SYNCHRONOUS MACHINE
TRANSIENT ANALYSIS
Under balanced steady state operations, the
rotor mmf and the resultant stator mmf are
stationary with respect to each other.
The flux linkages with the rotor
circuit do not change with time, and
no voltages are induced in the rotor
circuits.
Zs = Ra+jXs E jXs Ia V
Synchronous
machine
Ia
equivalent
circuit E Load
Synchronous machine
connected to an infinite
bus
E.g a short circuit at the generator terminals.
The flux linkages with the rotor circuits
change with time. This results in transient
currents in all rotor circuits, which in turn
reacts on the armature.
The generator behavior is divided into 3
periods:
- subtransient period lasts for the first few
cycles
- transient period covers a relatively longer
time.
- steady state period.
R L t=0
(recall: Circuit Analysis 1)
i(t)
v(t)
Steady state sinusoidal component
A dc transient component (dc offset)
which decay exponentially
Fault current representing the
AC and DC components
The fault current waveform
being divided into subtransient,
transient and steady state
periods.
R L t=0
v(t) i(t)
When t =0, =
The magnitude of dc component depends on the instant of
application of the voltage to the circuit, as defined by the
angle α.
When α= , =0
When α= – π/2 radians , The dc component will have maximum
dc offset, which equals to the initial
value, Vm/Z = Ipeak
R L t=0
v(t) i(t)
When L ≫ R, then ≃ π/2 ?
The magnitude of the dc current depends on when
the circuit is closed as defined by the angle , which
will affect the magnitude of the voltage:
- If the circuit is closed at maximum voltage,
the dc current equals to zero.
- if the circuit is closed at zero voltage, the dc
transient current is maximum
R=0.125; L=10mH
R L t=0 V(t) = 151sin(377t+ )
Determine the current
v(t) i(t)
response after closing the
switch for the following
cases:
- No dc offset
- For maximum dc offset
Z=R+jL =0.125+j(377*0.010)= 0.125+j3.77=3.77288.1
Im=Vm/Z= 151/3.772=40A
=L/R = 0.01/0.125=0.08sec; =tan-1 L/R = 88.1
i(t) = 40sin(t+α- 88.1)-40e-t/0.08sin(α - 88.1)
i(t) = 40sin(t+α-88.1) – 40e-t/0.08sin(α–88.1)
The response has no dc offset value if the switch
is closed when = :
α = 88.1
The response has maximum dc offset value if the
switch is closed when
α = 88.1 - 90 = -1.9
Synchronous Machine – steady state
condition
The steady state performance and behavior of
synchronous machine is based on the
interaction between the armature flux wave,
which rotates at synchronous speed, and the
synchronously rotating rotor flux wave.
The steady state torque level and the
magnitude of the flux waves determine the
constant angular separation between these
flux wave.
Steady state
The mmf wave of the stator winding and its
associated flux wave revolve at the same
speed as the rotor and are essentially fixed
waveform.
As a result, the flux linkages with the rotor
circuits do not change with time, and no
voltages are induced in these circuits.
Thus, the main-field winding is the only
rotor circuit that carries current and its
excitation is determined by the voltage
applied to the field terminals.
Synchronous Machine – Transient condition
During transient conditions, various
disturbances can cause these fluxes to
change magnitude and angular displacement
as the rotor deviates from synchronous
speed.
Since electrical windings and solid-iron
structures tend to oppose changes in flux
linkages, these disturbances induce transient
currents in the rotor and stator windings as
well as in the rotor body of solid-rotor
machines.
Transient conditions
The magnitude of the rotor and stator fluxes
change, and often the rotor speed changes,
causing the rotor to change its alignment with
respect to the synchronously rotating stator flux.
As a consequence, the flux linkages with all the
rotor circuits change with time, and currents are
induced in each – in the damper windings, in the
rotor body, and in the field winding.
Since the net rotor mmf is produced by all the
windings, the resultant electrical and
electromechanical behavior of the machine is
determined by the transient behavior of each of
these circuits.
Synchronous Machine – Transient condition
The transient analysis of synchronous
machines is thus concerned with
determining:
- transient fluxes,
- currents and
- the influence of transient fluxes and
currents upon the electrical and
electromechanical behavior of the machine.
Reference
axis
Quadrature
axis
Direct c
axis b’
Q’ D
F
a a’
F’
D’ Q
b
c’
= t + +π/2
rF ia
va
VF iF LF ic
r vc
r Lcc
rD
Laa
VD = 0 iD LD in
rQ Lbb
VQ = 0 iQ LQ r
ib
vb
-ia, ib, ic are the stator currents
-iF is the field current being controlled through an excitation
control system
- iD and iQ are the currents in the fictitious rotor coils
- : flux linkages
The flux linkages with the rotor circuits
change with time. This results in transient
currents in all the rotor circuits, which in turn
reacts on the armature.
