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Synchronous Machine
Model the dynamics of three-phase round-rotor or salient-pole synchronous machine
Library
Machines
Description
The Synchronous Machine block operates in generator or motor modes. The operating mode is dictated by
the sign of the mechanical power (positive for generator mode, negative for motor mode). The electrical part
of the machine is represented by a sixth-order state-space model and the mechanical part is the same as in
the Simplified Synchronous Machine block.
The model takes into account the dynamics of the stator, field, and damper windings. The equivalent circuit
of the model is represented in the rotor reference frame (qd frame). All rotor parameters and electrical
quantities are viewed from the stator. They are identified by primed variables. The subscripts used are
defined as follows:
d,q: d and q axis quantity
R,s: Rotor and stator quantity
l,m: Leakage and magnetizing inductance
f,k: Field and damper winding quantity
The electrical model of the machine is
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d
V d = Rs i d + d Rq
dt
d
V q = Rs i q + q + Rd
dt
V fd = Rfdi fd +
dt fd
dt kd
d
V kq1 = Rkq1i kq1 + kq1
dt
d
V kq2 = Rkq2i kq2 + kq2
dt
V kd = Rkdi kd +
d =
L di d + L md i fd + i kd
q = L qi q + L mqi kq
(
)
fd = L fdi fd + L md i d + i kd
(
)
kd = L kdi kd + L md i d + i fd
kq1 = L kq1i kq1 + L mqi q
kq2 = L kq2i kq2 + L mqi q
This model assumes currents flowing into the stator windings. The measured stator currents returned by the
Synchronous Machine block (Ia, Ib, Ic, Id, Iq) are the currents flowing out of the machine.
Base Values, Transformation Ratio, and Rotor Parameters Referred to the Stator
The Synchronous Machine SI Fundamental block and the Synchronous Machine pu Fundamental block allow
you to specify the fundamental parameters of a synchronous machine. You enter field and damper windings
parameters (resistances, leakage inductances, and mutual inductances) in SI (, H) or in pu. When you
enter parameters in SI, the RL parameters of field and damper windings are not the actual field RL values of
the machine but the RL values referred to the stator.
You can compute base values for stator and rotor windings when the parameters are specified in pu. You
can also compute the Stator/Field transformation ratio and the field parameters referred to the stator from the
actual field parameters (windings RL values, nominal field voltage, and nominal field current).
G
Vn 2
V sbase = G
3
G
Pn 2
G
Isbase =
Vn 3
Z sbase =
V sbase
Isbase
base = 2 f n
L sbase =
Z sbase
V n2
Pn
= base angular frequency (rad/s)
= base stator inductance (H)
base
with
Pn = three-phase nominal power (VA)
Vn = nominal line-to-line voltage (Vrms)
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The stator parameters to specify in the Synchronous Machine SI Fundamental block are:
Rs = stator resistance per phase ()
Ll = stator leakage inductance (H)
Lmd = direct-axis magnetizing inductance viewed from stator (H)
Lmq = quadrature-axis magnetizing inductance viewed from stator (H)
The stator parameters to enter in the Synchronous Machine pu Fundamental block are:
Rs_pu =
L l_pu =
Rs
Z sbase
Ll
L sbase
L md_pu =
L mq_pu =
L md
L sbase
L mq
L sbase
N s and N f are, respectively, the equivalent number of sinusoidally distributed turns of the stator winding and
of the field winding.
Rs , Ll = stator resistance and leakage inductance.
Rf , Llfd = field resistance and leakage inductance.
When the three stator windings are energized with a three-phase positive-sequence voltage and field winding
is open, the stator magnetizing inductance is Lmd . However, when only one phase is energized and field
winding is open, the magnetizing inductance is 2/3 Lmd as shown in the figure.
At no load, when the field winding is rotating at nominal speed and bears the nominal field DC current ifn , the
amplitude of AC voltage (peak value) induced on one phase of stator is Vsbase .
