Synchronous Machine Modeling

PowerWorld Corporation
2001 S. First St, Suite 203
Champaign, IL 61820
http://www.powerworld.com
info@powerworld.com
217 384 6330
 Synchronous Machine Modeling
• Electric machines are used to convert mechanical
energy into electrical energy (generators) and from
electrical energy into mechanical energy (motors)
– Many devices can operate in either mode, but are
usually customized for one or the other
• Vast majority of electricity is generated using
synchronous generators and some is consumed
using synchronous motors, so we'll start there
– Don’t worry: We’ll talk about wind and solar later!
• There is much literature on subject, and sometimes
it is overly confusing with the use of different
conventions and nomenclature
© 2020 PowerWorld Corporation 2
 Transient Stability Modeling
• A good comprehensive book on this type
of analysis is the by Prabha Kundur and is
called Power System Stability and Control
published in 1994
– Book is too detailed for a classroom
textbook, but it is a really great as a
reference book once you’re working
• Another good theoretical book is Power
System Dynamics and Stability by Peter
Sauer and M.A. Pai from 1998.
– The derivation in this book of the
synchronous machine equations very
closely matches the equations and
nomenclature used in commercial software
tools

© 2020 PowerWorld Corporation 3

 Synchronous Machine
Terminology
• Positional Winding Terms
– Stator (Stationary portion of generator)
– Rotor (Rotating portion of generator)
• Functional Winding Terms
– Armature Winding (three-phase AC winding that carries the power)
• Normally this is on the Stator
– Field Winding (DC current winding)
• Normally this is on the Rotor
– Amortisseur Winding (or Damper winding)
• An extra winding that provides start-up torque and damping
• Basically a winding that creates a force that attempts to bring machine to
synchronous speed (60 Hz)
– Armature Poles
• Following slide shows two dots for each (A, B, C) phase  one “in” and one “out”
• This represents a 2 pole machine
• If you just repeated this 4 additional times for each phase then you’d have an “8
pole” machine
• More poles means the machine doesn’t need to spin as fast to create 60 Hz

© 2020 PowerWorld Corporation 4

 Modeling the Generator Rotor
• d = Direct Axis
– Spinning axis directly in
line with the “North Pole”
of the field winding
• q = Quadrature Axis
– Spinning axis 90
degrees out of Air Gap
phase with the
direct axis
– (We choose Leading) Field
• Rotor Angle (𝛿𝛿) Winding
Armature
– Angle between Winding
q-axis and
Phase A axis
– (this is arbitrary)
Right-Hand rule defines axes of
phase a, b, and c as well as direct axis
© 2020 PowerWorld Corporation 5
 Careful of Conventions when
looking at Textbooks!
Kundar Book
Software Convention Choice
• q-axis leads the d-Axis
• Rotor angle w.r.t. to q-axis
(Also Sauer/Pai book)
Rotor angle with
respect to d-axis

Anderson/Fouad Book

Rotor angle with

respect to d-axis

q-axis lags instead

of leads

© 2020 PowerWorld Corporation 6

 Synchronous Machine
• Basics of Synchronous Machine Model
– Exciter applies DC current to rotor making it an electromagnet
– Turbine/Governor spins rotor
– Spinning magnet creates AC power

Turbine/
Exciter
Governor Creates a DC
Creates a voltage to apply to
mechanical Rotor Winding,
torque to spin the resulting in an
rotor electromagnet

© 2020 PowerWorld Corporation 7

 Two Main Types of Synchronous
Machines
• Round Rotor
– Air-gap is constant, used with
higher speed machines
• Salient Rotor (often called Salient
Pole)
– Air-gap varies circumferentially
– Used with many pole, slower
machines such as hydro
– Narrowest part of gap in the d-axis
and the widest along the q-axis
https://top10electrical.blogspot.com/2015/02/synchronous-machine-rotor-types.html
© 2020 PowerWorld Corporation 8
 Synchronous Machine Stator

Image Source: Glover/Overbye/Sarma Book, Sixth Edition, Beginning of Chapter 8 Photo

© 2020 PowerWorld Corporation 9
 Synchronous Machine Rotors
• Rotors are essentially electromagnets

Two pole (P) Six pole salient

round rotor rotor

Image Source: Dr. Gleb Tcheslavski, ee.lamar.edu/gleb/teaching.htm

© 2020 PowerWorld Corporation 10

 Synchronous Machine Rotor
High pole
salient
rotor

Shaft

Part of exciter,
which is used
to control the
field current

Image Source: Dr. Gleb Tcheslavski, ee.lamar.edu/gleb/teaching.htm

© 2020 PowerWorld Corporation 11
 Synchronous Machine Modeling:
Sauer/Pai Book Good Reference
• Stator/Armature Windings
– 3φ bal. windings (a,b,c)
• Rotor/Field winding
– Field winding
connected to Exciter (fd)
– “d” axis damper (1d)
– 2 “q” axis dampers (1q, 2q)
• “Damper” windings do not
have external connections
– They stabilize the electrical
operation of the machine
– Also provide start-up torque
for the machine

© 2020 PowerWorld Corporation 12

 Dynamic Equations of a
Synchronous Machine
• Start with Newton’s second law
• Force = Mass * Acceleration
𝑑𝑑𝑑𝑑 𝑑𝑑𝑥𝑥
• 𝐹𝐹 = 𝑀𝑀 and = 𝑣𝑣
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
• We have a rotational system though, so instead we
end up with something a little different
• Torque = Moment of Inertia * Angular Acceleration
𝑑𝑑𝜔𝜔 𝑑𝑑𝑑𝑑
• 𝑇𝑇 = 𝐽𝐽 and = 𝜔𝜔
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
• Electrical Equations just apply the same equations
to the circuits for the 7 windings a, b, c, fd, 1d, 1q,
2q
𝑑𝑑𝑑𝑑
• 𝑣𝑣 = 𝑖𝑖𝑖𝑖 +
𝑑𝑑𝑑𝑑

© 2020 PowerWorld Corporation 13

 Fundamental Laws
• Kirchhoff’s Voltage Law, Ohm’s Law, Faraday’s
Law, Newton’s Second Law
Stator Rotor Shaft
𝑑𝑑𝜆𝜆𝑎𝑎 𝑑𝑑𝜆𝜆𝑓𝑓𝑓𝑓
𝑣𝑣𝑎𝑎 = 𝑖𝑖𝑎𝑎 𝑟𝑟𝑠𝑠 + 𝑣𝑣𝑓𝑓𝑓𝑓 = 𝑖𝑖𝑓𝑓𝑓𝑓 𝑟𝑟𝑓𝑓𝑓𝑓 + 𝑑𝑑𝜃𝜃shaft 2
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 = 𝜔𝜔
𝑑𝑑𝜆𝜆𝑏𝑏 𝑑𝑑𝜆𝜆1𝑑𝑑 𝑑𝑑𝑑𝑑 𝑃𝑃
𝑣𝑣𝑏𝑏 = 𝑖𝑖𝑏𝑏 𝑟𝑟𝑠𝑠 + 𝑣𝑣1𝑑𝑑 = 𝑖𝑖1𝑑𝑑 𝑟𝑟1𝑑𝑑 + 2 𝑑𝑑𝑑𝑑
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑑𝑑𝜆𝜆𝑐𝑐 𝐽𝐽 = 𝑇𝑇𝑚𝑚 − 𝑇𝑇𝑒𝑒 − 𝑇𝑇𝑓𝑓𝑓𝑓
𝑑𝑑𝜆𝜆1𝑞𝑞 𝑃𝑃 𝑑𝑑𝑑𝑑
𝑣𝑣𝑐𝑐 = 𝑖𝑖𝑐𝑐 𝑟𝑟𝑠𝑠 + 𝑣𝑣1𝑞𝑞 = 𝑖𝑖1𝑞𝑞 𝑟𝑟1𝑞𝑞 +
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑑𝑑𝜆𝜆2𝑞𝑞
𝑣𝑣2𝑞𝑞 = 𝑖𝑖2𝑞𝑞 𝑟𝑟2𝑞𝑞 +
𝑑𝑑𝑑𝑑

© 2020 PowerWorld Corporation 14

 Deriving Equations for Rotor
• Algebra and trigonometry end up being
extremely complex
– Results give inductances between phases that are
a function of the cosine of rotor angle. Yuck!
– Special transformations are done to transform the
abc phase quantities into another reference frame
• Called the dq0 transformation
– Might hear it called “Park’s Transformation” after Robert H.
Park who introduced this concept in 1929 (his was slightly
scaled transformation, but was the same idea)
• Parks’ 1929 paper voted 2nd most important power
paper of 20th century (1st was Fortescue’s sym.
components)
• Convention used here is the q-axis leads the d-axis
(which is the IEEE standard)
© 2020 PowerWorld Corporation 15
 dq0 Transformation
• This is a very similar idea as symmetrical components when discussing fault
analysis (different matrix conversion though)
• We can say thanks to engineers who figured this all out for us 80 years ago!
• We end up with 14 equations that go through conversion similar to following
• Also make some more “magic” per unit choices to make things clean-up more

dq0

© 2020 PowerWorld Corporation 16

 Dq0 Transformations

vd  va  In the next few slides

    we’ll quickly go
vq  ∆ Tdqo vb  or i, λ through how these
v  
 v 
 basic equations are
 o c
transformed into the
standard machine
va  vd  models. The point
v  = T −1 v  is to show the physical
 b  dqo  q  basis for the models.
vc  v  And there is NO quiz
 o at the end!!
© 2020 PowerWorld Corporation 17
 dq0 Transformations
 P P 2π  P 2π  
 sin 2 θ shaft sin  θ shaft −  sin  θ shaft + 
3 
 2 3  2 
2 P P 2π  P 2π  
Tdqo ∆ cos θ shaft cos  θ shaft −  cos  θ shaft + 
3 2  2 3  2 3 
 
 1 1 1 
 
 2 2 2 
Note that the
with the inverse, transformation
 P P  depends on the
 sin θ shaft cos θ shaft 1
2 2 shaft angle.
−1

 P 2π   P 2π  
Tdqo = sin  θ shaft −  cos θ shaft −  1
 2 3  2 3  
 P 2π   Pθ 2π  
sin θ +
  2 shaft 3  cos shaft +  1
2 3  
© 2020 PowerWorld Corporation 18
 Transformed System
Stator Rotor Shaft
d λ fd dθ shaft
dλ =
v fd r fd i fd + =
2
ω
vd = rsid − ωλq + d dt dt P
dt
d λ1d 2 dω
d λq =
v1d r1d i1d + J = Tm − Te − T f ω
vq =rsiq + ωλd + dt P dt
dt d λ1q
dλ =
v1q r1qi1q +
=
vo rsio + o dt
dt
d λ2 q
=
v2 q r2 qi2 q +
dt

