Lec10 PDF

Power System Dynamics
Prof. M. L. Kothari
Department of Electrical Engineering
Indian Institute of Technology, Delhi
Lecture -10
Modeling of Synchronous Machine (Contd.)

Okay, friends today we will continue with the study of modeling of synchronous machine.

(Refer Slide Time: 01:07)

Today we will address some of these issues per unit system for rotor circuits, per unit power and
torque and alternative transformations. We have discussed dqO transformation and we will also
talk about the alternative transformation which has also been proposed in the literature and then
we then, we will talk about the steady state analysis of the synchronous machine. Now we have
developed the per unit equations for the stator circuits. Okay we have also developed that to the
per unit equations for rotor circuits.




Now these terms were defined and the definitions were given like this L
afd
bar equal to L
afd

divided by L
sbase
, i
fdbase
divided by s base that is these three terms were defined that they are
basically in the stator circuit equations you see this that the stator circuit flux linkage equations
psi d, psi q and psi o.



Therefore in these three equations we had defined these per unit inductances now these per unit
inductances are the mutual inductances okay.


Similarly, when we talked about the per unit rotor flux linkage equations, we had define these
terms these mutual terms L
fkd
, L
fda
these are all per unit quantities which were defined.


Now, now we want to establish the per unit system for the rotor. Now when I am trying to say
per unit system for the rotor in the sense that we have chosen the base quantities in the stator
circuits. Now how should we choose the base quantities for the rotor circuits, the rotor circuits
are rotor field winding and rotor amortisseurs. Okay now the primary consideration for choosing
the base quantities in the rotor are to simplify the the flux linkage equations to make this flux
linkage equation as simple as possible.

Now one requirement which we have put is or one way of simplifying is we make mutual
inductances between different windings reciprocal. We make mutual inductances between
different windings reciprocal. Now when I say that we make these mutual inductances reciprocal
in the sense that you there is a mutual inductance between the stator winding and the field
winding okay.

Now the if I write down the mutual inductance between the stator winding and field winding I
can write down L
afd
. When I write down between field winding and stator winding it can written
as L
fda
we want to make these two inductances equal. So that that is what is the meaning of
reciprocal okay another thing which we would do to simplify the equations will be that the
mutual inductances between stator and rotor circuits on each axis are to be equal that is when I
say each axis means, we have two axis d axis and q axis. The on the d axis we have the stator
direct axis winding, field winding and amortisseurs on the d axis therefore, there exists mutual
inductances between these windings we would like to make them equal.

Similarly, there exists mutual inductance between the q axis winding on the stator and q axis
amortisseur we want to make these mutual inductance also equal therefore we are trying to do
two things, one is that we will try to make or we will make the mutual inductances reciprocal and
the mutual inductances on each axis equal okay.

Now this will simplify the equations to a great extent. Now how do how do we make the mutual
inductances reciprocal, now to make the mutual inductance reciprocal you just look at the
suppose you look actually this equation I just put this, this is slightly I have to make that I think
L
akd
. Okay, now this L
akd
and another is L
kda
we want to make them equal okay. Now these
quantities were defined now when to make them equal reciprocal, okay so that what is to be done
is that we equate the expression for this with the expression for L
kda
,

okay.


Now we will start first that is let us say that we want to make the per unit mutual inductance L
fkd

equal to per unit mutual inductance L
kdf
right that is the amortisseur and field winding, okay that
is these are the two, you know mutual inductances one between between field winding and
amortisseur another is between amortisseur and field winding and want to make these reciprocal.

Now these quantities were defined now as per the definition this quantity L bar fkd that is the per
unit mutual inductance between field and amortisseur windings were defined like this that is L
fkd

upon L
fdbase
, i
kdbase
upon ifdbase that is in the denominator here is L
fdbase
, i
fdbase
here you have
L
kdbase
, i
kdbase
. Now this is by definition which we have defined actually when we wrote the
equations for flux linkage equations in the rotor circuit. Now when we equate these two, okay we
will get this expression that is you just cross multiply

You will find that it becomes L
kdbase
into i
kdbase
square equal to L
fdbase
, i
fdbase
square you can just
check it it comes out to be like this that is i
kdbase
comes from this side, so okay and this these two
cancel out they are equal okay and we get this equation. Now here what we do is we multiply
both sides of this equation by omega base, once you multiply by omega base it becomes L omega
base into Lkdbase, ikdbase square similarly, omega base equal to Lfdbase into ifdbase square.


