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GEH-6676 - EX2100 and EX2100e Excitation Control
GEH-6676 - EX2100 and EX2100e Excitation Control
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Document History
Document Date Update Description
Implementation Added a note containing requirements for implementing the PSS
GEH-6676D Aug 2013
requirements to the section, Implementation.
GE Proprietary and Internal (Class II) – This document contains proprietary information of GE and is intended for internal use only. It may not be
used, shown, reproduced, or disclosed outside of GE without the express written consent of GE.
Safety Symbol Legend
Warning
Attention
Dynamic Stability: Also known as steady-state stability, allows a system to correct for
small changes.
Transient Stability: Allows a system to recover from large changes, such as electrical
faults cleared by operation of an instantaneous load rejection due to the operation of a
power circuit breaker. If there is enough synchronizing torque, the unit remains stable.
Refer to the section, Modern generating units that are equipped with high-gain voltage regulator systems
Synchronous Machine enhance transient stability but tend to detract from dynamic stability. The PSS improves
Oscillation. small signal (steady-state) stability by damping the power system modes of oscillation
using generator excitation modulation.
Local mode generally involves one or more synchronous machines at a power station
swinging together against a comparatively large power system or load center. Frequencies
are typically in the range of 1.0 to 2.0 Hz. Some low inertia turbine generators can have
frequencies up to 4.0 Hz.
Also illustrated in the following figure is the addition of a PSS to the control. The PSS
supplies a component of positive damping torque to offset the negative contribution of the
AVR, resulting in a compensated system that adds damping and enhances small signal
(steady-state) stability. This is accomplished by creating a signal in phase with rotor
speed, and summing the result with the AVR reference. Additionally, since the generator
field circuit and AVR function has an inherent phase lag, a corresponding phase lead is
required to compensate for this effect.
Coefficients K1 Through K6
Coefficient Description
K1 Change in electrical torque due to a change in rotor angle assuming a constant d-axis flux
K2 Change in electrical torque due to a change in d-axis flux assuming a constant rotor angle
K3 Impedance factor
K4 De-magnetizing effect due to a change in rotor angle
K5 Change in terminal voltage due to a change in rotor angle assuming a constant voltage from d-axis flux
linkages
K6 Change in terminal voltage due to a change in d-axis flux linkages assuming a constant rotor angle
Except for K3, coefficients K1 through K6 are all affected by the operating point of the machine. All the coefficients are normally
positive, resulting in a stable system. However, K5 can be negative under conditions of heavy load, which can create an
unstable condition.
Since the early development of the PSS, the GE design and application has been
extensively based on either speed or frequency input signal. The first applications were
speed-based, and the frequency signal was later used for two reasons: one being the more
practical means of obtaining the rotor velocity for hydro-turbines without shaft speed
measurements, and the lower torsional signal content for four-pole (nuclear steam)
turbine generators. The signals for either speed or frequency are similar in many respects,
but the lower torsional content of the frequency signals makes it better in many cases.
Another choice is electrical power, which has been extensively applied in some markets.
There have also been many applications where multiple input signals have been studied
and applied. In principle, many different signals can be used. The PSS can be approached
as a problem to be solved using multi-variable control design programs. The control
design program decides the type of control gains and phase compensation to be applied to
each input.
Refer to the section, Integral The current generation PSS is based on the principle of accelerating power. Measurement
of Accelerating Power. of accelerating power requires a mechanical power signal. In a practical sense, the
mechanical power cannot be measured, therefore, it becomes necessary to develop this
signal from speed and electrical power. The integral of accelerating power is a signal that
provides machine speed relative to a constant frequency reference.
The classic example of The PSS can provide significant improvements in inter-area mode damping, with
inter-area mode oscillation is application of stabilizers to most units that participate in these power-swing modes.
the 0.3 Hz mode in Western US Improved damping can result in eliminating operating restrictions during system
(WSCC), between the Southern contingencies, and increase power transfer limits.