Converted from abc reference frame to the dq0

reference frame
Extra Terms show up due to transformation
© 2020 PowerWorld Corporation 19
 Electrical & Mechanical
Relationships
dλ
Electrical system: =
v iR + (voltage)
dt
dλ
=
vi i R + i
2
(power)
dt
Mechanical system:
 2  dω
J  = Tm − Te − T fw (torque) P is the number of
 P  dt poles (e.g. 2,4,6)

 2  dω 2
2
2 2
J  ω = ωTm − ωTe − ωT fw (power)
P dt P P P
Mechanical Electrical Friction and
Power Torque Windage
© 2020 PowerWorld Corporation 20
 Electric Torque Derivation
• Friction and Windage Torque: we ignore
• Mechanical Torque: this is an input to the
system
• Electrical Torque
– Torque is derived by looking at the overall energy
balance in the system
– Three systems: electrical, mechanical and the
coupling magnetic field
• Electrical system losses are in the form of resistance
• Mechanical system losses are in the form of friction
– Coupling field is assumed to be lossless, hence we
can track how energy moves between the
electrical and mechanical systems
© 2020 PowerWorld Corporation 21
 Energy Conversion

No Losses in the
Coupling Field

© 2020 PowerWorld Corporation 22

 Skip the Derivation
• A lot of interesting calculus and algebra using
the “Conservative Coupling Field” assumption
give us the electrical torque
3 𝑃𝑃
𝑇𝑇𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 =− 𝜆𝜆𝑑𝑑 𝐼𝐼𝑞𝑞 − 𝜆𝜆𝑞𝑞 𝐼𝐼𝑑𝑑
22
• Also we define δ where 𝜔𝜔𝑠𝑠 is the synchronous
speed P
δ∆ θ shaft − ω st
2
• This makes our mechanical equations
dδ
= ω − ωs
dt
2 dω  3  P 
J
p dt
=
 2  2 
(
Tm +    λd iq − λqid − T f ω )
© 2020 PowerWorld Corporation 23
 Generator Swing Equation
• Anyway, after a lot of additional algebra, software tools model the
swing equations as follows with values in per unit
𝑑𝑑𝜔𝜔 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚𝑚 𝑑𝑑𝑑𝑑
– 2𝐻𝐻 = − 𝑇𝑇𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 and = 𝜔𝜔
𝑑𝑑t 1+𝜔𝜔 𝑑𝑑𝑑𝑑
• If you use a more complete model of the rotor of a generator, then
the 𝑇𝑇𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 term has some inherent damping in it
• In academic settings, as we’ll introduce in a moment, the rotor
modeling has no inherent damping in it (which makes your results
really oscillate)
– To overcome this, folks in the 1960s added an extra 𝐷𝐷𝐷𝐷 term as follows
𝑑𝑑𝜔𝜔 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚𝑚 − 𝐷𝐷𝜔𝜔
2𝐻𝐻 = − 𝑇𝑇𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒
𝑑𝑑𝑡𝑡 1 + 𝜔𝜔
– This term should NOT be used to model the damping in the more
accurate rotor models such as GENROU, GENSAL, GENTPF, GENTPJ, etc.
– Friction and Windage term has been removed for our purposes

© 2020 PowerWorld Corporation 24

 From here Lots of Per-Unit
Choices
• Pages 30 – 42 in the Sauer/Pai textbook go
through a ton of per unit scaling and lots of
algebra
• Small notation differences, but we end up
with the equations on the next page which
largely match what Sauer/Pai derive
– Different Notation though
(Our notation = Sauer/Pai)

• ψ′d = +ψ1𝑑𝑑
• ψ′𝑞𝑞 = −ψ2𝑞𝑞
Our Sauer/Pai
Notation Notation
© 2020 PowerWorld Corporation 25
 Variables and Constants
• Per Unit Model Variables
– 𝜔𝜔𝑠𝑠 is the synchronous speed (2π60)
– ∆𝜔𝜔𝑝𝑝𝑝𝑝 is the deviation of rotor speed away from synchronous
speed
– 𝐼𝐼𝑑𝑑 , 𝐼𝐼𝑞𝑞 , 𝐼𝐼0 are the stator current in dq0 reference
– 𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 , 𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 , 𝑉𝑉0𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 are the stator voltage in dq0 reference
– ψ𝑑𝑑 , ψ𝑞𝑞 , ψ0 are the stator flux in the dq0 reference
– 𝐸𝐸𝑑𝑑′ , 𝐸𝐸𝑞𝑞′ , ψ′𝑞𝑞 , and ψ′𝑑𝑑 represent per-unitized versions of the rotor
fluxes
– 𝐸𝐸𝑓𝑓𝑓𝑓 is the field voltage input (from exciter)
– 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚𝑚 is the mechanical power input (from turbine/governor)

• Per Unit Model Constants

– 𝐻𝐻, 𝐷𝐷, 𝑅𝑅𝑠𝑠 , 𝑋𝑋𝑑𝑑 , 𝑋𝑋𝑑𝑑′ , 𝑋𝑋𝑑𝑑′′ , 𝑋𝑋𝑞𝑞 , 𝑋𝑋𝑞𝑞′ , 𝑋𝑋𝑞𝑞′′ , 𝑋𝑋𝑙𝑙 , 𝑇𝑇𝑑𝑑𝑑𝑑
′ ′′
, 𝑇𝑇𝑑𝑑𝑑𝑑 ′
, 𝑇𝑇𝑞𝑞𝑜𝑜 ′′
, 𝑇𝑇𝑞𝑞𝑜𝑜

© 2020 PowerWorld Corporation 26

 Final Complete Model of
Per-Unitized Equations
2 Mechanical Dynamic Equations Algebraic Relationship between Stator and
𝑑𝑑𝑑
dt
= ∆𝜔𝜔𝑝𝑝𝑝𝑝 ∗ 𝜔𝜔𝑠𝑠 Rotor Fluxes
d𝜔𝜔 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚𝑚 −𝐷𝐷𝐷𝐷 𝑋𝑋𝑑𝑑′′ −𝑋𝑋𝑙𝑙 ′ ′′
′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑑𝑑
2𝐻𝐻 = − ψ𝑑𝑑 𝐼𝐼𝑞𝑞 − ψ𝑞𝑞 𝐼𝐼𝑑𝑑 ψ𝑑𝑑 = −𝐼𝐼𝑑𝑑 𝑋𝑋𝑑𝑑′′ + 𝐸𝐸𝑞𝑞′ + ψ 𝑑𝑑 𝑋𝑋 ′ −𝑋𝑋
𝑑𝑑𝑑𝑑 1+∆𝜔𝜔𝑝𝑝𝑝𝑝 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙 𝑑𝑑 𝑙𝑙
𝑋𝑋 ′′ −𝑋𝑋 𝑋𝑋 ′ −𝑋𝑋 ′′
𝐸𝐸𝑑𝑑′ ′
𝑞𝑞 𝑙𝑙 𝑞𝑞 𝑞𝑞
3 Stator Dynamic Equations
ψ𝑞𝑞 = −𝐼𝐼𝑞𝑞 𝑋𝑋𝑞𝑞′′ − − ψ′𝑞𝑞 ′
𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙
1 𝑑𝑑 ψ𝑑𝑑
= 𝑅𝑅𝑠𝑠 𝐼𝐼𝑑𝑑 + 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 ψ𝑞𝑞 + 𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
𝜔𝜔𝑠𝑠 𝑑𝑑𝑑𝑑
1 𝑑𝑑 ψ𝑞𝑞
= 𝑅𝑅𝑠𝑠 𝐼𝐼𝑞𝑞 − 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 ψ𝑑𝑑 + 𝑉𝑉𝑞𝑞𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡
𝜔𝜔𝑠𝑠 𝑑𝑑𝑑𝑑 The 3 stator equations define what
1 𝑑𝑑 ψ0
= 𝑅𝑅𝑠𝑠 𝐼𝐼0 + 𝑉𝑉0𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 are known as the stator transients.
𝜔𝜔𝑠𝑠 𝑑𝑑𝑑𝑑

4 Rotor Dynamic Equations

′
′ d𝐸𝐸𝑞𝑞 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑑𝑑′′
𝑇𝑇𝑑𝑑𝑑𝑑 = 𝐸𝐸𝑓𝑓𝑓𝑓 − 𝐸𝐸𝑞𝑞′ − 𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑑𝑑′ 𝐼𝐼𝑑𝑑 − 2 +ψ′𝑑𝑑 + 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑑𝑑 − 𝐸𝐸𝑞𝑞′
dt 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙

′
′ d𝐸𝐸𝑑𝑑 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑞𝑞′′
𝑇𝑇𝑞𝑞𝑞𝑞 = −𝐸𝐸𝑑𝑑′ + 𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′ 𝐼𝐼𝑞𝑞 − 2 −ψ′𝑞𝑞 + 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑞𝑞 + 𝐸𝐸𝑑𝑑′
dt 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙

′′ 𝑑𝑑 ψ′d ′
𝑇𝑇𝑑𝑑𝑑𝑑 = −ψ𝑑𝑑 − 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑑𝑑 + 𝐸𝐸𝑞𝑞′
dt
dψ ′
= −ψ′𝑞𝑞 + 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑞𝑞 + 𝐸𝐸𝑑𝑑′
′′ 𝑞𝑞
𝑇𝑇𝑞𝑞𝑞𝑞
dt

© 2020 PowerWorld Corporation 27

 Stator Flux Differential Equations
• Stator Differential Equations
1 𝑑𝑑 ψ𝑑𝑑
= 𝑅𝑅𝑠𝑠 𝐼𝐼𝑑𝑑 + 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 ψ𝑞𝑞 + 𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
𝜔𝜔𝑠𝑠 𝑑𝑑𝑑𝑑
1 𝑑𝑑 ψ𝑞𝑞
= 𝑅𝑅𝑠𝑠 𝐼𝐼𝑞𝑞 − 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 ψ𝑑𝑑 + 𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞
𝜔𝜔𝑠𝑠 𝑑𝑑𝑑𝑑
1 𝑑𝑑 ψ0
= 𝑅𝑅𝑠𝑠 𝐼𝐼0 + 𝑉𝑉0𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡
𝜔𝜔𝑠𝑠 𝑑𝑑𝑑𝑑

• These have a time constant that is

1 1
= = 0.00265
𝜔𝜔𝑠𝑠 2𝜋𝜋𝜋𝜋
– About 1/6th of a cycle and is MUCH faster than the
phenomena that transient stability is concerned with
• Transient Stability Simulations neglect these
© 2020 PowerWorld Corporation 28
 Impact on Studies

