EXPERT SYSTEMS AND SOLUTIONS

Email: [email protected] [email protected] Cell: 9952749533 www.researchprojects.info PAIYANOOR, OMR, CHENNAI Call For Research Projects Final year students of B.E in EEE, ECE, EI, M.E (Power Systems), M.E (Applied Electronics), M.E (Power Electronics) Ph.D Electrical and Electronics. Students can assemble their hardware in our Research labs. Experts will be guiding the projects.

Advanced Power Systems

Dr. Kar Sept. 16, 2008, Windsor

Dr. Kar 23 Old Drama Tel: 253-3000 (ext.4796) Email: [email protected] Office Hour: Thursday, 12:00-2:00 pm
http://www.uwindsor.ca/users/n/nkar/88-514.nsf

Mariam Khan B20 Essex Hall Tel: 253-3000 (ext.4792) Email: [email protected] Office Hour: Tuesdays, 12:00-2:00 pm

Course Text Book:

 

 

Electric Machinery Fundamentals by Stephen J. Chapman, 4th Edition, McGraw-Hill, 2005 Electric Motor Drives Modeling, Analysis and Control by R. Krishnan Pren. Hall Inc., NJ, 2001 Power Electronics Converters, Applications and Design by N. Mohan, J. Wiley & Son Inc., NJ, 2003 Power System Stability and Control by P. Kundur, McGraw Hill Inc., 1993 Research papers

Grading Policy:
Attendance Project Midterm Exam Final Exam (5%) (20%) (30%) (45%)

Course Content


Working principles, construction, mathematical modeling, operating characteristics and control techniques for synchronous machines

Working principles, construction, mathematical modeling, operating characteristics and control techniques for induction motors

   

Introduction to power switching devices Rectifiers and inverters Variable frequency PWM-VSI drives for induction motors Control of High Voltage Direct Current (HVDC) systems

Exam Dates

Midterm Exam: Oct 28th 2008 Final Exam: Dec 9th 2008.

Term Projects
Group 1: Student 1 ([email protected]) Student 2 ([email protected]) Student 3 ([email protected]) Project Title: Group 2: Student 1 ([email protected]) Student 2 ([email protected]) Student 3 ([email protected]) Project Title: Group 3: Student 1 ([email protected]) Student 2 ([email protected]) Student 3 ([email protected])

Synchronous Machines
   

Construction Working principles Mathematical modeling Operating characteristics

CONSTRUCTION

Salient-Pole Synchronous Generator

1. Most hydraulic turbines have to turn at low speeds (between 50 and 300 r/min) 2. A large number of poles are required on the rotor
d-axis Nonuniform airgap

N

D } 10 m q-axis
S S

Turbin e

Hydro (water)

N

Hydrogenerator

Salient-Pole Synchronous Generator

Stator

Cylindrical-Rotor Synchronous Generator

Stator

Cylindrical rotor

Damper Windings

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

Electrical Frequency
Electrical frequency produced is locked or synchronized to the mechanical speed of rotation of a synchronous generator:

fe !

nm P 120

where fe = electrical frequency in Hz P = number of poles nm= mechanical speed of the rotor, in r/min

Direct & Quadrature Axes

d-axis
Stator winding N Uniform air-gap Stator

q-axis

Rotor winding Rotor S

Turbogenerator

PU System
Per unit system, a system of dimensionless parameters, is used for computational convenience and for readily comparing the performance of a set of transformers or a set of electrical machines.
PU Value ! Actual Quantity Base Quantity

Where actual quantity is a value in volts, amperes, ohms, etc. [VA]base and [V]base are chosen first.
I base !

? Abase VA ?V Abase
2 2 ? Abase ?V Abase ?V Abase V ! ! ! ?I Abase S base ?VAAbase

Pbase ! Qbase ! S base ! ? Abase ! ? Abase ?I Abase VA V Rbase ! X base ! Z base Ybase ! Z

?I Abase ?V Abase
Z
ohm

PU

Z base

Classical Model of Synchronous Generator

   

The leakage reactance of the armature coils, Xl Armature reaction or synchronous reactance, Xs The resistance of the armature coils, Ra If saliency is neglected, Xd = Xq = Xs
jXs jXl Ra

+ +
E H Ia Vt 0o

Equivalent circuit of a cylindrical-rotor synchronous machine

Phasor Diagram

q-axis E IaXs

H J Ia

Vt IaRa

IaXl

d-axis

The following are the parameters in per unit on machine rating of a 555 MVA, 24 kV, 0.9 p.f., 60 Hz, 3600 RPM generator Lad=1.66 Laq=1.61 Ll=0.15 Ra=0.003

(a) When the generator is delivering rated MVA at 0.9 p. f. (lag) and rated terminal voltage, compute the following: (i) Internal angle i in electrical degrees (ii) Per unit values of ed, eq, id, iq, ifd (iii) Air-gap torque Te in per unit and in Newton-meters

