, and the ohmic drop of the armature’s 11) Compute from (17).
resistance, that is 12) Compute from (18).
13) Go to step (2).
(74) Steps (3)–(5) are specific to the Preisach model. If a linear mag-
A diode’s voltage–current characteristic is represented herein netizing inductance is used instead, set and
by the following function: .
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ALIPRANTIS et al.: A BRUSHLESS EXCITER MODEL INCORPORATING MULTIPLE RECTIFIER MODES 145
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146 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 21, NO. 1, MARCH 2006
VI. CONCLUSION
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ALIPRANTIS et al.: A BRUSHLESS EXCITER MODEL INCORPORATING MULTIPLE RECTIFIER MODES 147
[22] J. G. Frame, N. Mohan, and T. Liu, “Hysteresis modeling in an electro- Scott D. Sudhoff (SM’01) received the B.S. (Hons.),
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[24] P. C. Krause, O. Wasynczuk, and S. D. Sudhoff, Analysis of Electric sity. From 1991 to 1993, he was Part-Time Visiting
Machinery. New York: IEEE Press, 1995. Faculty with Purdue University and as a Part-Time
[25] W. Gautschi, Numerical Analysis, an Introduction, 1st ed. Boston, Consultant with P. C. Krause and Associates, West
MA: Birkhäuser, 1997. Lafayette, IN. From 1993 to 1997, he was a Faculty
[26] D. C. Aliprantis, S. D. Sudhoff, and B. T. Kuhn, “Genetic algorithm- Member at the University of Missouri-Rolla. He has
based parameter identification of a hysteretic brushless exciter model,” authored many papers. His interests include electric
IEEE Trans. Energy Convers., to be published. machines, power electronics, and finite-inertia power systems.
[27] , “A synchronous machine model with saturation and arbitrary rotor
network representation,” IEEE Trans. Energy Convers., vol. 20, no. 3,
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AEgis Technologies Group, Inc., Huntsville, AL, 1999.
Dionysios C. Aliprantis (M’04) received the elec- Brian T. Kuhn (M’93) received the B.S. and M.S.
trical and computer engineering diploma from the degrees in electrical engineering from the University
National Technical University of Athens, Athens, of Missouri-Rolla in 1996 and 1997, respectively.
Greece, in 1999 and the Ph.D. degree in electrical He was a Research Engineer at Purdue University,
and computer engineering from Purdue University, West Lafayette, IN, from 1998 to 2003. Currently, he
West Lafayette, IN, in 2003. is a Senior Engineer with SmartSpark Energy Sys-
Currently, he is serving in the armed forces of tems, Inc., Champaign, IL. His research interests in-
Greece. His interests include the modeling and clude power electronics and electrical machinery.
simulation of electric machines and power systems,
and evolutionary optimization methods.
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