Stator transients are not usually considered

in transient stability studies
Image Source: P. Kundur, Power System Stability and Control, EPRI, McGraw-Hill, 1994

© 2020 PowerWorld Corporation 29

 Elimination of Stator Transients
• Mathematics is kind of neat and you get to use
terms like “Integral Manifold” and sound really
smart
• Easier way to think of it
– Regardless of what the derivative of these fluxes are,
1
they are multiplied by a very small number and
𝜔𝜔𝑠𝑠
thus the left-hand side is near zero anyway, so
approximation is made
1 𝑑𝑑 ψ𝑑𝑑
≈ 0 = 𝑅𝑅𝑠𝑠 𝐼𝐼𝑑𝑑 + 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 ψ𝑞𝑞 + 𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
𝜔𝜔𝑠𝑠 𝑑𝑑𝑑𝑑
1 𝑑𝑑 ψ𝑞𝑞
≈ 0 = 𝑅𝑅𝑠𝑠 𝐼𝐼𝑞𝑞 − 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 ψ𝑑𝑑 + 𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞
𝜔𝜔𝑠𝑠 𝑑𝑑𝑑𝑑
1 𝑑𝑑 ψ0
≈ 0 = 𝑅𝑅𝑠𝑠 𝐼𝐼0 + 𝑉𝑉0𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡
𝜔𝜔𝑠𝑠 𝑑𝑑𝑑𝑑

© 2020 PowerWorld Corporation 30

 Stator Equations Becomes
Algebraic Network Equation
• This gives us the following Also remember stator flux relationships
′′ ′ ′′
′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙 ′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑑𝑑
ψ𝑑𝑑 = −𝐼𝐼𝑑𝑑 𝑋𝑋𝑑𝑑′′ + 𝐸𝐸𝑞𝑞 ′ + ψ𝑑𝑑 ′
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = −𝑅𝑅𝑠𝑠 𝐼𝐼𝑑𝑑 − 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 ψ𝑞𝑞 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙
′′
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙
𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑞𝑞′′
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = −𝑅𝑅𝑠𝑠 𝐼𝐼𝑞𝑞 + 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 ψ𝑑𝑑 ψ𝑞𝑞 = −𝐼𝐼𝑞𝑞 𝑋𝑋𝑞𝑞′′ − 𝐸𝐸𝑑𝑑′ ′ − ψ′𝑞𝑞 ′
𝑋𝑋 −𝑋𝑋
𝑞𝑞 𝑙𝑙 𝑋𝑋 −𝑋𝑋
𝑞𝑞 𝑙𝑙

• Take the algebraic flux relationship and plug it in

′′ ′ ′′
′ 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 ′ 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑞𝑞
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = −𝑅𝑅𝑠𝑠 𝐼𝐼𝑑𝑑 − 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 −𝐼𝐼𝑞𝑞 𝑋𝑋𝑞𝑞′′ − 𝐸𝐸𝑑𝑑 ′ − ψ𝑞𝑞 ′
𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙
′′ ′ ′′
′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙 ′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑑𝑑
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = −𝑅𝑅𝑠𝑠 𝐼𝐼𝑞𝑞 + 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 −𝐼𝐼𝑑𝑑 𝑋𝑋𝑑𝑑′′ + 𝐸𝐸𝑞𝑞 ′ + ψ𝑑𝑑 ′
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙

• Group Terms
′′ ′ ′′
′ 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 ′ 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑞𝑞
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = −𝑅𝑅𝑠𝑠 𝐼𝐼𝑑𝑑 + 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 𝑋𝑋𝑞𝑞′′ 𝐼𝐼𝑞𝑞 + 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 +𝐸𝐸𝑑𝑑 ′ + ψ𝑞𝑞 ′
𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙
′′ ′ ′′
′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙 ′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑑𝑑
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = −𝑅𝑅𝑠𝑠 𝐼𝐼𝑞𝑞 − 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑑𝑑 + 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 +𝐸𝐸𝑞𝑞 ′ + ψ𝑑𝑑 ′
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙

© 2020 PowerWorld Corporation 31

 Stator Equation Becomes
Network Equation
′′ ′ ′′
′ 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 ′ 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑞𝑞
• Now define 𝐸𝐸𝑑𝑑′′ = +𝐸𝐸𝑑𝑑 ′
𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙
+ ψ𝑞𝑞 ′
𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙
′′ ′ ′′
′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙 ′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑑𝑑
𝐸𝐸𝑞𝑞′′ = +𝐸𝐸𝑞𝑞 ′ + ψ𝑑𝑑 ′
𝑋𝑋 −𝑋𝑋
𝑑𝑑 𝑙𝑙 𝑋𝑋 −𝑋𝑋
𝑑𝑑 𝑙𝑙

• This gives us the following

𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = −𝑅𝑅𝑠𝑠 𝐼𝐼𝑑𝑑 + 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑞𝑞 + 𝐸𝐸𝑑𝑑′′ 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = −𝑅𝑅𝑠𝑠 𝐼𝐼𝑞𝑞 − 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑑𝑑 + 𝐸𝐸𝑞𝑞′′ 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝
• Consider term 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 that remains
– Similar to multiplying all the transmission line X values by per unit
frequency to scale the network impedances as system frequency
changes
• No one does this in transient stability, so we just remove the purple
• We leave the scaling of the internal voltage though

𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝐸𝐸𝑑𝑑′′ 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 − 𝑅𝑅𝑠𝑠 𝐼𝐼𝑑𝑑 + 𝑋𝑋𝑞𝑞′′ 𝐼𝐼𝑞𝑞

𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝐸𝐸𝑞𝑞′′ 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 − 𝑅𝑅𝑠𝑠 𝐼𝐼𝑞𝑞 − 𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑑𝑑

© 2020 PowerWorld Corporation 32

 Final Complete Model of
Per-Unitized Equations
Algebraic Relationships
′′ ′ ′′
′ 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 ′ 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑞𝑞
𝐸𝐸𝑑𝑑′′ = +𝐸𝐸𝑑𝑑 ′ + ψ𝑞𝑞 ′
𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙
′′ ′ ′′
′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙 ′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑑𝑑
𝐸𝐸𝑞𝑞′′ = +𝐸𝐸𝑞𝑞 ′ + ψ𝑑𝑑 ′
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙
′′ ′′
ψ𝑑𝑑 = −𝐼𝐼𝑑𝑑 𝑋𝑋𝑑𝑑 + 𝐸𝐸𝑞𝑞
ψ𝑞𝑞 = −𝐼𝐼𝑞𝑞 𝑋𝑋𝑑𝑑′′ − 𝐸𝐸𝑑𝑑′′
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝐸𝐸𝑑𝑑′′ 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 − 𝑅𝑅𝑠𝑠 𝐼𝐼𝑑𝑑 + 𝑋𝑋𝑞𝑞′′ 𝐼𝐼𝑞𝑞
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝐸𝐸𝑞𝑞′′ 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 − 𝑅𝑅𝑠𝑠 𝐼𝐼𝑞𝑞 − 𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑑𝑑
6 Differential Equations
𝑑𝑑𝑑
1. dt
= ∆𝜔𝜔𝑝𝑝𝑝𝑝 ∗ 𝜔𝜔𝑠𝑠
d𝜔𝜔 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚𝑚 −𝐷𝐷𝐷𝐷
2. 2𝐻𝐻 = − ψ𝑑𝑑 𝐼𝐼𝑞𝑞 − ψ𝑞𝑞 𝐼𝐼𝑑𝑑
𝑑𝑑𝑑𝑑 1+∆𝜔𝜔𝑝𝑝𝑝𝑝

′ d𝐸𝐸𝑞𝑞′ 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑑𝑑′′

3. 𝑇𝑇𝑑𝑑𝑑𝑑 = 𝐸𝐸𝑓𝑓𝑓𝑓 − 𝐸𝐸𝑞𝑞′ − 𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑑𝑑′ 𝐼𝐼𝑑𝑑 − 2 +ψ′𝑑𝑑 + 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑑𝑑 − 𝐸𝐸𝑞𝑞′
dt 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙

d𝐸𝐸𝑑𝑑′ 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑞𝑞′′

4. ′
𝑇𝑇𝑞𝑞𝑞𝑞 = −𝐸𝐸𝑑𝑑′ + 𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′ 𝐼𝐼𝑞𝑞 − 2 −ψ′𝑞𝑞 + 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑞𝑞 + 𝐸𝐸𝑑𝑑′
dt 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙

′′ 𝑑𝑑 ψd
′ ′
5. 𝑇𝑇𝑑𝑑𝑑𝑑 = −ψ𝑑𝑑 − 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑑𝑑 + 𝐸𝐸𝑞𝑞′
dt
dψ ′
𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑞𝑞 + 𝐸𝐸𝑑𝑑′
′′ 𝑞𝑞
𝜋. 𝑇𝑇𝑞𝑞𝑞𝑞 = −ψ′𝑞𝑞 +
dt
© 2020 PowerWorld Corporation 33
 Field Voltage and Current
• Field Voltage (𝐸𝐸𝑓𝑓𝑓𝑓 ) is an input from the exciter
• The field current, 𝐼𝐼𝑓𝑓𝑓𝑓 , is defined in steady-state as
𝐼𝐼𝑓𝑓𝑓𝑓 = 𝐸𝐸𝑓𝑓𝑓𝑓 /𝑋𝑋𝑚𝑚𝑚𝑚

• Traditional, when we talk about a “field current” we

are actually mean the product of the field current
and the mutual inductance 𝐼𝐼𝑓𝑓𝑓𝑓 𝑋𝑋𝑚𝑚𝑚𝑚 (also written
𝐼𝐼𝑓𝑓𝑓𝑓 𝐿𝐿𝑎𝑎𝑑𝑑 )
𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑑𝑑′′
𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓 = 𝐸𝐸𝑞𝑞′ + 𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑑𝑑′ 𝐼𝐼𝑑𝑑 − 2 +ψ′𝑑𝑑 + 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑑𝑑 − 𝐸𝐸𝑞𝑞′
𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙
′
′ d𝐸𝐸𝑞𝑞
𝑇𝑇𝑑𝑑𝑑𝑑 = 𝐸𝐸𝑓𝑓𝑓𝑓 − 𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓
dt
© 2020 PowerWorld Corporation 34
 Multiple Machines
• This math is all very beautiful, but it is all
related to a single machine that is
connected to a three-phase system
• We need a similar conversion for the abc
quantities at all the network buses
• This requires us to do some more beautiful
math
• We will first convert all network abc
quantities to a common reference frame
we call the Synchronous Reference Frame
© 2020 PowerWorld Corporation 35
 Synchronously Rotating
Reference Frame
• That conversion is chosen as follows
– It was chosen because the math works out so nicely
2𝜋𝜋 2𝜋𝜋 𝑣𝑣𝐷𝐷 𝑉𝑉𝑎𝑎
cos 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 − cos 𝜔𝜔𝜔𝜔 + 𝑣𝑣𝑄𝑄 = 𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑉𝑉𝑏𝑏
3 3
2 𝑣𝑣𝑂𝑂
𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 = 2𝜋𝜋 2𝜋𝜋 𝑉𝑉𝑐𝑐
3 −sin 𝜔𝜔𝜔𝜔 −sin 𝜔𝜔𝜔𝜔 − − sin 𝜔𝜔𝜔𝜔 +
3 3
1/2 1/2 1/2