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The maximum mutual inductance between one stator winding and the field winding is obtained when the two
windings are aligned. It is given by:
Nf
V sbase
2
L sfd = L md
=
3
N s i fn base
from which we deduce the transformation ratio:
Ns
i fn base
2
= L md
Nf 3
V sbase
The transformation ratio can be also expressed as:
Ns
Nf
2 I fbase
3 Isbase
where Ifbase is the base field current, which is computed as explained below.
V fbase =
Z fbase =
L fbase =
I fbase
V fbase
I fbase
Z fbase
base
The field parameters to enter in the Synchronous Machine pu Fundamental block menu are:
R f_pu =
Rf
Z fbase
L lfd_pu =
L l fd
L fbase
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According to Krause [1], the field voltage and current referred to the stator (Vf, If) are deduced from actual
Vf, If values as follows:
Vf'=
If ' =
Ns
Nf
Vf
2N f
I
3 Ns f
When the actual field resistance R f and leakage inductances Llfd (seen from the rotor) are known, the values
referred to the stator are:
2
Ns
3
Rf ' = Rf
2
Nf
2
Ns
3
When the nominal field current is not known, and if the pu values of field resistance and leakage inductances
are known (R f_pu , Llfd_pu ), the corresponding SI values referred to the stator are computed as follows:
V fn = R f i fn
When you do not specify the nominal field current, the signal applied to the Vf input corresponds to the actual
field voltage referred to the stator. In this case, the nominal field voltage referred to the stator producing
nominal stator voltage at no load is:
V fn ' =
R f_pu
L md_pu
V sbase =
Rf '
L md base
V sbase
The field current returned by the measurement output is the field current referred to the stator. The nominal
field current referred to the stator is:
I fn ' =
Isbase
L md_pu
Isbase
I fbase
i fn
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Configuration Tab
Preset model
Provides a set of predetermined electrical and mechanical parameters for various synchronous machine
ratings of power (kVA), phase-to-phase voltage (V), frequency (Hz), and rated speed (rpm).
Select one of the preset models to load the corresponding electrical and mechanical parameters in the
entries of the dialog box. Select No if you do not want to use a preset model, or if you want to modify
some of the parameters of a preset model, as described below.
When you select a preset model, the electrical and mechanical parameters in the Parameters tab of the
dialog box become nonmodifiable (unavailable). To start from a given preset model and then modify
machine parameters, do the following:
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1. Select the preset model that you want to initialize the parameters.
2. Change the Preset model parameter value to No. This action does not change the machine
parameters. By doing so, you just break the connection with the particular preset model.
3. Modify the machine parameters as you want, then click Apply.
Mechanical input
Allows you to select the mechanical power applied to the shaft or the rotor speed as a Simulink input of
the block, or to represent the machine shaft by a Simscape rotational mechanical port.
Select Mechanical power Pm to specify a mechanical power input, in W or in pu, and change labeling of
the block input to Pm. The machine speed is determined by the machine Inertia J (or inertia constant H for
the pu machine) and by the difference between the mechanical torque Tm, resulting from the applied
mechanical power Pm, and the internal electromagnetic torque Te. The sign convention for the mechanical
power is when the speed is positive, a positive mechanical power signal indicates generator mode and a
negative signal indicates motor mode.
Select Speed w to specify a speed input, in rad/s or in pu, and change labeling of the block input to w. The
machine speed is imposed and the mechanical part of the model (inertia constant H) is ignored. Using the
speed as the mechanical input allows modeling a mechanical coupling between two machines.
The next figure indicates how to model a stiff shaft interconnection in a motor-generator set, where both
machines are synchronous machines.
The speed output of machine 1 (motor) is connected to the speed input of machine 2 (generator). In this
figure friction torque is ignored in machine 2. Therefore, its electromagnetic torque output Te corresponds
to the mechanical torque Tm applied to the shaft of machine 1. The corresponding mechanical input power
of machine 1 is computed as Pm = Tm*w.The Kw factor takes into account speed units of both machines
(pu or rad/s) and gear box ratio w2/w1. The KT factor takes into account torque units of both machines (pu
or N.m) and machine ratings. Also, as the inertia J2 is ignored in machine 2, J2 referred to machine 1
speed must be added to machine 1 inertia J1.