Now you can identify this quantity omega L into i this quantity this is actually the voltage this is
a voltage therefore I take this base frequency in radiance per second the base inductance and
multiply this by current, base current this will come out to be base voltage okay and now we are
taking these quantities for amortisseur the quantities are for amortisseur L
kd
i
kd
therefore the base
voltage will become the amortisseur circuit base voltage this d axis amortisseur circuit base
voltage similarly, here.


Now when you do this you will find this is very important relationship that is the base voltage in
the direct axis amortisseur circuit multiplied by the base current in the direct axis amortisseur
circuit this product must be equal to the the base voltage in the field circuit into base current in
the field circuit, it is very simple that is the the base v
i
in the amortisseur circuit should be equal
to base v
i
in the field circuit

Now if you do this you will find actually that the mutual mutual inductances right between the
field winding and the amortisseur winding will become reciprocal. Okay therefore this is one
important requirement that base VA in the field circuit should be same as the base VA in the
amortisseur circuit now we do one similar exercise for mutual inductance between the stator
winding that is the stator direct axis winding and the field winding that is stator and field that is
L
afd
, we want to make this as L
fda
that we want to make these two per unit mutual inductances
equal right now these quantities were again defined when we wrote the equations for flux
linkages okay.


Now when we equate this two terms and follow the same procedure as we have done for the for
the mutual inductance between field and amortisseur. Okay therefore here again we come to very
important result and that result is that vibase, v is that is the efd base into ifd base that is the
vibase in the field circuit comes out to be equal to 3 phase VAbase for stator, 3 phase VAbase for
the stator that is in the stator circuit when you assume that the the base voltage as peak value of
the phase voltage, the the base current in the stator circuit is the peak value of the phase current
and we have established that this quantity is equal to 3 times VA, 3 times VAbase for the stator
that is 3 phase VAbase for the stator the total volt ampere rating right.

Therefore, this is a very important relationship because in the we have also established the
relationship that the base VA in the kd circuit direct axis amortisseur should be same as that in

the field circuit it means now we can conclude actually that these 3 windings one in the field
winding, another stator winding, third amortisseur winding, direct axis amortisseur winding.


Now if you want to make this mutual inductances reciprocal then the volt ampere rating or volt
ampere base in the stator circuit must be equal to the volt ampere base in the field circuit and volt
ampere base in the amortisseur circuit because in the stator with the the volt ampere base is equal
to the 3 phase VA
base
3 phase VA total MVA rating.


Okay this is exactly similar to what you normally do in any system we take total 3 phase MVA
as the base quantity and then we talk about the base for the rotor circuits we find actually that but
rotor circuit now if the field circuit if you consider it it has a applied voltage Vefd and the current
flowing is ifd therefore efdbase into base ifdbase becomes the this product becomes the VAbase
for the field circuit therefore this one condition will be established that if we want to make, we
want to make the mutual inductances between the circuits reciprocal then this is the criteria
required for choosing the VAbase for these circuits, okay.

Now this the similar exercises have to be done for for quadrature axis, stator winding and the
quadrature axis amortisseur because so for we have talked about the d axis and here also we
established the relationship and the relationship is that ekqbase into ikqbase is equal to 3 by 2
esbase into isbase not now this quantity is nothing but the 3 phase VAbase for the stator
therefore ultimately what is our conclusion that all the circuits state all the all the circuits that is
all which are in the rotor field circuit, amortisseur circuits right these would have their VAbase
equal to the 3 times or 3 phase VAbase of the stator circuit this is the and this will make all the
mutual inductances reciprocal.


Therefore, now I conclude here that in in order to satisfy the requirement that per unit mutual
inductances between again the emphasis is that we are trying to make the per until mutual
inductances reciprocal actual mutual inductances which exist, we have seen actually that they are
not reciprocal when you see the actual equations which we have written right they are they
appear in the equations in a different fashion between different windings the reciprocal okay and
the requirement is that VAbase must be same and equal to the stator 3 phase VAbase, this is the
main conclusion okay.


