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Synchronous Machine Modeling
• Electric machines are used to convert mechanical
energy into electrical energy (generators) and from
electrical energy into mechanical energy (motors)
– Many devices can operate in either mode, but are usually
customized for one or the other
• Vast majority of electricity is generated using
synchronous generators and some is consumed using
synchronous motors, so that is where we'll start
• Much literature on subject, and sometimes overly
confusing with the use of different conventions and
nominclature
3
Synchronous Machine Modeling
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Dq0 Reference Frame
• Stator is stationary and rotor is rotating at synchronous
speed
• Rotor values need to be transformed to fixed reference
frame for analysis
• This is done using Park's transformation into what is
known as the dq0 reference frame (direct, quadrature,
zero)
• Convention used here is the q-axis leads the d-axis
(which is the IEEE standard)
– Others (such as Anderson and Fouad) use a q-axis lagging
convention
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Fundamental Laws
Kirchhoff’s Voltage Law, Ohm’s Law, Faraday’s
Law, Newton’s Second Law
vd va
v
v
q Tdqo b or i,
v vc
o
va vd
v T 1 v
b dqo q
vc v
o
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Dq0 transformations
P P 2 P 2
sin shaft sin shaft sin
3
shaft
2 2 3 2
2 P P 2 P 2
Tdqo cos shaft cos shaft cos
3
shaft
3
2 2 3 2
1 1 1
2 2 2
10
Electrical & Mechanical Relationships
Electrical system: d
v iR (voltage)
dt
d
vi i R i
2
(power)
dt
Mechanical system:
2 d
J Tm Te T f (torque)
P dt
2 d 2
2
2 2
J Tm Te T f (power)
P dt P P P
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Derive Torque
• Torque is derived by looking at the overall energy
balance in the system
• Three systems: electrical, mechanical and the coupling
magnetic field
– Electrical system losses in form of resistance
– Mechanical system losses in the form of friction
• Coupling field is assumed to be lossless, hence we can
track how energy moves between the electrical and
mechanical systems
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Energy Conversion
Plost rs ia2 ib2 ic2 r fd i 2fd r1d i12d r1qi12q r2qi22q
elect
da db dc d fd d1d
Ptrans ia ib ic i fd i1d
elect dt dt dt dt dt
d1q d2q
i1q i2q
dt dt
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With the Transformed Variables
3 3
Pin vd id vqiq 3voio v fd i fd v1d i1d
elect 2 2
v1qi1q v2qi2q
3 2 3 2
Plost rsid rsiq 3rsio2 r fd i 2fd r1d i12d
elect 2 2
r1qi12q r2qi22q
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With the Transformed Variables
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Change in Coupling Field Energy
dW f 2 d da db
Te ia ib
dt P dt dt dt
dc d fd d1d
ic i fd i1d
dt dt dt
d1q d2 q
i1q i2 q
dt dt
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Change in Coupling Field Energy
For independent states , a, b, c, fd, 1d, 1q, 2q
dW f W f d W f da W f db
dt dt a dt b dt
W f dc W f d fd W f d1d
c dt fd dt 1d dt
W f d1q W f d2 q
1q dt 2 q dt
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Equate the Coefficients
2 W f W f
Te ia etc.
P a
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Equate the Coefficients
W f
3P
shaft 2 2
d iq qid Te
W f 3 W f3 W f
id , iq , 3io
d 2 q 2 o
W f W f W f W f
i fd , i1d , i1q , i2 q
fd 1d 1q 2 q
These are key conditions – i.e. the first one gives an
expression for the torque in terms of the coupling field energy.
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Coupling Field Energy
• The coupling field energy is calculated using a path
independent integration
– For integral to be path independent, the partial derivatives of
all integrands with respect to the other states must be equal
3 id i fd
For example,
2 fd d
• Since integration is path independent, choose a
convenient path
– Start with a de-energized system so all variables are zero
– Integrate shaft position while other variables are zero, hence
no energy
– Integrate sources in sequence with shaft at final shaft value
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Do the Integration
shaft
W f W fo
o
3 P ˆ
i
2 2 d q ˆ i
qd ˆ
d shaft
shaft
d q o
3 3
id d d iq d ˆq 3io d ˆo
ˆ
o 2 o 2
d q oo
fd 1d 1q 2q
i fd d ˆ fd i1d d ˆ1d i1q d ˆ1q i2q d ˆ2q
ofd 1od 1oq 2oq
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Torque
• Assume: iq, id, io, ifd, i1d, i1q, i2q are independent of shaft
(current/flux linkage relationship is independent of
shaft)
• Then Wf will be independent of shaft as well
• Since we have
W f
shaft
3P
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d iq q id Te 0
Te
3P
22
d iq qid
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Define Unscaled Variables
P d fd
shaft st r fd i fd v fd
2 dt
d 1d
s is the rated r1d i1d v1d
dt
synchronous speed
d plays an important role! d 1q
r1qi1q v1q
d d dt
rsid q vd d 2 q
dt r2 qi2 q v2 q
d q dt
rsiq d vq
dt d
s
d o dt