For transient analysis, the idealized
synchronous machine is represented as a
group of magnetically coupled circuits with
inductances which depend on the angular
position of the rotor.
Transform the a b c voltages, currents, and flux
linkages of stator variables into new variables the
frame of reference of which moves with the rotor.
The three armature currents: ia, ib and ic are
replaced by three fictitious currents id, iq and i0.
id ≡ direct axis component
iq ≡ quadrature axis component
i0 ≡ zero sequence component, which is zero under
balanced terminal conditions.
The transformed variables are the equivalent
armature quantities as seen by an observer in the
reference frame.
A method used in simplifying 3 phase
rotating elements in an electrical machines
problem.
The rotating phasors are decomposed into
Quadrature Axis element and Direct Axis
element .
It converts the a,b,c values to d,q,0 values.
It is useful in control of electrical machines.
The self-inductance of any stator coil varies periodically
from a maximum to a minimum.
The self-inductance of Laa has a period of 180 and can
be represented ≃ by cosines of second harmonics.
=
The mutual inductances between any two stator phases
are also a periodic functions of rotor angular position
because of rotor saliency.
=
All the rotor self-inductances are constant since
the effects of stator slots and saturation are
neglected.
The mutual inductances between any two circuits
both in direct axis and (or both in quadrature axis)
is constant. The mutual inductances between any
rotor direct axis and quadrature axis circuit
vanishes.
The mutual inductances between stator and rotor
circuits, which are periodic functions of rotor angular
position.
All stator-rotor mutual inductances vary sinusoidally,
reaching a maximum when the two coils in question
align.
The actual mutual inductances between the
stator phase windings and the rotor circuits
change with rotor position (and hence with time).
However, the transformed stator variables remain
fixed in the rotor frame and thus mutual
inductances remain unchanged with time.
Application:
The most common situation in which
synchronous machine transient analysis is
required occurs when a synchronous machine is
interconnected into a system consisting of many
machines, loads, and a large transmission
network.
The Park transformation for currents:
; ;
A two pole synchronous machine is carrying
balanced three-phase armature currents
ia = Ia cos t; ib = Ia cos(t – 120);
ic = Ia cos(t + 120);
The rotor is rotating at synchronous speed ,
and the rotor direct axis is aligned with the
stator phase-a axis at t=0. Find the direct
and quadrature-axis components.
= t
id = Ia
iq = 0
The balanced three-phase currents
correspond to a synchronously rotating
current (or mmf) wave which is aligned with
the stator phase-a axis at t=0.
This stator-current wave is thus aligned with
the rotor direct axis at t=0 and remains so
since the rotor is rotating at the same speed.
Hence, the stator current consists only of a
direct-axis components.
P-1 = PT , thus a power invariant transformation
OR
Substitute into
OR
Where,
v0, i0, L0 are known as the zero
sequence variables
A 3 syn. generator operating at syn. speed with
constant excitation and the m/c is assumed to be
initially unloaded.
The armature current:
ia(0+) = ib(0+) = ic(0+) =0
i0(0+) = id(0+) = iq(0+) =0
The initial field current:
For balanced three-phase short circuit at the terminals
of the machine:
i0 = 0, the m/c equation in the rotor reference
frame following a short circuit:
OR
Neglect speed variation, the phase currents:
iabc = P-1i0dq with i0 = 0
The most frequent faults on synchronous
machines are phase-to-phase and phase-to-
neutral short circuits.
The unbalanced short circuit faults are the
most difficult to analyze.
The d-q-0 model is not suited for the study
of unbalanced fault and requires further
transformation.
direct axis
and
quadrature
currents
The voltage equation for a line-to-line fault in direct quantities
va = 0;
The m/c is initially on no-load condition:
ib=ic=0
Where,
x105 Line-ground short circuit, ia , =0
t, sec
x103 Line–ground short circuit, iF , =0
t, sec
Under short circuit conditions, the circuit reactance
is much greater than the resistance. The stator
current lags nearly π/2 radians behind the driving
voltage, and the armature reaction mmf is centered
almost on direct axis.
Hence, during short circuit, the effective reactance of
the machine may be assumed only along the direct
axis.
The ac component of the armature current decays
from a very high initial value to the steady state value.