Now the next requirement which we have posed here is posed here is that the mutual inductances
on the same axis we want to make them equal first we make them reciprocal and then
requirement was there want to make them equal.


Now to make them equal we we define the per unit self inductance of the d axis winding, d axis
stator winding as leakage inductance per unit leakage inductance plus per unit mutual inductance

that is when you look at the d axis winding on the stator. Okay the total per unit inductance is
defined as L
d
bar you know this bar stands for rotor super bar stands for per unit.

Now the total flux which is produced right which links the d axis winding does not pass through
the field circuit or the amortisseur circuits d axis amortisseur circuit there is some flux which is
the local leakage flux therefore this L
l
is accounts for the inductance of the d axis stator winding
due to leakage. Okay therefore this is this becomes our mutual inductance L
ad
bar similarly, for q
axis.


Now here our requirement is that in order to make all per unit mutual inductances between stator
and rotor circuits in the d axis equal that is we have in the stator circuit a fictitious d axis winding
okay and the rotor circuit we have on the d axis two windings okay and we want to make them
equal for making them equal or this by definition this is actual value of mutual inductance L
ad

divided by the L
sbase
okay and this this is equal to L
afd
which has which was earlier defined by
this expression when we wrote the wrote the mutual or we can say when we write the
expressions for the psi d psi q and psi naught right, the L
afd
was defined like this per unit value of
L
afd
was defined by this expression that you can refer to the pervious equations okay.

Similarly, now we want to make L
ad
to equal to the per until L
akd
okay while L
akd
was defined by
this expression. Okay now what we want that we equate these 2 as we did in the previous case
and when we equates these 2 we come to one very important relationship that the i
fdbase
should be
equal to L
ad
upon L
afd
, i
sbase
. Similarly, i
kdbase
comes out to be L
ad
upon L
akd
divided by L
sbase
while
these quantities are the actual inductances, actual mutual inductances right while what we trying
to make them equal are the per unit mutual inductances. Okay, now this this gives a relationship
that suppose I have chosen the stator base current then the base current in the field circuit should
be given by this equation.



Similarly, if I choose in the base current in the stator as is base then the base current in the
amortisseur circuit, direct axis amortisseur circuits will be given by this expression. Okay
similarly you can do for q axis also that is q axis will give you that i
kq
base should be equal to L
aq

divided by L
akq
, i
sbase
I hope you understand this one is this is this is a straight forward okay, what
we are trying to do is that what we want to make them equal. We want to make the per unit per
unit the mutual inductances on the same axis d axis equal that is right, we want to make L
ad
per
unit equal to L
afd
which is the definition of L
ad
same as L
fd
we want to make this L
akd
and L
afd

equal to make them equal you equate these quantities which was the basic definitions for this per
unit L
afd
and per unit L
akd
.



Okay, and we finally get the relationship that the field currents base value of field current base
value of the amortisseur circuit current and the base value of the quadrature axis amortisseur
therefore current are expressed in terms of the stator, the stator circuit base current okay
Similarly, we had also established that VA base for all the rotor circuits in terms of the 3phase

VA base of the stator and therefore since actually when I talk about the VA that the field voltage
base into ah field voltage current base okay.

Now this product is equal to the three phase VA of the stator current right but the individually
currents will be defined by this expression now once the current is current base is given for these
circuits the , we compute the voltage base for the rotor circuits using the previous relationship I
hope it is clear to all of you now once we have done this and define the the model for the
synchronous machine is complete, the synchronous machine model is complete we for all for all
further discussions what we will do is that this super bar which we had put to identify these
quantities as the per unit quantities we will drop it but we will always keep in our mind that these
are per unit quantities once these are per unit quantity because every time writing super bar is not
very convenient okay.


Now further we can express the per unit power and torque per unit power and torque the in our
previous derivations the terminal power, total terminal real power was expressed as 3 by 2 e
d
, i
d
,
e
q
, i
q
plus 2 times e
o
, i
o
. Okay that you can recollect now here what you do is that you replace all
these quantities by that is you divide by base 3 phase base VA of the stator here that is you
divide this by base volt ampere, you divide all these quantities by the base voltage and currents
when you do this exercise the power in per unit can be written as ed bar id bar plus eq bar iq bar
plus 2 times eo bar io bar.