• Assume you have a 3-phase balanced voltage

2𝜋𝜋 2𝜋𝜋 𝑉𝑉𝑡𝑡 cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼
cos 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 − cos 𝜔𝜔𝜔𝜔 + 2𝜋𝜋
𝑣𝑣𝐷𝐷 3 3
2 𝑉𝑉𝑡𝑡 cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 −
𝑣𝑣𝑄𝑄 = 2𝜋𝜋 2𝜋𝜋 3
𝑣𝑣𝑂𝑂 3 −sin 𝜔𝜔𝜔𝜔 −sin 𝜔𝜔𝜔𝜔 − − sin 𝜔𝜔𝜔𝜔 +
3 3 2𝜋𝜋
𝑉𝑉𝑡𝑡 cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 +
1/2 1/2 1/2 3

© 2020 PowerWorld Corporation 36

 Synchronous Reference Frame
for 3-Phase Balanced Operation
• Now multiply these out
2 2𝜋𝜋 2𝜋𝜋 2𝜋𝜋 2𝜋𝜋
𝑣𝑣𝑑𝑑 = 𝑉𝑉𝑡𝑡 +cos 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 + cos 𝜔𝜔𝜔𝜔 − cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 − + cos 𝜔𝜔𝜔𝜔 + cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 +
3 3 3 3 3
2 2𝜋𝜋 2𝜋𝜋 2𝜋𝜋 2𝜋𝜋
𝑣𝑣𝑞𝑞 = 𝑉𝑉𝑡𝑡 −sin 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 − sin 𝜔𝜔𝜔𝜔 − cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 − − sin 𝜔𝜔𝜔𝜔 + cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 +
3 3 3 3 3
2 1 1 2𝜋𝜋 1 2𝜋𝜋
𝑣𝑣0 = 𝑉𝑉𝑡𝑡 cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 + cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 − + cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 −
3 2 2 3 2 3

• The 𝑣𝑣0 value will evaluation to 0.0

2𝜋𝜋
– Three cosine waves shifted by sum to 0.0
3
• Then use of the following trigonometry
2𝜋𝜋 2𝜋𝜋 3 1 3 3
cos 𝑥𝑥 + cos 𝑦𝑦 + = + sin 𝑥𝑥 sin 𝑦𝑦 + cos 𝑥𝑥 cos 𝑦𝑦 + sin 𝑥𝑥 cos 𝑦𝑦 + cos 𝑥𝑥 sin 𝑦𝑦
3 3 4 4 4 4
2𝜋𝜋 2𝜋𝜋 3 1 3 3
cos 𝑥𝑥 − cos 𝑦𝑦 − = + sin 𝑥𝑥 sin 𝑦𝑦 + cos 𝑥𝑥 cos 𝑦𝑦 − sin 𝑥𝑥 cos 𝑦𝑦 − cos 𝑥𝑥 sin 𝑦𝑦
3 3 4 4 4 4
2𝜋𝜋 2𝜋𝜋 3 3 1 3
sin 𝑥𝑥 + cos 𝑦𝑦 + =+ sin 𝑥𝑥 sin 𝑦𝑦 − cos 𝑥𝑥 cos 𝑦𝑦 + sin 𝑥𝑥 cos 𝑦𝑦 − cos 𝑥𝑥 sin 𝑦𝑦
3 3 4 4 4 4
2𝜋𝜋 2𝜋𝜋 3 3 1 3
sin 𝑥𝑥 − cos 𝑦𝑦 − =− sin 𝑥𝑥 sin 𝑦𝑦 + cos 𝑥𝑥 cos 𝑦𝑦 + sin 𝑥𝑥 cos 𝑦𝑦 − cos 𝑥𝑥 sin 𝑦𝑦
3 3 4 4 4 4
© 2020 PowerWorld Corporation 37
 Synchronous Reference Frame
for 3-Phase Balanced Operation
• Lots of terms cancel and you end up with
2 3 3
𝑣𝑣𝑑𝑑 = 𝑉𝑉𝑡𝑡 + cos 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 + sin 𝜔𝜔𝜔𝜔 sin 𝜔𝜔𝜔𝜔 + 𝛼𝛼
3 2 2
2 3 3
𝑣𝑣𝑞𝑞 = 𝑉𝑉𝑡𝑡 − sin 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 + cos 𝜔𝜔𝜔𝜔 sin 𝜔𝜔𝜔𝜔 + 𝛼𝛼
3 2 2
𝑣𝑣0 = 0

• The 2/3 and 3/2 terms cancel out and you get
𝑣𝑣𝑑𝑑 = 𝑉𝑉𝑡𝑡 + cos 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 + sin 𝜔𝜔𝜔𝜔 sin 𝜔𝜔𝜔𝜔 + 𝛼𝛼
𝑣𝑣𝑞𝑞 = 𝑉𝑉𝑡𝑡 − sin 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼 + cos 𝜔𝜔𝜔𝜔 sin 𝜔𝜔𝜔𝜔 + 𝛼𝛼
𝑣𝑣0 = 0

• More Trigonometry and it simplifies to

𝑣𝑣𝑑𝑑 = 𝑉𝑉𝑡𝑡 cos 𝛼𝛼
𝑣𝑣𝑞𝑞 = 𝑉𝑉𝑡𝑡 sin 𝛼𝛼 All the 𝜔𝜔𝜔𝜔 terms
𝑣𝑣0 = 0 cancel out!

© 2020 PowerWorld Corporation 38

 Synchronous Reference Frame
for 3-Phase Balanced Operation
• A-phase sinusoidal is 𝑉𝑉𝑡𝑡 cos 𝜔𝜔𝜔𝜔 + 𝛼𝛼
– Magnitude of 𝑉𝑉𝑡𝑡 and phase difference from the
“synchronous reference frame” of 𝛼𝛼
• Value converted to the 𝑣𝑣𝐷𝐷 +𝑉𝑉𝑡𝑡 cos 𝛼𝛼
synchronous reference 𝑣𝑣𝑄𝑄 = +𝑉𝑉𝑡𝑡 sin 𝛼𝛼
frame are 𝑣𝑣𝑂𝑂 0
• That means we can treat this like a complex
number and just jump right to
𝑣𝑣𝐷𝐷 + 𝑗𝑗𝑣𝑣𝑄𝑄 = 𝑉𝑉𝑡𝑡 cos 𝛼𝛼 + 𝑗𝑗𝑉𝑉𝑡𝑡 sin 𝛼𝛼 = 𝑉𝑉𝑡𝑡 𝑒𝑒 𝑗𝑗𝛼𝛼
• This is exactly what we always do in steady
state power flow equations, so this is nothing
new!
© 2020 PowerWorld Corporation 39
 Must Apply Same Synchronous
Reference Frame to Machine
• Remember that the abc quantities are converted to
the machine reference frame.
• We then need to additionally transform those to
the Network Reference
𝑉𝑉𝑎𝑎 𝑉𝑉𝑑𝑑𝑑𝑑 𝑣𝑣𝐷𝐷 𝑉𝑉𝑎𝑎 𝑉𝑉𝑑𝑑𝑑𝑑
−1
𝑉𝑉𝑏𝑏 = 𝑇𝑇𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑉𝑉𝑞𝑞𝑞𝑞 𝑣𝑣𝑄𝑄 = 𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑉𝑉𝑏𝑏 = 𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑇𝑇𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
−1 𝑉𝑉𝑞𝑞𝑞𝑞
𝑉𝑉𝑐𝑐 𝑉𝑉0𝑖𝑖 𝑣𝑣𝑂𝑂 𝑉𝑉𝑐𝑐 𝑉𝑉0𝑖𝑖

• Need the matrix in yellow for direct conversion

• “Synchronous Reference Frame"
 Just call it the “Network Reference”
– Network Reference Frame 𝑣𝑣𝐷𝐷 𝑉𝑉𝑑𝑑𝑑𝑑
– Machine Reference Frame 𝑣𝑣𝑄𝑄 = 𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑇𝑇𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
−1 𝑉𝑉𝑞𝑞𝑞𝑞
𝑣𝑣𝑂𝑂 𝑉𝑉0𝑖𝑖
© 2020 PowerWorld Corporation 40
 Converting Machine to Network
Reference Frame
• Remember how we converted the abc phase stator
quantities to the dq0 reference frame
 P P 
 sin 2 θ shaft cos θ shaft
2
1
−1

 P 2π   P 2π  
Tdqo = sin  θ shaft −  cos θ shaft −  1
 2 3  2 3  
 P 2π   Pθ 2π  
sin θ +
  2 shaft 3  cos shaft +  1
2 3  
• Also remember our choice of
P
δ ∆ θ shaft − ω st
2
𝑃𝑃
• Thus 𝜃𝜃𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 = 𝜔𝜔𝑠𝑠 𝑡𝑡 + 𝛿𝛿
2

© 2020 PowerWorld Corporation 41

 Converting Machine to Network
Reference Frame
• This makes our transformation matrix for a
particular machine “i” the following
sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 1
2𝜋𝜋 2𝜋𝜋
−1
sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 − cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 − 1
𝑇𝑇𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 3 3
2𝜋𝜋 2𝜋𝜋
sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 + cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 + 1
3 3
• This means for our machine reference frame to
network reference frame we need the following
cos 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 −
2𝜋𝜋
cos 𝜔𝜔𝜔𝜔 +
2𝜋𝜋 sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 1
3 3 2𝜋𝜋 2𝜋𝜋
−1
𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑇𝑇𝑑𝑑𝑑𝑑𝑑 =
2
2𝜋𝜋 2𝜋𝜋 sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 − cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 − 1
3 −sin 𝜔𝜔𝜔𝜔 −sin 𝜔𝜔𝜔𝜔 − − sin 𝜔𝜔𝜔𝜔 + 3 3
3 3 2𝜋𝜋 2𝜋𝜋
1/2 1/2 1/2 sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 + cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 + 1
3 3