Select Mechanical rotational port to add to the block a Simscape mechanical rotational port that allows
connection of the machine shaft with another machine shaft or with other Simscape blocks having
mechanical rotational ports. The Simulink input representing the mechanical power Pm or the speed w of
the machine is then removed from the block.
The next figure indicates how to connect an Ideal Torque Source block from the Simscape library to the
machine shaft to represent the machine in motor mode, or in generator mode, when the rotor speed is
positive.
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Rotor type
Specify rotor type: Salient-pole or Round (cylindrical). This choice affects the number of rotor circuits in
the q-axis (damper windings).
Use signal names to identify bus labels
When this check box is selected, the measurement output uses the signal names to identify the bus
labels. Select this option for applications that require bus signal labels to have only alphanumeric
characters.
When this check box is cleared, the measurement output uses the signal definition to identify the bus
labels. The labels contain nonalphanumeric characters that are incompatible with some Simulink
applications.
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Field
The field resistance Rf' () and leakage inductance Llfd' (H), both referred to the stator.
Dampers
The d-axis resistance Rkd' () and leakage inductance Llkd' (H), the q-axis resistance Rkq1' () and
leakage inductance Llkq1' (H), and (only if round rotor) the q-axis resistance Rkq2' () and leakage
inductance Llkq2' (H). All of these values are referred to the stator.
Inertia, friction factor, pole pairs
The inertia coefficient J (kg.m2 ), friction factor F (N.m.s), and the number of pole pairs p. The friction
torque Tf is proportional to the rotor speed (Tf = F.. Tf is expressed in N.m, F in N.m.s, and in
rad/s).
Initial conditions
The initial speed deviation (% of nominal speed), electrical angle of the rotor e (degrees), line current
magnitudes ia, ib, ic (A) and phase angles pha, phb, phc (degrees), and the initial field voltage Vf (V). You
can compute these values automatically by using the Load Flow tool or the Machine Initialization tool of
the Powergui block.
You can specify the initial field voltage in one of two ways. If you know the nominal field current (first line,
last parameter), in the dialog box, enter the initial field voltage in volts DC referred to the rotor. Otherwise,
enter a zero as the nominal field current, and specify the initial field voltage in volts DC referred to the
stator. You can determine the nominal field voltage viewed from the stator by selecting the Display Vfd
which produces a nominal Vt check box on the Advanced tab.
Simulate saturation
Specifies whether magnetic saturation of the rotor and stator iron is to be simulated or not.
[ifd; Vt]
The no-load saturation curve parameters. Magnetic saturation of the stator and rotor iron is modeled by a
piecewise linear relationship specifying points on the no-load saturation curve. The first row of this matrix
contains the values of field currents. The second row contains values of corresponding terminal voltages.
The first point (first column of the matrix) must be different from [0,0]. This point corresponds to the point
where the effect of saturation begins.
You must select the Simulate saturation check box to simulate saturation. Selecting this check box
allows you to enter the matrix of parameters for simulating the saturation. If you do not want to model
saturation in your simulation, do not select the Simulate saturation check box. In this case, the
relationship between the ifd and Vt obtained is linear (no saturation).
Click Plot to view the no-load saturation curve.
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synchronous reactance Xq, transient reactance Xq' (only if round rotor), and subtransient reactance Xq'',
and finally the leakage reactance Xl (all in pu).
d-axis time constants; q-axis time constant(s)
Specify the time constants you supply for each axis: either open-circuit or short-circuit.
Time constants
The d-axis and q-axis time constants (all in s). These values must be consistent with choices made on
the two previous lines: d-axis transient open-circuit (Tdo') or short-circuit (Td') time constant, d-axis
subtransient open-circuit (Tdo'') or short-circuit (Td'') time constant, q-axis transient open-circuit (Tqo') or
short-circuit (Tq') time constant (only if round rotor), q-axis subtransient open-circuit (Tqo'') or short-circuit
(Tq'') time constant.
Stator resistance
The stator resistance Rs (pu).
Inertia coefficient, friction factor, pole pairs; Initial conditions; Simulate saturation; Saturation
parameters
The same parameters as in the pu Fundamental dialog box.