Okay that is only thing which happens is that 3 by 2 term which appears in this expression
disappears in the expression for per unit generator power, okay other expressions are same
except that the per unit quantities this exercise I will just suggest you to verify, you substitute the
values and then you verify that you get these 3 by 2 is then we obtained the per unit electrical
torque or air gap torque which will come out to be equal to per unit direct axis flux linkage psi d
into i
q
minus psi q into i
d
. In fact this this is the most important expression when we talk about
the synchronous machine model why is this expression is, so important can you tell me.

Other, other stator circuit rotor circuit equations are also ah equally important right because that
gives the model complete model we have to write down the stator circuit equations, rotor circuit
equations, stator circuit flux linkages, rotor circuit flux linkages. Okay and all these things have
to be written in per unit by establishing proper per unit base but when I say that the per unit air
gap torque is given by this expression and this is quite important, can you tell me why? yes
instead of calculating the torque in terms of three phase we are getting the torque just by 2
values. No, because the torque is computed in per unit using the per unit flux linkages and per
unit currents this expression is going to be used in our swing equation.

When you have written the swing equation in the swing equation, we have to write down
mechanical torque minus electrical torque and this this is the electrical torque that will come in
the swing equation okay.


I will just mention briefly about alternative per unit systems and transformation that is the dqO
transformation which we discussed till now and another form of dqo transformation which has
been discussed in the literature and also used by some people. Here, in this the the dqo quantities
are expressed in terms of this transformation matrix into the phase currents that is the phase
variables i
a
, i
b
and i
c
.


Now if you see this transformation matrix the main difference here is that the dqO
transformation which we used right this quantity or this term kd this is a kd was a kd or kq they
have both taken equal to 2 by 3. Here they are taken as square root of 2 by 3 and correspondingly
the the last row that is the third row the terms become instead of 1 by 2, it becomes square root
of 1 by 2 and so on.

Now with this transformation if you write the inverse transformation that is you write down the
phase currents i
a
, i
b
and i
c
in terms of dqo quantities right. Then this this this becomes the inverse
of our transformation matrix, this is the transformation matrix we use therefore if you invert this
matrix right then we can write down using this inverted matrix the relationship between the
phase currents i
a
, i
b
and i
c
in terms of dqO components. This inverse if you just see here then this
inverse is nothing but the transpose transpose of the transformation matrix.

You just see here actually that this row is the column here right while this row appears as column
in the inverse okay and therefore this is this inverse this is the inverse of the transformation
matrix but is also the the transpose of the transformation matrix. Now whenever you have this
type of situation we call this transformation as orthogonal transformation now when you resort to
this transformation one very important result which we get is like this.


The terminal power P
t
right which when we write down as e
a
into i
a
plus e
b
into i
b
plus e
c
into i
c

this is a terminal power okay. This P
t
is average or instantaneous, instantaneous but what is
average?

The average and instantaneous become equal in a 3 phase system, 3 phase system the total power
is total or the average power is constant, instant we say instant is power we calculate this sum

will come out to be equal to average power right therefore now if you substitute here that is you
write this equation, that is this equation can be written as P
t
can be written as e
a
, e
b
, e
c
multiplied
by i
a
, i
b
, i
c
is it not this expression is written you can put in the matrix form this is row vector
multiplied by this column vector this will give you e
a
, i
a
plus e
b
, i
b
plus e
c
, i
c
. Now you replace
this row vector by dqO components you replace this also by dqO components and multiply these
2 matrices when you do this multiplication the end result comes out to be of this form that is the
P
t
will come out to be equal to e
d
, i
d
plus e
q
, i
q
plus e
o
, i
o
it is something like this that when I had
3 voltages and 3 currents okay I got the terminal power by multiplying this quantity.


Similarly, I have now the direct axis voltage quadrature axis voltage and zero sequence voltage
similarly the direct axis current quadrature axis current and zero sequence current I multiply and
add this comes out to be equal to right now for this this type of therefore this transformation is
called power invariant transformation, power invariant transformation and it has some merits
which has been discussed in literature but it has some demerits also and that is why in most of
the models which have been developed the dqo transformation which was discussed earlier is
used where we use k
d
and k
q
equal to 2 by 3. Okay having developed the synchronous machine
model you have developed is synchronous machine model completely in using per unit quantities
and the model is developed in dqo frame of reference okay.