© 2020 PowerWorld Corporation 42

 Converting Machine to Network
Reference Frame
cos 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 −
2𝜋𝜋
cos 𝜔𝜔𝜔𝜔 +
2𝜋𝜋 sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 1
3 3 2𝜋𝜋 2𝜋𝜋
−1
𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑇𝑇𝑑𝑑𝑑𝑑𝑑 =
2
2𝜋𝜋 2𝜋𝜋 sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 − cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 − 1
3 −sin 𝜔𝜔𝜔𝜔 −sin 𝜔𝜔𝜔𝜔 − − sin 𝜔𝜔𝜔𝜔 + 3 3
3 3 2𝜋𝜋 2𝜋𝜋
1/2 1/2 1/2 sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 + cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 + 1
3 3

• Use the trigonometry identities 1 1

− sin 𝑥𝑥 sin 𝑥𝑥 + 𝛿𝛿 = − cos 𝛿𝛿 + cos 2𝑥𝑥 + 𝛿𝛿
2 2
1 1
− sin 𝑥𝑥 cos 𝑥𝑥 + 𝛿𝛿 = + sin 𝛿𝛿 − sin 2𝑥𝑥 + 𝛿𝛿
2 2
1 1
+ cos 𝑥𝑥 cos 𝑥𝑥 + 𝛿𝛿 = + cos 𝛿𝛿 + cos 2𝑥𝑥 + 𝛿𝛿
2 2
1 1
+ cos 𝑥𝑥 sin 𝑥𝑥 + 𝛿𝛿 = + sin 𝛿𝛿 + sin 2𝑥𝑥 + 𝛿𝛿
2 2

• When you group terms all the cos 2𝑥𝑥 + 𝛿𝛿

and sin 2𝑥𝑥 + 𝛿𝛿 terms are going to cancel out
and you only have the
3
+ sin 𝛿𝛿
2
3
+ cos 𝛿𝛿
2
0 All the 𝜔𝜔𝜔𝜔 terms
−1 2
𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑇𝑇𝑑𝑑𝑑𝑑𝑑 = 3 3
cancel out!
3 − cos 𝛿𝛿 + sin 𝛿𝛿 0
2 2
0 0 1
© 2020 PowerWorld Corporation 43
 Converting Machine to Network
Reference Frame
• Thus the conversion from Machine  Network is
+sin 𝛿𝛿 +cos 𝛿𝛿 0
−1
𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑇𝑇𝑑𝑑𝑑𝑑𝑑 = −cos 𝛿𝛿 +sin 𝛿𝛿 0
0 0 1

• And the conversion from Network  Machine is

+sin 𝛿𝛿 −cos 𝛿𝛿 0
−1
𝑇𝑇𝑑𝑑𝑑𝑑𝑑 𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 = +cos 𝛿𝛿 +sin 𝛿𝛿 0
0 0 1

© 2020 PowerWorld Corporation 44

 Various Reference Conversions
+sin 𝛿𝛿 +cos 𝛿𝛿 0
−cos 𝛿𝛿 +sin 𝛿𝛿 0
Machine (Rotor) Synchronous
0 0 1
Reference Frame −1
Reference
𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑇𝑇𝑑𝑑𝑑𝑑𝑑 Frame

−1
𝑇𝑇𝑑𝑑𝑑𝑑𝑑 𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠
ABC phase
sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 1 2𝜋𝜋 2𝜋𝜋
2𝜋𝜋 2𝜋𝜋
Reference cos 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 −
3
cos 𝜔𝜔𝜔𝜔 +
3
sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 − cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 − 1 2
3 3 2𝜋𝜋 2𝜋𝜋
3 −sin 𝜔𝜔𝜔𝜔 −sin 𝜔𝜔𝜔𝜔 − − sin 𝜔𝜔𝜔𝜔 +
2𝜋𝜋 2𝜋𝜋 3 3
sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 + cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 + 1 1/2 1/2 1/2
3 3

© 2020 PowerWorld Corporation 45

 We shall never speak of the
ABC Phase Reference Again!
+sin 𝛿𝛿 +cos 𝛿𝛿 0
−cos 𝛿𝛿 +sin 𝛿𝛿 0
Machine (Rotor) Synchronous
0 0 1
Reference Frame −1
Reference
𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑇𝑇𝑑𝑑𝑑𝑑𝑑 Frame

−1
𝑇𝑇𝑑𝑑𝑑𝑑𝑑 𝑇𝑇𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠
ABC phase
sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 1 2𝜋𝜋 2𝜋𝜋
2𝜋𝜋 2𝜋𝜋
Reference cos 𝜔𝜔𝜔𝜔 cos 𝜔𝜔𝜔𝜔 −
3
cos 𝜔𝜔𝜔𝜔 +
3
sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 − cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 − 1 2
3 3 2𝜋𝜋 2𝜋𝜋
3 −sin 𝜔𝜔𝜔𝜔 −sin 𝜔𝜔𝜔𝜔 − − sin 𝜔𝜔𝜔𝜔 +
2𝜋𝜋 2𝜋𝜋 3 3
sin 𝜔𝜔𝜔𝜔 + 𝛿𝛿 + cos 𝜔𝜔𝜔𝜔 + 𝛿𝛿 + 1 1/2 1/2 1/2
3 3

We’re done with considering the “abc phase” Reference. Good to

know it’s there though if we ever want to output to EMTP tool
© 2020 PowerWorld Corporation 46
 Machine to Network
Reference Frame Conversion
• For our final result we will omit the “zero” values
– We are assuming 3-phase balanced operation so these
are not going to come into play anyway
𝑉𝑉𝑑𝑑𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛 +sin 𝛿𝛿 +cos 𝛿𝛿 𝑉𝑉𝑑𝑑𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞
−cos 𝛿𝛿 +sin 𝛿𝛿
𝑉𝑉𝑑𝑑𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 +sin 𝛿𝛿 −cos 𝛿𝛿 𝑉𝑉𝑑𝑑𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛𝑛
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞
+cos 𝛿𝛿 +sin 𝛿𝛿

• You can also treat the d/q values as real and

imaginary numbers and the conversion is then
simply complex number rotation
𝜋𝜋
+𝑗𝑗 𝛿𝛿−
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝑗𝑗𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝑗𝑗𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 𝑒𝑒 2
𝜋𝜋
−𝑗𝑗 𝛿𝛿−
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝑗𝑗𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝑗𝑗𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 𝑒𝑒 2
© 2020 PowerWorld Corporation 47
 Final Complete Model of
Per-Unitized Dynamic Equations
Algebraic Relationships
′′ ′ ′′
′ 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 ′ 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑞𝑞
𝐸𝐸𝑑𝑑′′ = +𝐸𝐸𝑑𝑑 ′ + ψ𝑞𝑞 ′
𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙
′′ ′ ′′
′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙 ′ 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑑𝑑
𝐸𝐸𝑞𝑞′′ = +𝐸𝐸𝑞𝑞 ′ + ψ𝑑𝑑 ′
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙 𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙
′′ ′′
ψ𝑑𝑑 = −𝐼𝐼𝑑𝑑 𝑋𝑋𝑑𝑑 + 𝐸𝐸𝑞𝑞
ψ𝑞𝑞 = −𝐼𝐼𝑞𝑞 𝑋𝑋𝑑𝑑′′ − 𝐸𝐸𝑑𝑑′′
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝐸𝐸𝑑𝑑′′ 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 − 𝑅𝑅𝑠𝑠 𝐼𝐼𝑑𝑑 + 𝑋𝑋𝑞𝑞′′ 𝐼𝐼𝑞𝑞
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝐸𝐸𝑞𝑞′′ 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 − 𝑅𝑅𝑠𝑠 𝐼𝐼𝑞𝑞 − 𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑑𝑑
6 Differential Equations
𝑑𝑑𝑑
= ∆𝜔𝜔𝑝𝑝𝑝𝑝 ∗ 𝜔𝜔𝑠𝑠
dt
d𝜔𝜔 𝑃𝑃𝑚𝑚𝑚𝑚𝑚𝑚𝑚 −𝐷𝐷𝐷𝐷
2𝐻𝐻 = − ψ𝑑𝑑 𝐼𝐼𝑞𝑞 − ψ𝑞𝑞 𝐼𝐼𝑑𝑑
𝑑𝑑𝑑𝑑 1+∆𝜔𝜔𝑝𝑝𝑝𝑝

′ d𝐸𝐸𝑞𝑞′ 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑑𝑑′′

𝑇𝑇𝑑𝑑𝑑𝑑 = 𝐸𝐸𝑓𝑓𝑓𝑓 − 𝐸𝐸𝑞𝑞′ − 𝑋𝑋𝑑𝑑 − 𝑋𝑋𝑑𝑑′ 𝐼𝐼𝑑𝑑 − 2 +ψ′𝑑𝑑 + 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑑𝑑 − 𝐸𝐸𝑞𝑞′
dt 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙

d𝐸𝐸𝑑𝑑′ 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑞𝑞′′

′
𝑇𝑇𝑞𝑞𝑞𝑞 = −𝐸𝐸𝑑𝑑′ + 𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′ 𝐼𝐼𝑞𝑞 − 2 −ψ′𝑞𝑞 + 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑞𝑞 + 𝐸𝐸𝑑𝑑′
dt 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙

′′ 𝑑𝑑 ψd
′ ′
𝑇𝑇𝑑𝑑𝑑𝑑 = −ψ𝑑𝑑 − 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑑𝑑 + 𝐸𝐸𝑞𝑞′
dt
dψ ′
𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑞𝑞 + 𝐸𝐸𝑑𝑑′
′′ 𝑞𝑞
𝑇𝑇𝑞𝑞𝑞𝑞 = −ψ′𝑞𝑞 +
dt
© 2020 PowerWorld Corporation 48
 Network Equations Interface
Simplification
• Equations that model the connection of the generator
to the network are
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝐸𝐸𝑑𝑑′′ 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 − 𝑅𝑅𝑠𝑠 𝐼𝐼𝑑𝑑 + 𝑋𝑋𝑞𝑞′′ 𝐼𝐼𝑞𝑞
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝐸𝐸𝑞𝑞′′ 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 − 𝑅𝑅𝑠𝑠 𝐼𝐼𝑞𝑞 − 𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑑𝑑
• For GENROU and GENSAL models, two simplifying
assumptions are made
– 𝑋𝑋𝑞𝑞′′ = 𝑋𝑋𝑑𝑑′′ (there is no “subtransient saliency”), this gives us
a simple circuit equation
– The value of 𝑋𝑋𝑑𝑑′′ used in the network boundary equations
DOES NOT saturate (this makes the machine internal
impedance in network equations constant)
• This becomes a simple circuit equation
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 + 𝑗𝑗𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 𝐸𝐸𝑑𝑑′′ + 𝑗𝑗𝐸𝐸𝑞𝑞′′ − 𝑅𝑅𝑠𝑠 + 𝑗𝑗𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑑𝑑 + 𝑗𝑗𝐼𝐼𝑞𝑞