Advanced Tab
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Saturation is modeled as a piecewise linear saturation curve by using two look-up tables implementing
variations of Lmd and Lmq magnetizing inductances.
The next figure illustrates the good fit graphically (the diamonds are the actual points entered in the dialog
box).
1087 A
ifd
Vt
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Generator type
Specify the generator type of the machine.
Select swing to implement a generator controlling magnitude and phase angle of its terminal voltage. The
reference voltage magnitude and angle are specified by the Swing bus or PV bus voltage and Swing
bus voltage angle parameters of the Load Flow Bus block connected to the machine terminals.
Select PV to implement a generator controlling its output active power P and voltage magnitude V. P is
specified by the Active power generation P parameter of the block. V is specified by the Swing bus or
PV bus voltage parameter of the Load Flow Bus block connected to the machine terminals. You can
control the minimum and maximum reactive power generated by the block by using the Minimum
reactive power Qmin and Maximum reactive power Qmax parameters.
Select PQ to implement a generator controlling its output active power P and reactive power Q. P and Q
are specified by the Active power generation P and Reactive power generation Q parameters of the
block, respectively.
Active power generation P
Specify the active power that you want generated by the machine, in watts. When the machine operates
in motor mode, you specify a negative value. This parameter is available if you specify Generator type as
PV or PQ.
Reactive power generation Q
Specify the reactive power that you want generated by the machine, in vars. A negative value indicates
that the reactive power is absorbed by the machine. This parameter is available only if you specify
Generator type as PQ.
Minimum reactive power Qmin
This parameter is available only if you specify Generator type as PV. Indicates the minimum reactive
power that can be generated by the machine while keeping the terminal voltage at its reference value. This
reference voltage is specified by the Swing bus or PV bus voltage parameter of the Load Flow Bus
block connected to the machine terminals. The default value is -inf, which means that there is no lower
limit on the reactive power output.
Maximum reactive power Qmax
This parameter is available only if you specify Generator type as PV. Indicates the maximum reactive
power that can be generated by the machine while keeping the terminal voltage at its reference value. This
reference voltage is specified by the Swing bus or PV bus voltage parameter of the Load Flow Bus
block connected to the machine terminals. The default value is inf, which means that there is no upper
limit on the reactive power output.
The first Simulink input is the mechanical power at the machine's shaft, in Watts or pu. In generating
mode, this input can be a positive constant or function or the output of a prime mover block (see the
Hydraulic Turbine and Governor or Steam Turbine and Governor blocks). In motoring mode, this input is
usually a negative constant or function.
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The alternative block input instead of Pm (depending on the value of the Mechanical input parameter) is
the machine speed, in rad/s.
Vf
The second Simulink input of the block is the field voltage. This voltage can be supplied by a voltage
regulator in generator mode (see the Excitation System block). It is usually a constant in motor mode.
If you use the model in SI fundamental units, the field voltage Vf must be entered in volts DC if nominal
field current Ifn is specified, or in volts referred to stator if Ifn is not specified. To obtain the Vfd producing
nominal voltage, select the Display nominal field current and voltage producing 1 pu stator voltage
check box in the Advanced tab. If you use the model in pu Standard or in pu Fundamental units, Vf must
be entered in pu (1 pu of field voltage producing 1 pu of terminal voltage at no load).
m
The Simulink output of the block is a vector containing measurement signals. You can demultiplex these
signals by using the Bus Selector block provided in the Simulink library. Depending on the type of mask
that you use, the units are in SI or in pu.