Now this model is the complete model and now what we will study from this point onwards will
be first we will study the steady state aspect okay and then we will go how this model can be
simplified for our stability studies. Okay that is this is the complete model actually right but
sometimes we can make some assumptions and simplify the model okay and how do we simplify
this model which will be suitable for stability studies that is what we will study in the subsequent
lectures.


Now let us quickly do the steady state analysis because steady state analysis is one which is
known to everybody all of you know this analysis but now we will develop the steady state
equations for the machine starting from our dynamic model of the synchronous machine. Okay
now when we talk about steady state conditions we are presuming that the synchronous machine
is operating under steady state condition and the stator currents and voltages are balanced 3phase
currents and voltages that is this is the assumption that these steady state operating condition and
the stator and stator quantity stator currents as well as the stator voltages are balanced.


With this assumption once it is steady state this derivative terms will be absent, in the steady
state condition we do not have anything like d by dt of psi suppose, I take this psi will be
constant therefore this derivative term derivative term will be absent, second is that all all zero
sequence terms will also be absent because it is a balanced 3 phase system okay.

With this assumption the stator circuit equations can be written now in per unit again remember
that these are all per unit stator circuit equations the bar is not written here while the stator circuit
equations are written in the form ed equal to minus omega r psi q minus R
a
i
d
e
q
equal to omega r
psi d minus Raid and efd equal to R
fd
, i
fd
it is very simple actually, you can just in all the 3
equations the p psi d terms have been p psi terms that is the derivative terms have been set equal
to 0 okay.

Now under a steady state operating condition the rotor speed is equal to synchronous speed
therefore, we substitute here omega r equal to omega s and in a per unit system we will see that
omega r is equal to omega s equal to 1. Okay now these are the 3 voltage equations these 2
voltage equations for the stator circuit this voltage equation for the field winding and these are
the flux linkage equations that is psi d and psi q in per unit quantities they are all per unit terms
we have not done anything except that except that in these equations the the derivative terms
have been set equal to 0 right. Another thing while writing here we have also set the mutual
inductances per unit mutual inductances on the d axis windings are equal right therefore, you will
find here actually when you write down this psi d is L
ad
i
fd
.


We will write down psi fd again I have put Lad because the mutual inductance is mutual
inductance between the stator d axis winding and the field winding have been made equal in per
unit in per unit system okay. Therefore, this simply appears as Lad okay. Further actually when
we have written these equations suppose there is one amortisseur on the d axis k becomes one

here, suppose you take 1 or 2 amortisseurs on the q axis one will, one equation will be for psi 1q
there is a second amortisseur will be psi 2q right and they will be written in the by the same
equation minus Laq iq why the same Laq will come because mutual inductances between the 2
amortisseur on the q axis, when expression per unit are equal.



Therefore, this is okay now here we can just derive one simple expression for field current what
we do is that in these equations just start with this. Suppose you take my interest is to write down

what will be the value of field current required or field current in per unit required to produce the
required steady state operating condition. So that using this expression you can write down the
expression for ifd that is ifd is written first here as psi d plus L
d
i
d
divided by L
ad
and then this psi
d that is the per unit flux linkages in the d axis will be replaced by the this equation psi d equal to
minus L
d
i
d
not not here actually this psi d because we will resort back to our stator winding
equations that is psi d can be written using this equation. Okay that is e
q
equal to omega r psi d
minus R
aiq
okay and when we make these substitutions here we get very important relationship
is this relationship that is the field current which is required to produce certain value of e
q
the i
q
,
i
d
with these quantities known they are all the circuit machine parameters.

Now stator per unit stator resistance per unit direct axis inductance, per unit mutual inductance
between direct axis and the field winding these are all now circuit parameters or synchronous
machine parameters they are all known. Okay and therefore when system is operating with some
load the that load will determine i
q
and i
d
, okay and to have then for a particular value of e
q
this is
the value of i
fd
required therefore for all our studies actually as we will see further when we talk
about the models of the synchronous machine for our stability studies this information is required
but this is simply obtained using those equations that is the stator circuit equations flux linkage
equations and making some appropriate substitutions.