© 2020 PowerWorld Corporation 49

 Network Equations Interface
Simplification
• Remember we need to convert between the “dq” (machine)
reference and the Network Reference
𝜋𝜋
+𝑗𝑗 𝛿𝛿−
– 𝑉𝑉𝑟𝑟 + 𝑗𝑗𝑉𝑉𝑖𝑖 = 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 𝐸𝐸𝑑𝑑′′ + 𝑗𝑗𝐸𝐸𝑞𝑞′′ 𝑒𝑒 2

𝜋𝜋
+𝑗𝑗 𝛿𝛿−
– 𝐼𝐼𝑟𝑟 + 𝑗𝑗𝐼𝐼𝑖𝑖 = 𝐼𝐼𝑑𝑑 + 𝑗𝑗𝐼𝐼𝑞𝑞 𝑒𝑒 2

– 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 + 𝑗𝑗𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 = 𝑉𝑉𝑟𝑟 + 𝑗𝑗𝑉𝑉𝑖𝑖 − 𝑅𝑅𝑠𝑠 + 𝑗𝑗𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑟𝑟 + 𝑗𝑗𝐼𝐼𝑖𝑖

• This is a simple circuit equation we can model as Norton
Equivalent / Thevenin Equivalent

© 2020 PowerWorld Corporation 50

 An Aside Preparing for
Renewable Models Later
• The synchronous machine models all build
differential equations that result in a voltage source
behind an impedance
• When moving over the network boundary
equations this is a very good thing!
• This is a much more numerically robust
arrangement
– Current is limited by the internal impedance and
voltage
– Voltage is limited by the internal voltage
• This is NOT going to be the case with the renewable
models like REGC_A, or with particular load models
such as LD1PAC and DER_A
© 2020 PowerWorld Corporation 51
 An Aside about Simplifying
Assumptions for GENROU/GENSAL
• Models GENTPF and GENTPJ do not make either
assumption on the previous pages
– They allow sub-transient saliency (𝑋𝑋𝑞𝑞′′ <> 𝑋𝑋𝑑𝑑′′ allowed)
– Also, both of those terms may also saturate
• This make the network interface no longer a simple
circuit equation and more complicated
– This makes the software harder to write and was an
impediment to doing this in 1970, but no reason we
need to make that assumption now
• New models we’ll mention later do not make these
assumptions either
– GENQEC
© 2020 PowerWorld Corporation 52
 Summary of Equations as Block
Diagram (Basically GENROU)

GENROU without
Saturation

© 2020 PowerWorld Corporation 53

 Summary of What will be
Modeled in Transient Stability
• Differential Equations will be modeled directly
– The output of the differential equations will include
the internal voltage to apply to the network and the
internal impedance
– 1 + ∆𝜔𝜔𝑝𝑝𝑝𝑝 𝐸𝐸𝑑𝑑′′ + 𝑗𝑗𝐸𝐸𝑞𝑞′′
– 𝑅𝑅𝑠𝑠 + 𝑗𝑗𝑋𝑋𝑑𝑑′′
• Algebraic network equations are calculated across
the entire system
– Output of this will be new stator currents that are
inputs to the synchronous machine model
– Output of new terminal voltages, currents, and power
will all feedback to other dynamic models (exciter,
governor, etc) as well

© 2020 PowerWorld Corporation 54

 Reminder!
• Be careful looking at other textbooks and academic
papers
• We have made arbitrary choices!
– Our choice of defining of the rotor angle as the angle
between the a-axis and the q-axis effected all this
math
– The definition of q-axis leading or lagging the d-axis
effected all this math too
• I’ve wasted many days in the past decade getting
confused when reading books and papers!
– Books and Papers may have various 90 degree phase
shifts and sign differences
– All comes down to these arbitrary choices

© 2020 PowerWorld Corporation 55

 Pause for a Moment
• We just got to a point where all this math has
cleverly removed all the 𝜔𝜔𝜔𝜔 terms from
everything!
• We have also converted the translation between
the network equations and the rotating generator
into a simple complex number rotation
• That was a very large amount of math
• The choice of these reference frame
transformations matrices took engineers decades
to figure out!
• Pause to thank the engineers from 50 - 80 years ago
for working through all this
© 2020 PowerWorld Corporation 56
 Presentation so far applies to all
Synchronous Machine Models
• However,
– Magnetic Saturation hasn’t been introduced yet
– Simplification due to machine construction for Salient Pole
Machines has been ignored
• All synchronous machine models build from this point
– GENROU/GENROE (most directly, but with additive
saturation)
– GENSAL/GENSAE (some older treatment of saturation,
simplify Q axis)
– GENTPF (some simplification to dynamic model plus
multiplicative saturation)
– GENTPJ (same as GENTPF but stator current also effects
saturation)
– Prospective new models: GENQEC

© 2020 PowerWorld Corporation 57

 Nonlinear Magnetic Circuits
• Nonlinear magnetic models are needed
because magnetic materials will saturate
– Saturation means increasingly large amounts
of current are needed to increase the flux
density
R=0
dλ dφ
v= =N
dt dt

When linear λ = Li

© 2020 PowerWorld Corporation 58

 Saturation

© 2020 PowerWorld Corporation 59

 Relative Magnetic Strength
Levels
• Earth’s magnetic field is between 30 and 70 mT (0.3
to 0.7 gauss)
• A refrigerator magnet might have 0.005 T
• A commercial neodymium magnet might be 1 T
• A magnetic resonance imaging (MRI) machine
would be between 1 and 3 T
• Strong lab magnets can be 10 T
• Frogs can be levitated at 16 T (see
www.ru.nl/hfml/research/levitation/diamagnetic
• A neutron star can have 1 to 100 MT!

© 2020 PowerWorld Corporation 60

 Magnetic Saturation and
Hysteresis
• The below image shows the saturation
curves for various materials
Magnetization curves of 9
ferromagnetic materials, showing
saturation. 1.Sheet steel, 2.Silicon
steel, 3.Cast steel, 4.Tungsten steel,
5.Magnet steel, 6.Cast iron,
7.Nickel, 8.Cobalt, 9.Magnetite;
highest saturation materials can
get to around 2.2 or 2.3T
Image Source: H is proportional to current
en.wikipedia.org/wiki/Saturation_(magnetic)
© 2020 PowerWorld Corporation 61
 Magnetic Saturation and
Hysteresis
• Magnetic materials also exhibit hysteresis, so there
is some residual magnetism when the current goes
to zero; design goal is to reduce the area enclosed
by the hysteresis loop

To minimize the amount

of magnetic material,
and hence cost and
weight, electric machines
are designed to operate
close to saturation

Image source: www.nde-ed.org/EducationResources/CommunityCollege/MagParticle/Graphics/BHCurve.gif

© 2020 PowerWorld Corporation 62
 Typical Saturation Tests Plot
Terminal Voltage vs. Efd
• For those doing generator testing they will do tests
to build the figure on left, but I like to flip axes and
think about the figure on the right instead
Vterm Ifd

If at synchronous speed, then

Terminal Voltage has same
magnitude as stator flux

© 2020 PowerWorld Corporation

Ifd Vterm 63
 What is showing the Saturation?
• Saturation represents
how extra field current is
necessary to obtain a Ifd
particular terminal
voltage
– It doesn’t follow the red
line which would represent
a linear magnetic
relationship
• The Saturation Function
will be a function of Flux
(Voltage) and represents
the green segments Vterm
© 2020 PowerWorld Corporation 64
 Saturation is the “Extra” above
what linear term represents
• Saturation Function is
determined from
generator testing by Efd
getting the purple line at
the right
• Any function that
approximates the purple
shape can be used
• Different software tools
and particular models use
different functions Vterm
© 2020 PowerWorld Corporation 65
 Description of Saturation in
Software
• Two points on the saturation curve are
provided as input data
• The saturation function is given. Can be
different types
S12
– Quadratic
– Scaled Quadratic
– Exponential
S10
1.0 1.2
© 2020 PowerWorld Corporation 66
 Saturation Function Types
Name Function Which Platform
Quadratic 𝑆𝑆𝑆𝑆𝑆𝑆 𝑥𝑥 = 𝐵𝐵 𝑥𝑥 − 𝐴𝐴 2
GE PSLF
PowerWorld Simulator
option
2
Scaled 𝐵𝐵 𝑥𝑥 − 𝐴𝐴 PTI PSS/E,
𝑆𝑆𝑆𝑆𝑆𝑆 𝑥𝑥 =
Quadratic 𝑥𝑥 PowerWorld Simulator
Option
Exponential 𝑆𝑆𝑆𝑆𝑆𝑆 𝑥𝑥 = 𝐵𝐵𝑥𝑥 𝐴𝐴 BPA IPF
Specific models in PTI
PSS/E
Specific models in
PowerWorld Simulator

© 2020 PowerWorld Corporation 67

 Scaled Quadratic Function
𝐵𝐵 𝑥𝑥−𝐴𝐴 2
𝐼𝐼𝐼𝐼 𝑥𝑥 > 𝐴𝐴
• 𝑆𝑆𝑎𝑎𝑎𝑎 𝑥𝑥 = � 𝑥𝑥
0 𝐼𝐼𝐼𝐼 𝑥𝑥 ≤ 𝐴𝐴
– A and B coefficients are calculated from the two equations
defined by the two given points
– There are two solutions though: we take the one
representing the Green Curve (A < 1)

