ECEG-6308

POWER SYSTEM DYNAMICS AND TRANSIENTS

UNIT I
SYNCHRONOUS MACHINE MODELLING

K.SARAVANAN,
Assistant Professor/ECE,
Power Systems,
Jimma University.
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Power System Dynamics:
An electrical power system consists of many individual elements connected together to
form a large, complex and dynamic system capable of generating, transmitting and
distributing electrical energy over a large geographical area.
Because of this interconnection of elements, a large variety of dynamic interactions are
possible, some of which will only affect some of the elements, others are fragments of the
system, while others may affect the system as a whole.
 As each dynamic effect displays certain unique features.
Power system dynamics can be conveniently divided into groups characterized by their
cause, magnitude, time frame, physical character or the place in the system where they
occur.
 The prime concern is the way the power system will respond to the two main causes of
power system dynamics (i) To changing power demand and (ii) To various types of
disturbance,.
(i) A changing power demand introduces a wide spectrum of dynamic changes into the
system each of which occurs on a different time scale.
In this context the fastest dynamics are due to sudden changes in demand and are
associated with the transfer of energy between the rotating masses in the generators and the
loads.
 Slightly slower are the voltage and frequency control actions needed to maintain
system operating conditions until finally the very slow dynamics corresponding to the way in
which the generation is adjusted to meet the slow daily demand variations take effect.
(ii) Similarly, the way in which the system responds to disturbances also covers a wide
spectrum of dynamics and associated time frames. 2
Classification of Power System Dynamics
In this case the fastest dynamics are those associated with the very fast wave phenomena that
occur in high-voltage transmission lines.
These are followed by fast electromagnetic changes in the electrical machines themselves
before the relatively slow electromechanical rotor oscillations occur.
 Finally the very slow prime mover and automatic generation control actions take effect.
Based on their physical character, the different power system dynamics may be divided into
four groups defined as: wave, electromagnetic, electromechanical and thermodynamic.

Figure : Time frame of the basic power system dynamic phenomena.

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1. The fastest dynamics to be the wave effects, or surges, in high-voltage transmission lines
and correspond to the propagation of electromagnetic waves caused by lightning strikes or
switching operations. The time frame of these dynamics is from microseconds to
milliseconds.
2. Much slower are the electromagnetic dynamics that take place in the machine windings
following a disturbance, operation of the protection system or the interaction between the
electrical machines and the network. Their time frame is from milliseconds to a second.
3. Slower still are the electromechanical dynamics due to the oscillation of the rotating masses
of the generators and motors that occur following a disturbance, operation of the protection
system and voltage and prime mover control. The time frame of these dynamics is from
seconds to several seconds.
4. The slowest dynamics are the thermodynamic changes which result from boiler control
action in steam power plants as the demands of the automatic generation control are
implemented.

The classification of power system dynamics with respect to time frame to be closely related
to where the dynamics occur within the system.
For example, moving from the left to right along the time scale corresponds to moving
through the power system from the electrical RLC circuits of the transmission network,
through the generator armature windings to the field and damper winding, then along the
generator rotor to the turbine until finally the boiler is reached.

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 Physical Structure
Power System Components

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Transient Stability Models in the Physical Structure

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Machine Models

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 Synchronous Machines
Physical Description of a Synchronous Machine
 Consists of two sets of windings:
 3 phase armature winding on the stator distributed with centres 120° apart in space
 Field winding on the rotor supplied by DC
 Two basic rotor structures used:
 Salient or projecting pole structure for hydraulic units (low speed)
 Round rotor structure for thermal units (high speed)

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 Operation Principle

The rotor of the generator is driven by a prime-mover

A dc current is flowing in the rotor winding which

produces a rotating magnetic field within the machine

The rotating magnetic field induces a three-phase

voltage in the stator winding of the generator

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Types of synchronous machines:

1. Hydro generators : The generators which are driven by hydraulic turbines are called hydro
generators. These are run at lower speeds less than 1000 rpm.
2. Turbo generators: These are the generators driven by steam turbines. These generators are run
at very high speed of 1500rpm or above.
3. Engine driven Generators: These are driven by IC engines. These are run at a speed less than
1500 rpm.
Hence the prime movers for the synchronous generators are Hydraulic turbines, Steam
turbines or IC engines.