California region and the
Pacific Northwest region. PSS performance is often evaluated from the damping of the local mode, which is the
generator swinging against the rest of the power system. This mode is usually at
Refer to the section, frequencies between 0.7 and 2 Hz. Stronger system ties and lighter loading tend to give
Synchronous Machine higher local-mode frequencies. Conversely, weaker ties and heavier loading tend to give
Oscillation. lower local-mode frequencies. The PSS must be properly tuned to provide acceptable
performance over a wide range of system conditions resulting from different operating
circumstances (such as out-of-service lines or varying load levels). Very elaborate
mathematical models (instead of the simplified model illustrated in the figure, Single
Machine Connected to Bus Power System with PSS) are used to predict the performance
of the PSS under steady-state and transient conditions.
Note Accelerating power measurement requires inputs of speed and electrical power. To
implement the PSS, the EX2100e control requires, at a minimum, a 3–phase potential
transformer (PT) and a 1–phase current transformer (CT), although it is preferred to have
two 1–phase CT inputs.
where:
ω = rotor speed
H = generator inertia constant (MW-sec/MVA)
Tm = mechanical (turbine) torque
Te = electro-mechanical (air-gap) torque
Tacc = accelerating torque
In a per-unit (pu) system, torque and power are equivalent in value. Replacing torque (T)
with power (P), and rearranging the Synchronous Machine Swing equation to solve for
mechanical power gives the following:
where the derivative operator has been replaced by the equivalent Laplace operator, s.
The next step develops the accelerating power signal, P'acc = P'm - Pe. The accelerating
power is labeled as a synthesized or derived signal at this point, as it is comprised from
synthesized mechanical power.
where TW is the washout time constant, normally set in the range of 2 to 10 sec. This gives
a break frequency of 1/TW rad/sec.
As a final step, both inputs are divided by the factor 2H and integrated (equivalent to
dividing by s in Laplace terminology). The block diagram for developing the integral of
accelerating power is as follows:
Additionally, the derived signal has a relatively low component of the torsional mode
components in the measurements. This very important factor could potentially impact
PSS performance, since the application limits any potential situation where the stabilizer
might interact with the turbine-generator torsional response. Because the integrator
essentially cancels the washout in the electric power signal path, a double washout is used
in both the speed and power paths.
EXDSPEED Equation
For a signal that is proportional to rotor speed, generator current is multiplied by the
d-axis transient reactance, X'd, and vectorially added to terminal voltage to yield an
internal machine voltage, Eq'. The change or deviation in phase of Eq' is proportional to
deviation in rotor speed from synchronous speed.
An electrical power signal is calculated in the EX2100 control from generator voltage and
current. Both the rotor speed signal and power signal are processed by two washout stages
to remove low-frequency effects.
The following figure illustrates the EXDSPEED signal is processed by two lead/lag
stages, an adjustable gain stage, and an output limiter stage to tailor the PSS for the
specific application.
Note Some units (primarily 4-pole nuclear units) require band reject filters to reduce the
response to torsional oscillations. The third lead/lag stage in the following figure
represents the low frequency equivalent of a two-stage torsional filter.
The PSS is enabled by sending a PSS Enable command through an Ethernet Global Data
(EGD) connection to the exciter controller using the turbine control operator interface
screen or operator interface (keypad or touchscreen).
The PSS becomes active (in Once enabled, the PSS is not active (available to supply compensation to the AVR input
service) or inactive (not in summing junction) until all of the following three conditions are met:
service) based on satisfying
operational conditions. • Exciter must be in Automatic (AUTO) regulator control
• Exciter must be running
• Generator must be online at a load point above the parameter value
PSS Hi Watts Enable
In the software, Enabled is If any of these three conditions are not met, the PSS becomes inactive, but still remains
also known as Armed, and enabled. If load is reduced below the value of PSS Lo Watts Disable, the PSS becomes
PSSARMD=FALSE equates to inactive. Placing the Regulator system to Manual regulator control or opening the 52G
PSS disabled. breaker also causes the PSS to become inactive.
4. The following default values disable a Biquad. If Biquad is not used in the tuning
study, make sure the following parameters are set as follows:
4.1.2.1 Inertia
The generator manufacturer To obtain proper scaling for the synthesized mechanical power signal, the generator
supplies this value. inertia constant M is used in the washed out integral of watts path of the PSS.
4.1.2.2 Gain
Select the PSS gain to provide stable operation at all load points. This parameter is
typically defaulted to a value of 15, and should be adjusted during PSS commissioning.
Verify that the parameter is configured correctly by testing that the gain is less than a
value of 1/3 of the gain setting, which would cause the PSS loop to be unstable.