𝐵𝐵 1.0 − 𝐴𝐴 2 𝐵𝐵 1.2 − 𝐴𝐴 2
𝑆𝑆10 = 𝑆𝑆12 =
1.0 1.2
Solve one for B and substitute into the second. Groups
terms and you get quadratic function with two
solutions. Use the solution for which A < 1.
𝑆𝑆12 𝑆𝑆12 𝑆𝑆12 1.0 2
− 1.2 + −2 + 2 𝐴𝐴 + − 𝐴𝐴 = 0
𝑆𝑆10 𝑆𝑆10 𝑆𝑆10 1.2
© 2020 PowerWorld Corporation 68
 Quadratic Function
2
𝐵𝐵 𝑥𝑥 − 𝐴𝐴 𝐼𝐼𝐼𝐼 𝑥𝑥 > 𝐴𝐴
• 𝑆𝑆𝑎𝑎𝑎𝑎 𝑥𝑥 = �
0 𝐼𝐼𝐼𝐼 𝑥𝑥 ≤ 𝐴𝐴
– A and B coefficients are calculated from the two equations
defined by the two given points
– There are two solutions though: we take the one
representing the Green Curve (A < 1)
2
𝑆𝑆10 = 𝐵𝐵 1.0 − 𝐴𝐴
2
𝑆𝑆12 = 𝐵𝐵 1.2 − 𝐴𝐴
Solve one for B and substitute into the second. Groups
terms and you get quadratic function with two
solutions. Use the solution for which A < 1.
𝑆𝑆12 𝑆𝑆12 𝑆𝑆12
− 1.44 + −2 + 2.4 𝐴𝐴 + − 1.0 𝐴𝐴2 = 0
𝑆𝑆10 𝑆𝑆10 𝑆𝑆10
© 2020 PowerWorld Corporation 69
 Exponential Function
𝐴𝐴
• 𝑆𝑆𝑎𝑎𝑎𝑎 𝑥𝑥 = 𝐵𝐵 𝑥𝑥
– A and B coefficients are calculated from the two
equations defined by the two given points
𝐴𝐴
𝑆𝑆10 = 𝐵𝐵 1.0
𝑆𝑆10 = 𝐵𝐵 B = 𝑆𝑆10
𝐴𝐴
𝑆𝑆12 = 𝐵𝐵 1.2
𝑆𝑆12 = S10 1.2 𝐴𝐴 𝑆𝑆12
ln
𝑆𝑆12 𝑆𝑆10
𝐴𝐴 =
𝐴𝐴
= 1.2
𝑆𝑆10

ln
𝑆𝑆12
= ln 1.2 𝐴𝐴
= 𝐴𝐴 ln 1.2
ln 1.2
𝑆𝑆10

© 2020 PowerWorld Corporation 70

 Implementing Saturation Models
• When implementing saturation models in
code, it is important to recognize that the
function is meant to be positive, so
negative values are not allowed
• In large cases one is almost guaranteed to
have special cases, sometimes caused by
user typos
– What to do if Se(1.2) < Se(1.0)?
– What to do if Se(1.0) = 0 and Se(1.2) <> 0
– What to do if Se(1.0) = Se(1.2) <> 0
© 2020 PowerWorld Corporation 71
 Where in Equations do you put
Saturation: GENROU Example

GENROU with
Saturation

© 2020 PowerWorld Corporation 72

 Where in Equations do you put
Saturation: GENROU Example

© 2020 PowerWorld Corporation 73

 Saturation is being Added to the
Sub-transient derivative
• Saturation is Added to the
Field Current
– This makes sense
especially because of the
test that is used to find the
saturation function
• The Open Circuit
Saturation Test only finds
saturation on D-Axis
– We know there is also
saturation on Q-Axis
– We simply assume it is the
proportional to the mutual
inductance

© 2020 PowerWorld Corporation 74

 My Personal Assessment of
GENROU saturation
• Why was it done this way?
• This exactly matches the test which is done
• A steady state open circuit test is done by varying
the field current and seeing what the terminal
voltage of the synchronous machine does
– This means 𝐼𝐼𝑑𝑑 = 𝐼𝐼𝑞𝑞 = 0 (zero stator current)
– In this open circuit test the q-axis fluxes are all zero!
(ψq ) so we are only measuring the d-axis saturation
• Varying the terminal voltage will vary the d-axis flux (ψ′′
d)
– If you have a curve showing you the extra field current
needed, in 1970 it made perfect sense to just add in
that “extra” field current right into the block diagram
– This is exactly what GENROU represents

© 2020 PowerWorld Corporation 75

 Scaling of Saturation on q-Axis
• Mutual Inductance is something we skipped over earlier
in our per unit parameterization choices (Page 30 – 42
of Sauer/Pai book)
• 𝑋𝑋𝑑𝑑 = 𝑋𝑋𝑚𝑚𝑚𝑚 + 𝑋𝑋𝑙𝑙  𝑋𝑋𝑚𝑚𝑚𝑚 = 𝑋𝑋𝑑𝑑 + 𝑋𝑋𝑙𝑙
• 𝑋𝑋𝑞𝑞 = 𝑋𝑋𝑚𝑚𝑚𝑚 + 𝑋𝑋𝑙𝑙  𝑋𝑋𝑚𝑚𝑞𝑞 = 𝑋𝑋𝑞𝑞 + 𝑋𝑋𝑙𝑙
– 𝑋𝑋𝑑𝑑 and 𝑋𝑋𝑞𝑞 = synchronous reactance on d-axis and q-axis
– 𝑋𝑋𝑚𝑚𝑚𝑚 and 𝑋𝑋𝑚𝑚𝑚𝑚 : mutual inductance on the d-axis and q-axis
(this is the part inside the iron core so it saturates)
– 𝑋𝑋𝑙𝑙 : the is the leakage inductance. This is the inductance
from the air gap, so we assume air does not saturate
• The GENROU choice of scaling simply says the same
relative amount of saturation occurs on both d and q
axis
𝑋𝑋𝑚𝑚𝑚𝑚 𝑋𝑋𝑞𝑞 +𝑋𝑋𝑙𝑙
• = : Scaling term to convert d-axis to q-axis
𝑋𝑋𝑚𝑚𝑚𝑚 𝑋𝑋𝑑𝑑 +𝑋𝑋𝑙𝑙
© 2020 PowerWorld Corporation 76
 Implications of modeling
saturation with addition
• There were some fundamental relationships between the 4
rotor flux variables and how they relate to one another
– By adding to ONLY two of those flux terms we have disrupted
those relationships
• Saturation does NOT impact the network boundary equations
at all
– As long as we require that 𝑋𝑋𝑑𝑑′′ = 𝑋𝑋𝑞𝑞′′ , a simple circuit equation can
be used at network boundary
• 𝑋𝑋𝑑𝑑′′ <> 𝑋𝑋𝑞𝑞′′ is called transient saliency and is not allowed in GENROU and
GENSAL models
– This makes it much easier on software writers and is likely a big
reason why in 1970 this would have been picked as
approximation
• Saturation is only a function of the flux and thus the terminal
voltage of the synchronous machine
– Saturation is NOT a function of armature current

© 2020 PowerWorld Corporation 77

 An Aside
• Beyond the scope of this presentation, but there
are some fundamental theoretical flaws with the
treatment of GENROU as well
– Peter W. Sauer “Constraints on Saturation Modeling in
AC Machines”, IEEE Transactions on Energy
Conversion, Vo. 7. No. 1, March 1992, pp. 161 – 167
– This paper discusses the fundamental assumption that
the “coupling field” between the mechanical and
electrical systems is a conservative (lossless) field
– That assumption puts some theoretical constraints on
how the saturation should be applied to the equations
– A ton of calculus and algebra and you would get what I
call the “GENPWS” (for Peter W. Sauer)
© 2020 PowerWorld Corporation 78
 An Aside
“GENPWS” for Peter. W. Sauer
• Still uses addition
– But the addition is made
to the input stator
current instead
– Increasing stator current
being fed into dynamic
model increases the
field voltage
– It’s a lot of math, but
this makes some sense
– Does not change the
fundamental
relationships between
all the rotor quantities

© 2020 PowerWorld Corporation 79

 Initialization of GENROU Model

© 2020 PowerWorld Corporation 80

 Initialization of GENROU with
Saturation
• Write 5 equations as follows from Block Diagram at Steady
State (inputs to integrators = 0)
1. 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑑𝑑 + ψ′𝑑𝑑 − 𝐸𝐸𝑞𝑞′ = 0 Sum inputs integrator for State 4

𝑋𝑋𝑑𝑑′′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑑𝑑′′

2. ψ′′
𝑑𝑑 − 𝐸𝐸𝑞𝑞′ − ψ′𝑑𝑑 = 0 Final summation block resulting in ψ′′
𝑑𝑑
𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙

𝑋𝑋𝑞𝑞 −𝑋𝑋𝑙𝑙
3. 𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′ 𝐼𝐼𝑞𝑞 + ψ′′
𝑞𝑞 𝑆𝑆𝑆𝑆𝑆𝑆 ψ′′ − 𝐸𝐸𝑑𝑑′ = 0 Sum inputs integrator for State 6
𝑋𝑋𝑑𝑑 −𝑋𝑋𝑙𝑙

4. 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 𝐼𝐼𝑞𝑞 − ψ′𝑞𝑞 + 𝐸𝐸𝑑𝑑′ = 0 Sum inputs integrator for State 5

𝑋𝑋𝑞𝑞′′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑞𝑞′′

5. −ψ′′𝑞𝑞 − 𝐸𝐸𝑑𝑑′ − ψ′𝑞𝑞 = 0 Final summation block resulting in ψ′′
𝑞𝑞
𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙 𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙

• Know 𝑆𝑆𝑆𝑆𝑆𝑆 ψ′′ already (next slide)

• Rotor Angle (δ) is in there too because we need it to perform
the translation from network to machine reference frame

© 2020 PowerWorld Corporation 81

 Getting Saturation Function at
Initialization
• We can get the internal voltage on the network
reference frame directly
• 𝑉𝑉𝑟𝑟 + 𝑉𝑉𝑖𝑖 = 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 + 𝑗𝑗𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 + 𝑅𝑅𝑎𝑎 + 𝑗𝑗𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑟𝑟 + 𝑗𝑗𝐼𝐼𝑖𝑖
• 𝑉𝑉𝑟𝑟 = 𝑉𝑉𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 + 𝑅𝑅𝑎𝑎 𝐼𝐼𝑟𝑟 − 𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑖𝑖
• 𝑉𝑉𝑖𝑖 = 𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 + 𝑅𝑅𝑎𝑎 𝐼𝐼𝑖𝑖 + 𝑋𝑋𝑑𝑑′′ 𝐼𝐼𝑟𝑟
• From this we get the saturation function because
the reference frame conversion only rotates,
therefore the magnitude does not change!
𝜋𝜋
𝑗𝑗 𝛿𝛿−
′′
𝑆𝑆𝑆𝑆𝑆𝑆 ψ = 𝑆𝑆𝑆𝑆𝑆𝑆 ψ′′
𝑑𝑑 + 𝑗𝑗ψ′′
𝑞𝑞 = 𝑆𝑆𝑆𝑆𝑆𝑆 𝑉𝑉𝑞𝑞 − 𝑗𝑗𝑉𝑉𝑑𝑑 = 𝑆𝑆𝑆𝑆𝑆𝑆 𝑉𝑉𝑑𝑑 + 𝑗𝑗𝑉𝑉𝑞𝑞 𝑒𝑒 2 = 𝑆𝑆𝑆𝑆𝑆𝑆 𝑉𝑉𝑟𝑟 + 𝑗𝑗𝑉𝑉𝑖𝑖

• 𝑆𝑆𝑆𝑆𝑆𝑆 ψ′′ = 𝑆𝑆𝑆𝑆𝑆𝑆 𝑉𝑉𝑟𝑟 + 𝑗𝑗𝑉𝑉𝑖𝑖

• From here it’s a bit of clever algebra, but you can
get the initial rotor angle
© 2020 PowerWorld Corporation 82
 Derivation of initial Rotor Angle
for GENROU with Saturation