(b) Compute the internal angle equivalent circuit

and field current ifd using the following

Direct and Quadrature Axes



   

The direct (d) axis is centered magnetically in the center of the north pole The quadrature axis (q) axis is 90o ahead of the d-axis U: angle between the d-axis and the axis of phase a Machine parameters in abc can then be converted into d/q frame using U Mathematical equations for synchronous machines can be obtained from the d- and q-axis equivalent circuits Advantage: machine parameters vary with rotor position w.r.t. stator, U, thus making analysis harder in the abc axis frame. Whereas, in the d/q reference frame, parameters are constant with time or U. Disadvantage: only balanced systems can be analyzed using d/q-axis system

d- and q-Axis Equivalent Circuits qIfd Xfd Xl Ikd1 Rkd1 Xkd1 Imd Xmd p]d Vtd ]q Ra Id

+
Rfd

+
p]kd1

p]fd

vfd
-

d-axis
Imd=-Id+Ifd+Ikd1
Xl  ]d Ra Iq

Imq=-Iq+Ikq1

+
p]kq1

Ikq1 Rkq1 Xkq1

Imq Xmq p]q Vtq

q-axis

Small disturbances in a power system

o o o

Gradual changes in loads Manual or automatic changes of excitation Irregularities in prime-mover input, etc.

Importance of steady-state stability

o

Knowledge of steady-state stability provides valuable information about the dynamic characteristics of different power system components and assists in their design - Power system planning - Power system operation - Post-disturbance analysis

Related Terms
o Generator Modeling using the d- and q-axis equivalent circuits o Transmission System Modeling with a RL circuit o A Small Disturbance is a disturbance for which the set of equations describing the power system may be linearized for the purpose of analysis o Steady-State Stability is the ability to maintain synchronism when the system is subjected to small disturbances o Loss of synchronism is the usual symptom of loss of stability o Infinite Bus is a system with constant voltage and constant frequency, which is the rest of the power system o Eigen values and eigen vectors are used to identify system steady-state stability condition

The Flux Equations

]d ! 

 md  l id 


md ikd 1

d i fd

] kd 1 !  X md id  X md  X kd 1 ikd 1  X md i fd

] fd ! 

md id

md ikd 1

 md 
mq ikq1 kq1 ikq1

fd

fd i

]q ! 
] kq1 ! 

 mq  l iq 
mq iq

 mq 

Rearranged Flux Linkage equations

] d  X md  X l ]  X md kd1 ] fd !  X md ]q ] kq1

X md

X md

 X kd1 X md

X md

X md X md  X fd

 X mq  X l  X mq

 X mq  X kq1

X mq

id i kd1 i fd iq ikq1

The Voltage Equations

1 p  d ! vtd  Ra id  ] q ] [0 1 p  kd 1 !  Rkd 1 ikd 1 ] [0 1 p] [0

 fd ! v fd  R fd i fd

..(1)

1 p ] q ! vtq  Ra iq  ] d [0 1 p ] kq1 !  Rkq1 ikq1 [0

The Mechanical Equations

dH ! [  [0 dt d[ [ 0 ?Tm  Te A ! dt 2 H

..(2)

where
Te ! ] d I q ] q I d

Linearized Form of the Machine Model

] q0 1 y (] d ! (vtd  Ra (id  (] q  ([ [0 [0

1 y (] kd 1 !  Rkd 1 (ikd 1 [0 1 y (] [0
fd

! (v fd  R fd (i fd

1 y ] (] q ! (vtq  Ra (iq  (] d  d 0 ([ [0 [0 1 y (] kq1 !  Rkq1 (ikq1 [0

y

..(3)

( H ! ([ [0 ?(Tm  (Te A 2H (Te ! ] d 0 (I q  I q 0 (] d  ] q 0 (I d  I d 0 (] q ([ !

Terminal Voltage

The d- and q-axis components of the machine terminal voltage can be described by the following equations:

vtd ! Vt sin H vtq ! Vt cos H

.(4)

where, Vt is the machine terminal voltage in per unit. The linearized form of Vtd and Vtq are:
(vtd ! Vt cos H 0  (H (vtq !  t sin H 0  H

.(5)

Substituting Vtd and Vtq in the flux equations:

] q0 1 y (] d ! Vt cos H 0 y (H  Ra (id  (] q  ([ [0 [0

1 y (] kd 1 !  Rkd 1 (ikd 1 [0 1 y (] [0
fd

! (v fd  R fd (i fd

] 1 y (] q ! Vt sin H 0 y (H  Ra (iq  (] d  d 0 ([ [0 [0

..(6)

1 y (] kq1 !  Rkq1 (ikq1 [0

y

( H ! ([ ([ ! [0 ?(Tm  (Te A 2H (Te ! ] d 0 (I q  I q 0 (] d  ] q 0 (I d  I d 0 (] q