Hydraulic Turbines: Hydraulic Turbines:

Pelton wheelTurbines:Water head 400 m and above
Francis turbines: Water heads up to 380 m
KeplanTurbines:Water heads up to 50 m

Steam turbines: The synchronous generators run by steam turbines are called turbo generators or
turbo alternators. Steam turbines are to be run at very high speed to get higher efficiency and
hence these types of generators are run at higher speeds.

Diesel Engines: IC engines are used as prime movers for very small rated generators.
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Stator:
The stator is the outer stationary part of the machine, which consists of
• The outer cylindrical frame called yoke, which is made either of welded sheet steel, cast iron.
• The magnetic path, which comprises a set of slotted steel laminations called stator core pressed
into the cylindrical space inside the outer frame. The magnetic path is laminated to reduce eddy
currents; reducing losses and heating. Cold Rolled Grain Oriented Steel (CRGO) laminations of
0.5 mm thickness are used to reduce the iron losses .

A set of insulated electrical windings are placed inside the slots of the laminated stator. In case of
generators where the diameter is too large stator lamination can not be punched in on circular
piece. In such cases the laminations are punched in segments. A number of segments are
assembled together to form one circular laminations. All the laminations are insulated from each
other by a thin layer of varnish.

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Stator winding:
The stator winding of all synchronous generator is star connected with neutral earthed.
This arrangement has the advantage that the winding has to be insulated to earth for the phase
voltage and not the line voltage.
 Star connection also has the advantage that it eliminates all triple frequency also has the
advantage that it eliminates all triple frequency harmonics from the line voltage.

Rotor:
 Traditionally, North American manufacturers normally did not provide special “damper
windings”
• solid steel rotors offer paths for eddy currents, which have effects equivalent to that of
amortisseur currents
 European manufacturers tended to provide for additional damping effects and negative
sequence currents capability
• wedges in the slots of field windings interconnected to form a damper case, or separate copper
rods provided underneath the wedges(Block)

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Damper Windings

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Damper Windings
Damper windings are provided in the pole faces of salient pole alternators.
Damper windings are nothing but the copper or aluminum bars housed in the slots
of the pole faces.
The ends of the damper bars are short circuited at the ends by short circuiting rings
similar to end rings as in the case of squirrel circuiting rings similar to end rings as in
the case of squirrel cage rotors.

These damper windings are serving the function of providing mechanical

balance; provide damping effect, reduce the effect of over voltages and damp out
hunting in case of alternators. In case of synchronous motors they act as rotor bars
and help in self starting of the motor.

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 Salient poles have concentrated field windings; usually also carry damper windings on
the pole face.
 Round rotors have solid steel rotors with distributed windings

 Nearly sinusoidal space distribution of flux wave shape obtained by:

 distributing stator windings and field windings in many slots (round rotor);
 shaping pole faces (salient pole)

Normally have damper windings or amortisseurs

non-magnetic material (usually copper) rods embedded in pole face
connected to end rings to form short-circuited windings
Damper windings may be either continuous or non-continuous

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Under Steady State Operation:

Transient Operation
• Stator and rotor fields may:
– vary in magnitude with respect to time
– have different speed
• Currents flow not only in the field and stator windings, but also in:
– damper windings (if present); and
– solid rotor surface and slot walls of round rotor machines (eddy current)

Figure : Current paths in a round rotor

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Salient-Pole VS Non-salient-Pole

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 Non-salient-Pole
1 pole 2- 4 pole
2 Speed > 1500 RPM

Salient-Pole
1 pole > 4 pole
2 Speed 100 – 1500 RPM
3 Hydro turbine ,Diesel Gen

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1.1.

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1.2.

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• Net mmf wave due to the three phase stator windings:
– travels at synchronous speed
– appears stationary with respect to the rotor; and
– has a sinusoidal space distribution

• mmf wave due to one phase:

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Balanced Steady State Operation
• The mmf wave due to the three phases are:

MMF a
 Ki a
cos 

 2 
MMF b
 Ki b
cos    
 3 

 2 
MMF c
 Ki c
cos    
 3 

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i a  I m cos  s t 

 2 
i b  I m cos   s t  
 3 

 2 
ia  lm cos   s t  
 3 
Refer to class notes
MMF total
 MMF a
 MMF b
 MMF c

3
 KI m
cos    st
2

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• Magnitude of stator mmf wave and its relative angular position
with respect to rotor mmf wave depend on machine output
– for generator action, rotor field leads stator field due to forward
torque of prime mover;
– for motor action rotor field lags stator field due to retarding torque
of shaft load