Name
Definition
Units
ias
A or pu
ibs
A or pu
ics
A or pu
iq
Stator current iq
A or pu
id
Stator current id
A or pu
ifd
A or pu
ikq
A or pu
Ikq2
A or pu
ikd
A or pu
phimq
V.s or pu
phimd
V.s or pu
vq
Stator voltage vq
V or pu
vd
Stator voltage vd
V or pu
lmq
H or pu
lmd
H or pu
dtheta
rad
Rotor speed wm
rad/s
Pe
Electrical power Pe
VA or pu
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dw
rad/s
theta
rad
Te
Electromagnetic torque Te
N.m or pu
delta
rad
Pe0
VA or pu
Qe0
VAR or pu
Limitations
In Discrete systems, when you use Synchronous Machine blocks discretized with the trapezoidal non
iterative solver or the forward Euler solver, you might have to use a small parasitic resistive load, connected
at the machine terminals, to avoid numerical oscillations. Large sample times require larger loads. The
minimum resistive load is proportional to the sample time. As a rule of thumb, remember that with a 25 s
time step on a 60 Hz system, the minimum load is approximately 2.5% of the machine nominal power. For
example, a 200 MVA synchronous machine in a power system discretized with a 50 s sample time requires
approximately 5% of resistive load or 10 MW. If the sample time is reduced to 20 s, a resistive load of 4
MW should be sufficient.
However, if you discretize the Synchronous Machine block using the trapezoidal iterative (alg. loop) solver,
you can use a negligible parasitic load (below 0.1% of nominal power) while preserving numerical stability.
This iterative model producing an algebraic loop results in slower simulation speed.
Example 1
The power_SM_Fundamental example shows the use of the Synchronous Machine SI Fundamental block and
the Synchronous Machine pu Fundamental block to model a 555 MVA, 24 kV, 60 Hz, 3600 rpm synchronous
generator. It shows how to specify SI and pu parameters. It also explains how to compute field and damper
rotor winding parameters that are referred to the stator. In addition to the field winding, the round rotor of this
machine has three damper windings: one damper in the direct axis and two dampers in the quadrature axis.
Three circuits simulate the same synchronous machine:
Circuit 1: Fundamental parameters are specified in SI. The nominal field current is specified (ifn = 1300
A).
Circuit 2: Fundamental parameters are specified in SI. The nominal field current is not specified (ifn = 0).
Circuit 3: Fundamental parameters are specified in pu.
Machine parameters are taken from an example in Kundur [3].
Look at the Model Properties/PreLoad Fcn callback section of the model to see machine specifications as
well as the computation of stator and field bases, RL rotor parameters referred to the stator, transformation
ratio, and nominal field voltage and current.
The machines initially operate in steady state at virtually no load (load = 0. 1 % of nominal power) with
constant field voltage and mechanical power. A phase-to-phase 6-cycle fault is applied at t = 0.1 sec. The
Scope shows the comparison between line-to-line AB voltage, phase A stator current, and field current of the
three machines.
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To simulate the discrete model, select Discrete simulation type in the Configuration parameters of the
Powergui block. The model is discretized with a sample time Ts = 50 s. To obtain a stable model with such
a small load (0. 1 % of nominal power), select the Trapezoidal iterative (alg. Loop) discrete solver in the
Advanced tab of each Synchronous Machine block.
Example 2
The power_syncmachine example illustrates the use of the Synchronous Machine block in motor mode. The
simulated system consists of an industrial grade synchronous motor (150 HP (112 kVA), 762 V) connected
to a network with a 10 MVA short-circuit level. The machine is initialized for an output electrical power of 50
kW (negative value for motor mode), corresponding to a mechanical power of 48.9 kW. The corresponding
values of mechanical power and field voltage are specified by the Pm Step block and in the Vf Constant
block. The Pm Step block applies a sudden increase of mechanical power from 48.9 kW to 60 kW at time
t = 0.1 s.
Run the simulation.
After the load has increased from 48.9 kW to 60 kW at t = 0.1 s, the machine speed oscillates before
stabilizing to 1800 rpm. The load angle (angle between terminal voltage and internal voltage) increases from
21 degrees to 53 degrees.
References
[1] Krause, P.C., Analysis of Electric Machinery, McGraw-Hill, 1986, Section 12.5.
[2] Kamwa, I., et al., "Experience with Computer-Aided Graphical Analysis of Sudden-Short-Circuit
Oscillograms of Large Synchronous Machines," IEEE Transactions on Energy Conversion, Vol. 10, No. 3,
September 1995.
[3] Kundur, P., Power System Stability and Control, McGraw-Hill, 1994.
See Also
Excitation System, Hydraulic Turbine and Governor, Powergui, Simplified Synchronous Machine,
Steam Turbine and Governor
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