rsio vo 2 d 3 P
dt J
p dt 2 2
Tm d iq qid T f
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Convert to Per Unit
• As with power flow, values are usually expressed in per
unit, here on the machine power rating
VBase I Base PBase
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Convert to Per Unit
va vb vc
Va , Vb , Vc ,
VBABC VBABC VBABC
ia ib ic
Ia , Ib , Ic
I BABC I BABC I BABC
a b c
a , b , c
BABC BABC BABC
where VBABC is rated RMS line-to-neutral stator
voltage and
PB VBABC
I BABC , BABC
3VBABC B
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Convert to Per Unit
vd vq vo
Vd , Vq , Vo ,
VBDQ VBDQ VBDQ
id iq io
Id , Iq , Io
I BDQ I BDQ I BDQ
d q o
d , q , o
BDQ BDQ BDQ
where VBDQ is rated peak line-to-neutral stator voltage
and
2 PB VBDQ
I BDQ , BDQ
3VBDQ B
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Convert to Per Unit
v fd v1d v1q v2 q
V fd , V1d , V1q , V2 q
VBFD VB1D VB1Q VB 2Q
i fd i1d i1q i2 q
I fd , I1d , I1q , I 2q
I BFD I B1D I B1Q I B 2Q
fd 1d 1q 2 q
fd , 1d , 1q , 2q
BFD B1D B1Q B 2Q
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Convert to Per Unit
• Almost done with the per unit conversions! Finally
define inertia constants and torque
2
1 2
J (B )
H 2 P , M 2H
SB s
Tm Te T fw SB
TM , TELEC , TFW , TB
TB TB TB 2
B
P
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Synchronous Machine Equations
1 d d
Rs I d q Vd 1 d fd
R fd I fd V fd
s dt s s dt
1 d q 1 d 1d
Rs I q d Vq R1d I1d V1d
s dt s s dt
1 d o
Rs I o Vo 1 d 1q
s dt R1q I1q V1q
s dt
1 d 2 q
R2 q I 2 V2 q
s dt
d
s
dt
2 H d
s dt
TM d I q q I d TFW
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Sinusoidal Steady-State
Va 2Vs cos st vs
2
Here we consider the
Vb 2Vs cos st vs application
3
2 to balanced, sinusoidal
Vc 2Vs cos st vs conditions
3
I a 2I s cos st is
2
Ib 2I s cos st is
3
2
I c 2I s cos st is
3
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Transforming to dq0
2VsVBABC P
Vd sin shaft st vs
VBDQ 2
2VsVBABC P
Vq cos shaft st vs
VBDQ 2
Vo 0
2 I s I BABC P
Id
I BDQ sin shaft st is
2
2 I s I BABC P
Iq cos t is
I BDQ 2
shaft s
Io 0
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Simplifying Using
• Recall that P
shaft st
2
The conclusion is
Vd Vs sin vs if we know , then
• Hence Vq Vs cos vs we can easily relate
I d I s sin is the phase to the dq
I q I s cos is values!
• These algebraic equations can be written as
complex equations,
Vd jVq e j / 2
Vs e
j vs
Id jIq e j / 2
I se
jis
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Summary So Far
• The model as developed so far has been derived using
the following assumptions
– The stator has three coils in a balanced configuration, spaced
120 electrical degrees apart
– Rotor has four coils in a balanced configuration located 90
electrical degrees apart
– Relationship between the flux linkages and currents must
reflect a conservative coupling field
– The relationships between the flux linkages and currents must
be independent of shaft when expressed in the dq0 coordinate
system
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Assuming a Linear Magnetic Circuit
• If the flux linkages are assumed to be a linear function
of the currents then we can write
a ia The rotor
ib
b Lss shaft
Lsr shaft
self-
inductance
c ic
i matrix
fd fd Lrr is
1d i1d
independent
Lrs shaft Lrr shaft i of shaft
1q 1q
2 q i2 q
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Inductive Dependence on Shaft Angle
L12 = - maximum
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Stator Inductances
• The self inductance for each stator winding has a
portion that is due to the leakage flux which does not
cross the air gap, Lls
• The other portion of the self inductance is due to flux
crossing the air gap and can be modeled for phase a as
LA LB cos( P shaft )
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Conversion to dq0 for Angle
Independence
d L s Lmd id Lsfd i fd Ls1d i1d 3
Lmd LA LB ,
3 3
fd Lsfd id L fdfd i fd L fd 1d i1d 3
2 Lmq LA LB
3 3
1d Ls1d id L fd 1d i fd L1d 1d i1d
2
q L s Lmq iq Ls1qi1q Ls 2 qi2 q
3
1q Ls1qiq L1q1qi1q L1q 2 qi2 q
2
3
2 q Ls 2 qiq L1q 2 qi1q L2 q 2 qi2 q
2
o L sio
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Convert to Normalized at f = s
• Convert to per unit, and assume frequency of s
• Then define new per unit reactance variables
s L s s Lmd s Lmq
X s , X md , X mq
Z BDQ Z BDQ Z BDQ
s L fdfd s L1d 1d s L fd 1d Lsfd
X fd , X 1d , X fd 1d
Z BFD Z B1D Z BFD Ls1d
s L1q1q s L2q 2q s L1q 2q Ls1q
X 1q , X 2q , X 1q 2q
Z B1Q Z B2Q Z B1Q Ls 2q
X fd X fd X md , X 1d X 1d X md
X 1q X 1q X mq , X 2q X 2 q X mq
Xd X s X md , Xq X s X mq
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Normalized Equations
d X d I d X md I fd X md I1d
fd X md I d X fd I fd cd X md I1d
1d X md I d cd X md I fd X 1d I1d
X fd 1d X1q 2 q
cd 1 cd
X md
, cq
X mq
q X q I q X mq I1q X mq I 2q
1q X mq I q X1q I1q cq X mq I 2 q
2 q X mq I q cq X mq I1q X 2 q I 2 q
cq 1
o X s Io
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