Figure : Stator and rotor mmf wave shapes

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1.3. Direct and Quadrature Axes
• The rotor has two axes of symmetry
• For the purpose of describing synchronous machine characteristics, two
axes are defined:
– the direct (d) axis, centered magnetically in the centre of the north pole
– The quadrature (q) axis, 90 electrical degrees ahead of the d-axis

Figure : Schematic diagram of a 3-phase synchronous machine

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2. Mathematical Descriptions of a Synchronous Machine
• For purposes of analysis, the induced currents in the solid rotor and/or
damper windings may be assumed to flow in two sets of closed circuits
– one set whose flux is in line with the d-axis; and
– the other set whose flux is along the q-axis
• The following figure shows the circuits involved

Figure : Stator and rotor circuits

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2.1 Review of Magnetic Circuit Equations (Single Excited
Circuit)
• Consider the elementary circuit of Figure
d
e i

dt

d
e 1
  ri
dt

  Li

• The inductance, by definition, is equal to flux linkage per unit current

Refer to class notes

 2
L  N  N P
i
where
P = permeance of magnetic path
= flux = (mmf) P = NiP

Figure : Single excited magnetic circuit

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 Review of Magnetic Circuit Equations (Coupled Circuits)

• Consider the circuit shown in Figure

d
  r 1i 1
1
e 1
dt

d
  r2 i 2
2
e 2
dt

 1
 L 11
i1  L 21
i2

 2
 L 21
i1  L 22
i2

with L11 = self inductance of winding 1

L22 = self inductance of winding 2
L21 = mutual inductance between winding 1 and 2

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Figure : Magnetically coupled circuit
2.2 Basic Equations of a Synchronous Machine

( Refer to class notes) 38

( Refer to class notes)

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 3. dq0 park transformation
The dq0 park transformation used to transform a balanced three phase system into a two
phase system, which allows easy controllability. It is some times called the
dq transformation or the parks transformation.
We have transformed 3 variables ia, ib, and ic into two variables id and iq, as we did in the α-β
transformation. This yields an undetermined system, meaning
• We can uniquely transform ia, ib, and ic to id and iq
• We cannot uniquely transform id and iq to ia, ib, and ic.
Recall our id and iq equations:
i d  k d  i a cos   i b cos(   120  )  i c cos(   120  ) 

i q   k q  i a sin   i b sin(   120  )  i c sin(   120  ) 

We will use as a third current the zero-sequence current:

i0  k 0 i a  ib  ic 

The constants k0, kq, and kd are chosen differently by different authors. One popular choice is
1/3, 2/3, and 2/3, respectively, which causes the magnitude of the d-q quantities to be equal to
that of the three-phase quantities. However, it also causes a 3/2 multiplier in front of the power
expression (Anderson & Fouad use k0=1/√3, kd=kq=√(2/3) to get a power invariant expression).

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 Transformation
The constants k0, kq, and kd are chosen differently by different authors. One popular choice is
1/3, 2/3, and 2/3, respectively, which causes the magnitude of the d-q quantities to be equal to
that of the three-phase quantities. PROOF (id & iq equation only):
i d  k d  i a cos   i b cos(   120  )  i c cos(   120  ) 

For the balanced condition

ia  I m
sin  s
t 
 2 
ib  I m
sin   s
t  
 3 

 2 
ia  l m sin   s
t  
Determine Id, Iq & I0  3 

Refer to class notes

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 i q   k q  i a sin   i b sin(   120  )  i c sin(   120  ) 

Refer to class notes

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 Example
where specifies generic quantities fas, fbs, fcs to be a-b-c quantities varying with time on
the stator according to:
f as  cos t Note that these are not balanced quantities!

t Now assume t= π/3 seconds and  
f bs  4
2
f cs   sin t
Solution :
The objective is to transform them into 0-d-q quantities, which the denotes as fqs, fds,
f0s.  
 f ds   cos  cos(   120 ) cos(   120 )   f as 
  2   
f qs   sin   sin(   120 )  sin(   120 )  f bs
  3   
 f 0 s  1 1 1
   f cs 
 2 2 2 
 
 cos  cos(   120 ) cos(   120 )   cos t 
2   
  sin   sin(   120 )  sin(   120 )  t / 2
3   
1 1 1
    sin t 
 2 2 2 
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 Example
This results in


Now substitute t= π/3 seconds  
4
This results in

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PER U NIT REPRESENTATION

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