Synchronous Machine pu Model

Compact Form of Flux Equations

   
ψd ψd
 ψq   ψq 
     
d  ψF  = A1  ψF  + A2 id
  
dt 
 ψH


 ψH 
  iq
 ψG   ψG 
ψK ψK
 
vd
+B1 + B2Ef d
vq
  
ψd
 ψq 
   
 ψF  id
A3  =
 ψH  iq
 
 ψG 
ψK
  
0 −ω 0 0 0 0
ω 0 0 0 0 0 
 
 10 0 − 10 0 0 0 
 Td Td 
A1 =  1
− 100

 T 00 0 0 0 0
Td

 d 
0 1 0 0 − 10 0 
 Tq0 Tq 
0 100 0 0 0 − 100
Tq Tq
  
−ωB Ra 0
 0 −ωB Ra 
 
 0 0 
A2 =  
 0 0 
 
 0 0 
0 0
    
−ωB 0 0
 0 
 0 −ωB   
  x 0
 1 d 
0 0
Td0 (xd−x0d) 
 
B1 =   , B2 = 
 
 0 0   0 
   
 0 0   0 
0 0 0
 A3 =
 0 0 00 
1 0 − (xd−xd) − (xd−xd ) 0 0
 x00d xdx0d x0dx00d 
 (x −x 0) (x 0 −x00) 
q
0 x100 0 0 − x x0 q − xq0 x00q
q q q q q
q-axis Model - per-unit
dψG 1
= (−ψG + ψq )
dt Tq0
dψK 1
= (−ψK + ψq )
dt Tq00
(x0q − x00q ) (x q − x 0 ) x00
q q
00
ψq = xq iq + ψK + ψG
0
xq xq 0
xq
dψq
= ωψd − ωB Raiq − ωB vq
dt
 00 = T 00)
d-axis Model - in pu (assuming Tdc d
dψH 1
= (−ψH + ψd)
dt T 00
d
x 0
dψF 1 d
= (−ψF + ψd + Ef d )
dt T 0 0
(xd − x )
d d
(x0 − x00) (xd − x0 ) x00
ψd = x00id + d d ψ +
H
d dψ
F
d x0 xd x0
d d
dψd
= −ωψq − ωB Raid − ωB vd
dt
 ωB Mdf vf
Ef d =
Rf VBASE

Zero Sequence Equations in pu

(not required for balanced situations)
dψo
= ωB Raio − ωB vo
dt
Torque Equation in per-unit
2H dω
= Tm − (ψdiq − ψq id)
ωB dt

ω is the electrical angular speed in rad/s.

ωB is the base electrical angular speed in
rad/s.
Approximate Models

If studying slow electromechanical transients,

while operating near the nominal speed, use

0 = −ωB ψq − ωB Raid − ωB vd

0 = ωB ψd − ωB Raiq − ωB vq

i.e., set
dψd dψd
=0 =0 ω ≈ ωB
dt dt
Approximate Models: ‘2.1’ Model
If the effect of one q-axis damper winding is
neglected (i.e., the 0k 0 winding), set
Rk = ∞ ⇒ Tq00 = 0
Therefore,
00 dψK
Tq =0
dt
2.1 : Two windings on d axis, One on q-axis
q-axis equations: 2.1 model
dψG 1
= (−ψG + ψq )
dt Tq0
(xq − x0q )
ψq = x0q iq + ψG
xq
dψq
= ωψd − ωB Raiq − ωB vq
dt
The last equation can also be made an algebraic
equation when studying slow transients
d-axis equations 1.1 model
x 0
dψF 1 d
= (−ψF + ψd + Ef d )
dt T 0 0
(xd − x )
d d
(xd − x0 )
ψd = x0 id + d ψ
d xd F
dψd
= −ωψq − ωB Raid − ωB vd
dt
The last equation can also be made an algebraic
equation when studying slow transients
q-axis equations 1.0 model

ψq = xq iq
dψq
= ωψd − ωB Raiq − ωB vq
dt
The last equation can also be made an algebraic
equation when studying slow transients
Classical Model: 0.0 model

Rf → 0 ⇒ T 0 → ∞
d
dψF
=0
dt
(xd − x0 )
ψd = x0 id + d ψ
d xd F
dψd
= −ωψq − ωB Raid − ωB vd
dt
Classical Model

ψd = x0 id + E 0
d
0 = −ωB ψq − ωB Raid − ωB vd

ψq = xq iq

0 = ωB ψd − ωB Raiq − ωB vq
Further Approximations : Ra = 0, xq = x0d