4.1.2.5 Washout
Large enough washout time constants are selected to pass low frequencies of interest with
little attenuation or excessive phase lead. In most cases, this implies that the washout time
constants can be set between 2 to 10 sec.
4.1.2.8 Biquad
An enhanced PSS provides for up to three stages of biquadratic filtering to eliminate
torsional interaction, three stages of lead/lag filtering with gain and output limit, and
switchable washout to provide attenuation of voltage changes during large signal events.
Attention
• (Optional) Results from GE Engineering Consulting or customer PSS tuning study
with applicable parameters for PSS entered into the exciter configuration file.
Attention
• Verify that the PSS is disabled and Gain is set to 0 prior to going online to make sure
there is no inadvertent activation of the PSS prior to testing.
• Prior to testing the PSS, other offline and online testing should be completed as
provided in the following documentation:
− GEH-6631, EX2100 Thyristor Control 77, 53, and 42 mm Installation Startup
Guide
− GEH-6674, EX2100 Regulator Control Installation and Startup Guide
− GEH-6694, EX2100 Thyristor Control 100 mm Installation and Startup Guide
• Any deficiencies in PT or CT feedback circuits, including Watts or VAR calculations,
should be corrected.
Note Make sure that within the trend, the Trend Recorder Configuration sample interval
is set to 32 ms. It is also recommended to set the Trender Time Axis to 300 sec so the
entire trend can be viewed throughout the test.
Refer to the figure, Unstable 4. Start recording the variables for 30 sec, then increase the PSS gain from 0 pu to
Gain Margin Example normal gain setting and watch the variables for signs of instability. Instability would
(Brushless Regulator). be recognized as sinusoidal swings in power, VARs, or voltage. These swings usually
start small and increase in amplitude over time. Additionally, the power swings could
occur suddenly at a fixed-amplitude of oscillation. If either phenomenon is observed,
select PSS disable from the keypad, COI, or turbine control.
Refer to the following figures 5. Hold at nominal gain for 60 sec, then continue to increase the PSS gain to twice,
for examples of unstable and three times, and four times nominal gain. Hold at each point for 60 sec. The
appropriate gain margin tests. oscillations in the MW trend begin to grow and have longer settling times. Watch for
any signs of instability and select PSS disable if this occurs. When four times
nominal gain is complete, reduce the gain back to zero, continue recording for 30 sec,
then stop the Trender.
6. After test completion, review the trend for signs of instability using the provided gain
margin test examples. If instability is or has been observed, contact the tuning study
provider for changes and leave the PSS disabled with PSS Gain = 0 until stability has
been corrected. Repeat testing as necessary.
7. If no instability is found, the nominal gain setting can be used for the remainder of
the test. Select PSS disabled and reset PSS gain to 0 before continuing.
This testing changes the output of the generator and can rarely
cause local instability on some power systems.
Caution
To demonstrate PSS effectiveness, step the AVR with the PSS disabled.
As observed in the trend file, the unit MW (green trend, third from top) oscillates or rings
proportionate to the amount of natural damping in the system. For larger systems and
larger generators, there may be more oscillations recorded before the MW readings
stabilize.
• Set ACL Bode Level = 0.05 (5%); can use up to 0.08 (8%) if requested by
tuning study provider)
• Set (CRITICAL) Set Step Time = 0.1
• Set the rest in accordance with standard step test setup.
3. For redundant control systems, after the configuration settings are complete, perform
the teaching of parameters.
4. Click Start/Stop Analysis to initiate the impulse test.
5. Upload the PSS Test Capture Buffer to Trender.
6. Set PSS Gain to 0 and select PSS disable. Repeat the test and upload the PSS Test
Capture Buffer to the Trender. The trend with PSS enabled should have a marked
difference (decrease) in the number and amplitude of oscillations in the power (MW)
variable. This again demonstrates the effectiveness of the PSS.
3. Verify that the connection is made on the diagram for the PRBS block to be input to
the AVR.
Note In the AVR step test procedure, connection was configured to Step Source so that
the step test would be input, not the PRBS data.
closed
Verify loop
that these transfer
settings are
correct for AVR closed
function measurement loop
transfer function measurement.