Now we use this omega r is equal to omega s and this omega s into L
d
we will represent by x
d

omega s into L
d
will be represented by x
d
right. Similarly, you can see omega s into L
ad
will be
represented by x
ad
reactance omega L is equal to reactance always okay.


Therefore if this equation is written again exactly the same but instead of writing in terms of the
per unit per unit d axis inductance and mutual inductance which is written in terms of X
d
and X
ad

X
d
is the direct axis direct axis reactance while X
ad
is the mutual reactance between between the
field and the d axis winding.


Now we will quickly see, now the phasor representation before we talk about the phasor
representation let us reinstate the some of the facts. Under steady state conditions the i
d
, i
q
these
two currents these two currents are constant in magnitude therefore basically the current flowing
in the fictitious d axis winding and the fictitious q axis winding are dc current direct currents.

Similarly, the e
d
and e
q
they came out to be constant voltages that we have already established
under steady state operating conditions. Now the question arises is that the when we, when we
draw a phasor diagram right all the phasor are corresponding to a sinusoidally varying quantity
that is all the quantities which vary sinusoidally and having the same frequency right can be
represented in the phasor diagram. Okay but here also although these quantities are constant in
magnitude because of certain trigonometrical relations which exist we will be in a position to
represent this d and q axis voltage and currents as phasor but with the with the clear clear
understanding in our mind that d and q axis quantities are scalars.

\The e
d
, e
q
,

i
d
, i
q
they are scalars right but because there exists trigonometrical relationships
between the certain phasors and the d and q axis components therefore we can represent these
quantities in the phasor diagram. Now to start with let us say that we have a balanced steady state
operation the phase voltages are given by these equations. Okay that is e
a
is equal to E
m
cos
omega s t plus alpha alpha is some arbitrary angle a reference angle or may be to start with and
this e
b
is lagging by 2 by 3, 2 phi by 3,120 degrees e
c
by leading by 2 phi by 3. Now you apply
dqO transformation to this equation.


When you apply the dqo transformation you will get the d axis component e
d
and q axis
component e
q
as E
m
cos omega st plus alpha minus theta E
m
sin omega st plus that is in fact when
you apply this transformation right to arrive at this result we have to make use of many
trigonometrical identities that is when you when you when you put these equations right e
a
e
b
and
e
c
this this column vector in that transformation matrix.


You will find actually that this trigonometrical terms will have to be multiplied with the elements
of that matrix transformation matrix and finally to come to this result you may have to use
number of trigonometrical identities. Okay and the final result is going to be in this form okay.

Now we can represent the angular position theta as omega r into t plus theta o and omega r is
same as omega s because it is a steady state operating condition. Now when you make this
substitution ed comes out to be equal to e
m
cos alpha minus theta o e
q
comes out to be equal to e
m

sin alpha minus theta. Okay and therefore in this equation when we find here in this equation the
there is no term like omega st right and therefore e
d
is constant it depends upon the peak value of
the stator phase voltage and the alpha and theta naught, okay that is why I said that this e
d
and e
q

come out to be scalar quantities under steady state operating conditions.


Now e
d
and e
m
the e
d
is d axis voltage and is in per unit. Okay now we are more more
comfortable when we use the RMS value of the voltage rather than using the peak value of the
voltage. Now suppose, I assume the peak value of the stator voltage as my stator base voltage
then RMS value RMS value of the stator base voltage when it is expressed per unit will come out
be same as the peak value. It is something like this that I have chosen the base voltage in the
stator circuit and that base voltage is peak value of the per phase per unit of the phase to neutral
voltage.

Okay now if I want to express ah any quantity in terms of this then they are expressed in terms of
the peak value. Now if suppose I have chosen the stator base voltage as peak voltage I want to
chose the the base voltage in terms of RMS value, then it is automatically going to be the base
voltage which is the peak value divided by root two and therefore if you express these quantities
that is e
d
and e
q
not in terms of peak values but in terms of RMS value the equation will remain
same because the base values of the stator voltage, when it is expressed as a in terms of peak or

where it is expressed in terms of RMS value they will have a relationship of one by root 2.
Suppose I take the stator base as 100 volts then this is a peak value then RMS value, RMS base
value will be equal to 100 by root 2 and therefore this equation can be written in terms of the
RMS value now I put et, et as the RMS value and it remains same there is absolutely no change
this is also per unit, this is also per unit okay.