This is because the machine reactance changes due to
the effect of the armature rxn.
Equivalent circuit for the subtransient
period: The armature reactance is centered
almost on the direct axis:
Xℓ Direct axis subtransient
reactance:
Xad X Xkd
Direct axis short circuit
substransient time
An equivalent cct. referred to constant (∼ 0.035s):
the stator side.
Rk ≡ damper winding resistance
Equivalent circuit for the transient period:
The short circuit current in a damper circuit
decays quickly due to small time constant.
Hence, the equivalent circuit can be reduced:
Direct axis transient
reactance:
Direct axis short circuit
An equivalent cct. referred to transient time constant
the stator side. (1- 2 secs):
Rf ≡ field winding resistance
Equivalent circuit for the steady state
period:
When the disturbance is over, there will be no
hunting of the rotor; hence, no transformation
action between the stator and rotor.
Xℓ Direct axis synchronous reactance:
Xad
The fundamental frequency component of an armature
current following the sudden application of short circuit
to the armature of an initially unloaded machine:
A three-phase, 60-Hz synchronous machine is driven at constant
synchronous speed by a prime mover. The armature windings are
initially open-circuited and field voltage is adjusted so that the
armature terminal voltage is at the rated value (i.e., 1.0 per unit).
The machine has the following per unit reactances and time
constants.
(a) Determine the steady state, transient, and subtransient short
circuit currents.
(b) Obtain and plot the fundamental-frequency waveform of the
armature current for a three-phase short circuit at the terminals
of the generator. Assume the short circuit is applied at the instant
when the rotor direct axis is along the magnetic axis of phase a,
i.e., = 0.
a) Calculate the steady state, transient, and
subtransient short circuit currents:
b) Substitute into equation:
The fundamental-frequency waveform of the armature current
for a three-phase short circuit at the terminals of the generator.
Assume the short circuit is applied at the instant when the rotor
direct axis is along the magnetic axis of phase a, i.e., = 0.
6
2
iac, A
-2
-4
-6
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
t, sec
The dc offset component depends on the
instantaneous value of the stator voltage at the
time of short circuit.
The rotor direct axis ahead of the magnetic axis,
= t + +π/2. The dc component depends on
when the short circuit occurs at time t = 0.
The time constant associated with the decay of the
dc component of the stator current ≡ the armature
short circuit time constant, a.
The dc component of the armature current is
different in each phase because of the angle of
displacement of 2π/3 and depends on the point
the voltage cycle at which the short circuit occurs.
The superposition of the dc component on the
fundamental frequency component results an
asymmetrical waveform, taking into consideration
the unidirectional transient component:
The degree of asymmetry depends upon the
point of the voltage cycle at which the fault
takes place. The worst possible transient
condition is when =π/2.
The maximum possible initial magnitude of
dc component:
The maximum rms current (ac+dc) at the
beginning of the short circuit:
Momentary duty of the cct. breaker
Solution:
Idc : =
The asymmetrical s/c current:
Iasy=
12
10
6
iac, A
-2
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
t, sec
If the fault occurs when the generator is
delivering a prefault load current, two
methods could be used for the 3-phase
symmetrical fault currents:
- Internal voltages behind reactances
- Thevenin’s theorem and superposition
with load current
With prefault load current, 3 fictitious internal
voltages are effective:
- E” ≡ voltage behind subtransient reactance
- E’ ≡ voltage behind transient reactance
- E0 ≡ voltage behind synchronous reactance
A loaded generator
With prefault load current, 3 fictitious internal voltages
are effective:
A phasor diagram
A loaded generator
Voltage behind the subtransient
reactance
Voltage behind the transient reactance
Voltage behind the synchronous
reactance
The fault current is found:
- in the absence of the load by obtaining
the Thevenin’s equivalent circuit to the
point of fault.
- The total short circuit current is then
given by superimposing the fault current
with the load current.
Refer to example 8.10
A 100MVA, 20kV, 50Hz, Y connected, 3-phase
synchronous generator is connected to a
20kV/275kV, 100MVA Y-Y connected
transformer. The reactance in pu (100MVA base)
are:
Synchronous generator:
Transformer:
The time constants for the generator steady
state, transient, and substransient consditions as
follows:
A three phase load of 90MVA, 0.85 power factor
lagging is connected to the secondary side of
the transformer. The line to line voltage at the
load terminal is 275kV. A three phase short
circuit occurs at the load terminal. Please
answer the following questions:
a) Calculate the load current before fault in per
unit.
b) Using the Thevenin theorem and
superposition with load current approach,
determine the generator short circuit transient
current.