5. Click Start / Stop Analysis. The At NowPass box displays the current pass.
When the test is finished, the Bode averaging done coil becomes true
(represented by a black square).
6. From the Block Collected menu, select the DSPX Capture Buffer. Perform an
upload and select Change without Save.
The following figure illustrates the input signal (AVR setpoint) and output (AVR
feedback), which is terminal voltage. It is not apparent how this relates to the frequency
response without processing it to calculate the transfer function.
The field engineer should verify the following information when the data is collected:
Example of Collected Data from AVR Closed Loop Frequency Response Test
Example of Collected Data from PSS Open Loop Frequency Response Test
Note The program that performs the transfer function calculations can be found in the
toolbox application at the following location: C:\Program Files\GE Control System
Solutions\Ex2100 Excitation Control\Ex2100 Analysis Tool. This location takes you to a
batch file called FreqAnaz.bat that runs a MATLAB executable code to do the transfer
function calculations and plot the results in the following sections.
8. Maximize the middle graph and print (or screen capture) it to share with the
customer.
9. Maximize the left window and print (or screen capture) it to share with the customer.
Note Simulation testing is recommended, as it is unlikely to perform this testing with the
unit in service because it will likely be at or near full load. Only perform this test online if
the PSS testing is complete and the customer is able to lower load.
Tip Ä It is best to have the PSS active on the first unit while testing the second unit. The
third unit would be tested with the PSS active on the first and second units and so forth.
Note If is assumed that the units on site are being brought online and having PSS
tested/approved sequentially. If the site has units already in operation (such as a PSS
retrofit) that have not had PSS testing completed and approved, the first unit refers to first
unit with PSS tested and approved. (Be sure not to enable PSS for other units, even at the
same site, that have not been tested and approved.)
Refer to the section, Testing When testing is complete on all additional units, send that collected data for each unit to
Complete. the tuning study provider for approval and leave the PSS disabled until it is approved.
Automatic Voltage Regulator (AVR) AVR is controller software that maintains the
generator terminal voltage.
Block Instruction blocks contain basic control functions that are connected together
during configuration to form the required machine or process control. Blocks can perform
math computations, sequencing, or regulator (continuous) control.
Bus Upper bar for power transfer, also an electrical path for transmitting and receiving
data.
Power System Stabilizer (PSS) PSS software produces a damping torque on the
generator to reduce generator oscillations.
Simulation Running the control system using a software model of the generator and
exciter.
Index P
Parameter
A Biquad 28
Automatic Voltage Regulator 11 Gain 27
AVR Closed Loop Frequency Response 45 Inertia 27
AVR Step Test Lead/Lag 2 28
PSS Enabled 40 Low Watts Disable 28
Lower Limits 28
Ramp Tracking Filter 28
B Washout 28
Biquad 28 Parameters
Biquad 26
PSS 24
C
power system stability 7
Closed Loop Transfer Function 50 Power System Stabilizer 9
Commissioning 29 Power System Stabilizer (PSS) Diagram 23
Configuration 21 PSS Active 21
PSS Disable 21
D PSS Enable 21
PSS Implementation 13
Dynamic Stability 9 PSS Inactive 21
PSS2B Model 18
E
EXDSPEED 17 R
Ramp Tracking Filter 28
F
Frequency Response S
Test Data 50 Stability 9–10
Steady-state 12
G synchronous machine 9
Synchronous Machine Oscillation 9–10
Gain Margin Test 31
System Modeling 11
I T
Impulse Test 42
Test
Inertia 27
AVR Step test with PSS Disabled 36
Initial Conditions Check 29
AVR Step with PSS Enabled 40
Instability 21, 31
Testing 29
Integral of Accelerating Power 15
Additional unit testing 54
AVR closed loop frequency testing 45
M Disable and Enable testing 54
Gain Margin test 31
Mechanical power 15
Impulse test 42
Initial performance testing 21
O PSS open loop frequency testing 49
Open Loop Frequency Response 49 Testing complete 50
Open Loop Transfer Function 52 Transient Stability 9
Trender 32, 39
GEH-6676D Index 57
GE Proprietary and Internal (Class II) – This document contains proprietary information of GE and is intended for internal use only. It may not be
used, shown, reproduced, or disclosed outside of GE without the express written consent of GE.
Notes