Now when we represent these quantities in the phasor diagram it will look like this. Let us say
this is the terminal voltage phasor I represent this E
t
tilde putting this as a phasor quantity
because we use bar earlier super bar earlier for representing the bar per unit quantities because
that is why we are putting E
t
tilde and let us show that this is my d axis, this is the q axis, q axis
lead d axis by 90 degrees and here the angle is alpha minus theta because you have seen here
actually that the angles comes out to be alpha minus theta o right. Then, then e
d
is represented by
Et cosine alpha minus theta o and e
q
is equal to e
t
sin alpha minus theta o therefore, this phasor
diagram, phasor phasor diagram is expressing these quantities e
d
, e
q
in terms of E
t
.

Similarly, you can draw a phasor diagram showing the currents. Let us say this is my terminal
voltage phasor so this is the current phasor and let us say that phase difference between the
voltages and current is phi right.


Then we can express express the d and q axis components of current as E
t
, I am sorry current
can be expressed as i
d
equal to I
t
sin delta i plus phi i
q
is equal to I
t
cos delta i plus phi. This
exercise is done similarly to what we did for voltages right therefore in the phasor diagram I can
simply show I
t
equal to i
d
plus j times i
q
okay and the diagram I have just now shown to you,
okay.

Now here the angle between the q axis and the terminal voltage we will denote by delta i. Okay
now one small exercise which is important exercise to be done is done is to establish the position
of d and q axis with respect to the terminal voltage that is I know the terminal voltage and with
this terminal voltage as phasor I have to establish what is the position of q axis what is the
position that is if I establish the position of q axis I can automatically get the position of d axis,
now to establish this, now the some of these are equations are all repeated that you know the e
d
is
given by this expression, we have already established.



To establish the relationship what we do here is we will define a voltage e
q
, a phasor e
q
as
terminal voltage plus R
a
plus j times X
q
into I
t
. This is an this relationship is a very well known
to all of us right that is just start like this that my my intension is that to establish relationship
between the terminal voltage and the d and q axis, we define a voltage e
q
as E
t
plus this
impedance R
a
plus j times X
q
into I
t
.

With this definition and we substitute the expression for ed E
t
as e
d
plus j times e
q
and I
t
as i
d

plus j times i
q
and we make simplifications that is you multiply and simplify this expression. You
will find that e
q
comes out to be j times X
ad
, i
fd
minus X
d
minus X
q
i
d
what this what does we get
from this equation, what this equation conveys to us. This equation conveys that this voltage e
q

which I have assumed right is in quadrature with d axis that is the axis this is along q axis not
part of it it is of course quadrature of d axis but it is along q axis because our reference with
reference to the reference this quantity is I had by 90 degrees that is j term is existing because the
other terms are all scalars here actually the terms are all scalar.


Okay and therefore the phasor diagram which I draw here showing this E
t
plus R
a
I
t
plus X
q
I
t

this gives a voltage E
q
that is with respect to this terminal voltage E
t
the position of E
q
comes out
to be along q axis right and therefore we have now established a relationship between between
the terminal voltage and q axis and once we establish relationship d axis position is known and
all further computations can be done the moment we know the d
q
and other quantities. Friends I
will conclude my presentation here by by summarizing what we have done in this lecture. First,
thing that we have established the base volt amperes for the rotor circuit.

We have also established the how to choose the base current for the rotor circuits in order to
make the mutual inductances reciprocal and also to make the mutual inductances on d axis and
mutual inductances on q axis equal. Okay then we have also established the steady state relations
and developed a simple phasor diagram to show that, to show that the the q axis can be obtained
by obtaining the position of a phasor which is equal to terminal voltage plus plus an impedance
equal to R
a
plus j times X
q
multiplied by the current that is if you compute this quantity e
q
equal
to terminal voltage plus impedance that is R
a
plus j times X
q
multiplied by the current this gives
me the position of q axis, okay. Thank you!

Lec10 PDF

Uploaded by

Copyright:

Available Formats

Lec10 PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Lec10 PDF

Uploaded by

Copyright:

Available Formats

Power System Dynamics

You might also like