Rearranging the flux equations in a matrix form:

y .....(7) ( X ! ?S A?(X A ?R A?(I A ?B A?(U A

where,
y (] d y (] kd 1 (y ] fd y y X ! (] q ( y (] kq1 y (H y (

(] d (] kd 1 (] fd ( X ! (] q (] kq1 (H ([

(Id ( I kd 1 ( I ! (I fd (Iq ( I kq1

(v fd ?(U A! (Tm

and
0 0 0 ?S A! 0 0 0 0 0 0 0  [0 0 0  [0 I q 0 2H 0 0 0 0 0 0 0 [0 0 0 0 0 0 0 0 0 0 0 [0Vt cos H 0 0 0 0 0 0 ] q0 0 ] d 0 0 1 0

0  [0Vt sin H 0

0 [0 I d 0 0 2H

 [0 R fd 0 0 ?R A! 0 0 0 0

0
[0 Ra

0 0
 [0 Rkd 1

0 0 0
[0 Ra

0 0 0 0 [0] q 0 2H

0 0 0 0

0 0  [0] d 0 2H

0 0 0  [0 Rkq1 0 0

[0 0 ?BA! 0 0 0

0 0 0 0 [0 2H

Flux Linkage Equations (from the d- and q-axis equivalent circuits)

] d  X md  X l ]  X md kd 1 ] fd !  X md ]q 0 ] kq1 0 X md X md 0 0  X mq  X l  X mq 0 id i 0 kd 1 0 i fd X mq iq  X mq  X kq1 ikq1 0

X md  X kd1
X md 0 0

X md  X fd
0 0

X md

Linearized flux linkage equations:

(] d  X md  X l (]  X md kd 1 (] fd !  X md 0 (] q (] kq1 0 X md X md 0 0  X mq  X l  X mq 0 (id (i 0 kd 1 0 (i fd X mq (iq  X mq  X kq1 (ikq1 0

X md  X kd 1
X md 0 0

X md  X fd
0 0

X md

and thus,
(id  X md  X l (i  X md kd 1 (i fd !  X md 0 (iq (ikq1 0  X md  X l X md !  X md 0 0

X md  X kd 1
X md 0 0 X md X md  X kd 1 X md 0 0

X md

X md

0 0
 X mq  X l  X mq

X md  X fd
0 0 X md X md X md  X fd 0 0

X md

0 0 X mq  X mq  X kq1

1

 X mq  X l  X mq

0 0 0

 X mq  X kq1

0 0 0 X mq

(] d (] kd 1 (] fd (] q (] kq1 (] d 0 0 (] kd 1 0 0 (] fd 0 0 (] q 0 0 (] kq1 0 0 (H ([

(] d (] kd 1 (] fd 1 ! ?X reac A (] q (] kq1 (H ([

...(8)

 (] d (] (id kd 1 (i (] fd kd 1 ?(I A! (i fd ! ?X reac A1 (] q ! ?X reac A1?(X A (] kq1 (iq (ikq1 (H ([

: from (8)

y ( X ! ?S A?(X A ?R A?(I A ?B A?(U A ! ?S A?(X A ?R A?X reac A1?(X A ?B A?(U A ! ?S A ?R A?X reac A

1

A(X A ?BA?(U A ?

: inserting (8) into (7)

! ?AA?(X A ?B A?(U A

where,

?AA! ?S A ?R A?X reac A1 A ?

..(9)

: system state matrix

System to be Studied

Vt

It Generator Infinite Bus

System State Matrix and Eigen Values

System State Matrix: ?AA! ?S A ?R A?X reac A1 A ? Eigen Values: P1 , P2 ! W s j[

j[

P1 U

P2

Eigen Values

Eigen values are the roots of the characteristic equation

y ( X ! ?AA?(X A ?B A?(U A

Number of eigen values is equal to the order of the characteristic equation or number of state variables Pt Eigen values describe the system response (e 1 ) to any disturbance

Analyzing the Eigen Values of the System State Matrix

o o

Compute the eigen values of the system state matrix, A The eigen values will give necessary information about the steady-state stability of the system Stable System: If the real parts of ALL the eigen values are negative Example:
P1 , P2 ! 0.15 s j 2.0 P3 ! 0.0005

A system with the above eigen values is on the verge of instability

Machine Parameters
Salient-pole synchronous generator 3kVA, 220V, 4-pole, 60 Hz and 1800 r/min Machine parameters d-axis magnetizing reactance, Xmd q-axis magnetizing reactance, Xmq Armature leakage reactance, Xl Field circuit leakage reactance, Xfd First d-axis damper circuit leakage reactance, Xkd1 First q-axis damper circuit leakage reactance, Xkq1 Armature winding resistance, Ra Field winding resistance, Rfd First d-axis damper winding resistance, Rkd1 First q-axis damper winding resistance, Rkq1 Per unit values 1.189 0.7164 0.100 0.276 0.181 0.193 0.0186 0.0058 0.062 0.052