© 2020 PowerWorld Corporation 83

 Derivation of Initial Rotor Angle
Continued

© 2020 PowerWorld Corporation 84

 GENROU without Saturation
is Easier
• Rotor Angle can be obtained from network reference
frame quantities

• If 𝐾𝐾𝑠𝑠𝑠𝑠𝑠𝑠 = 1.0, that means there is no saturation

– The rotor angle then simplifies to

– Sauer/Pai book page 51 will show finding the angle of the

internal voltage using the following circuit
– Note: It’s kind of weird because that 𝑅𝑅𝑎𝑎 + 𝑗𝑗𝑋𝑋𝑞𝑞
is NOT the network interface +
+
′′ 𝐼𝐼𝑟𝑟 + 𝑗𝑗𝐼𝐼𝑖𝑖 𝑉𝑉
as it uses 𝑋𝑋𝑞𝑞 instead of 𝑋𝑋𝑞𝑞 𝑉𝑉
𝑟𝑟 + 𝑗𝑗𝑉𝑉𝑖𝑖 _ 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 + 𝑗𝑗𝑉𝑉𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖
_
© 2020 PowerWorld Corporation 85
 Initialization of the Remainder
• Rotor Angle known, continue with algebra
• 𝑉𝑉𝑑𝑑 = 𝑉𝑉𝑟𝑟 sin δ − 𝑉𝑉𝑖𝑖 cos δ convert to dq axis using guess for δ

• 𝑉𝑉𝑞𝑞 = 𝑉𝑉𝑟𝑟 cos δ + 𝑉𝑉𝑖𝑖 sin δ convert to dq axis using guess for δ
• 𝐼𝐼𝑑𝑑 = 𝐼𝐼𝑟𝑟 sin δ − 𝐼𝐼𝑖𝑖 cos δ convert to dq axis using guess for δ

• 𝐼𝐼𝑞𝑞 = 𝐼𝐼𝑟𝑟 cos δ + 𝐼𝐼𝑖𝑖 sin δ convert to dq axis using guess for δ
𝑉𝑉
• ψ𝑞𝑞′′ = − 1+ω really we can ignore ω as it’s zero
𝑑𝑑
𝑉𝑉
• ψ𝑑𝑑′′ = + 1+ω really we can ignore ω as it’s zero
𝑞𝑞
• ψ𝑑𝑑 = ψ𝑑𝑑 − 𝐼𝐼𝑑𝑑 𝑋𝑋𝑑𝑑′′ − 𝑋𝑋𝑙𝑙
′ ′′
State 4. Algebra from summation blocks for ψ′′ 𝑑𝑑
• 𝐸𝐸𝑞𝑞′ = ψ′𝑑𝑑 + 𝐼𝐼𝑑𝑑 𝑋𝑋𝑑𝑑′ − 𝑋𝑋𝑙𝑙 State 3. Enforce zero input to state 4 integral block

• 𝐸𝐸𝑑𝑑′ = 𝐼𝐼𝑞𝑞 𝑋𝑋𝑞𝑞 − 𝑋𝑋𝑞𝑞′ State 6. Enforce zero input to state 6 integral block

• ψ′𝑞𝑞 = 𝐸𝐸𝑑𝑑′ + 𝐼𝐼𝑞𝑞 𝑋𝑋𝑞𝑞′ − 𝑋𝑋𝑙𝑙 State 5. Enforce zero input to state 5 integral block
© 2020 PowerWorld Corporation 86
 Machine Model Reactance
Validation
• For synchronous machine models, there are d-
axis and q-axis reactance values
– Synchronous reactance : 𝑋𝑋𝑑𝑑 and 𝑋𝑋𝑞𝑞
– Transient reactance : 𝑋𝑋𝑑𝑑′ and 𝑋𝑋𝑞𝑞′
– Sub-transient reactance : 𝑋𝑋𝑑𝑑′′ and 𝑋𝑋𝑞𝑞′′
– Leakage reactance : 𝑋𝑋𝑙𝑙
• The following two relationships must be
satisfied (physically impossible to violate)
– 𝑋𝑋𝑙𝑙 ≤ 𝑋𝑋𝑞𝑞′′ ≤ 𝑋𝑋𝑞𝑞′ ≤ 𝑋𝑋𝑞𝑞
– 𝑋𝑋𝑙𝑙 ≤ 𝑋𝑋𝑑𝑑′′ ≤ 𝑋𝑋𝑑𝑑′ ≤ 𝑋𝑋𝑑𝑑
– These types of model errors are not uncommon
© 2020 PowerWorld Corporation 87
 Machine Reactance
Auto-Correction in PowerWorld
• When machine reactance model errors are
found and auto-correction is applied, the
following changes will be applied to the
data
– If Xq’>Xq then Xq’=0.8Xq
– If Xd’>Xd then Xd’=0.8Xd
– If Xq”>Xq’ then Xq”=0.8Xq’
– If Xd”>Xd’ then Xd”=0.8Xd’
– If Xl >Xq” then Xl =0.8Xq”
– If Xl >Xd” then Xl =0.8Xd”
© 2020 PowerWorld Corporation 88
 GENTPF/GENTPJ
• GENTPF Modifies the treatment of Saturation
– Instead of being introduced as addition, consider treating
the input parameters as the “unsaturated parameters”
• (Xd, Xq, Xdp, Xqp, Xdpp, Xqpp, Tdop, Tdopp,Tqop, Tqopp)
• Then apply multiplication to account for saturation
– This has advantage of applying saturation to all the
equations simultaneously
– GENTPJ also introduces the impact of the stator current on
saturation.
• Empirical testings show that increases in stator current increases
saturation.
– Again, we skipped all this, but the various parameters we
derived
• GENTPF/GENTPJ however, does make a small change to
the dynamic equations that may not have been quite
right. We’re working on testing new models
© 2020 PowerWorld Corporation 89
 GENTPF and GENTPJ Models
• These models were introduced in 2009 to
provide a better match between simulated
and actual system results for salient pole
machines
– Desire was to duplicate functionality from old BPA
TS code
– Allows for subtransient saliency (𝑋𝑋𝑞𝑞′′ <> 𝑋𝑋𝑑𝑑′′ )
– Can also be used with round rotor, replacing
GENSAL and GENROU
• Useful reference is available at below link;
includes all the equations, and saturation
details
© 2020 PowerWorld Corporation 90
 Motivation for the Change:
GENSAL Actual Results
Chief Joseph
disturbance playback
GENSAL
BLUE = MODEL
RED = ACTUAL
(Chief Joseph is a
2620 MW hydro
plant on the
Columbia River in
Washington)

Image source :https://www.wecc.biz/library/WECC%20Documents/Documents%20for

%20Generators/Generator%20Testing%20Program/gentpj%20and%20gensal%20morel.pdf
© 2020 PowerWorld Corporation 91
 GENTPJ Results

Chief Joseph
disturbance
playback
GENTPJ
BLUE = MODEL
RED = ACTUAL

© 2020 PowerWorld Corporation 92

 GENTPF and GENTPJ Models

Most of
WECC
machine
models
are now
GENTPF
or
GENTPJ

If nonzero, Kis typically ranges from 0.02 to 0.12

© 2020 PowerWorld Corporation 93
 Network Equation for
GENTPF/GENTPJ
• Network Equations can NOT use circuit equation
• Results in some complexity we don’t discuss here
Saturated Subtransient Reactances Electrical Torque
′′ 𝑋𝑋𝑑𝑑′′ −𝑋𝑋𝑙𝑙 ′′
ψ𝑞𝑞 = ψ𝑞𝑞′′ − 𝐼𝐼𝑞𝑞 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = −𝐸𝐸𝑑𝑑′′ − 𝐼𝐼𝑞𝑞 𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞
′′
𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = + 𝑋𝑋𝑙𝑙
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
𝑋𝑋𝑞𝑞′′ −𝑋𝑋𝑙𝑙
ψ𝑑𝑑 = ψ𝑑𝑑′′ − 𝐼𝐼𝑑𝑑 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
′′ ′′
= +𝐸𝐸𝑞𝑞′′ − 𝐼𝐼𝑑𝑑 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑
′′
𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = + 𝑋𝑋𝑙𝑙 𝑇𝑇𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒 = ψ𝑑𝑑 𝐼𝐼𝑞𝑞 − ψ𝑞𝑞 𝐼𝐼𝑑𝑑
𝑆𝑆𝑆𝑆𝑡𝑡𝑞𝑞
Network Interface Equations
𝑉𝑉𝑑𝑑 + 𝑗𝑗𝑉𝑉𝑞𝑞 = 𝐸𝐸𝑑𝑑′′ + 𝑗𝑗𝐸𝐸𝑞𝑞′′ 1 + 𝜔𝜔

′′ ′′
Because 𝑋𝑋𝑞𝑞𝑠𝑠𝑠𝑠𝑠𝑠 <> 𝑋𝑋𝑑𝑑𝑠𝑠𝑠𝑠𝑠𝑠 we cannot use a circuit model for network
interface equations and must instead directly use the following.
′′
𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 = 𝑉𝑉𝑑𝑑 − 𝑅𝑅𝑎𝑎 𝐼𝐼𝑑𝑑 + 𝑋𝑋𝑞𝑞𝑠𝑠𝑠𝑠𝑠𝑠 𝐼𝐼𝑞𝑞
′′
𝑉𝑉𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝑉𝑉𝑞𝑞 − 𝑋𝑋𝑑𝑑𝑠𝑠𝑠𝑠𝑠𝑠 𝐼𝐼𝑑𝑑 − 𝑅𝑅𝑎𝑎 𝐼𝐼𝑞𝑞
© 2020 PowerWorld Corporation 94
 Theoretical Justification for
GENTPF and GENTPJ
• In the GENROU and GENSAL models saturation
shows up purely as an additive term of Eq’ and Ed’
– Saturation does not come into play in the network
interface equations and thus with the assumption of
′′ ′′
𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 = 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 a simple circuit model can be used
• The advantage of the GENTPF/J models is
saturation really affects the entire model, and in
this model it is applied to all the inductance terms
simultaneously
– This complicates the network boundary equations, but
since these models are designed for
′′ ′′
𝑋𝑋𝑞𝑞𝑞𝑞𝑞𝑞𝑞𝑞 <> 𝑋𝑋𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 there is no increase in complexity

© 2020 PowerWorld Corporation 95

 GENTPF/GENTPJ: However?
• If you look at the differential equations, they are
different!
– In particular notice that the leakage reactance is NOT
on the block diagram for the differential equations
– The GENTPF/GENTPJ differential equations represent
what would happen to the GENROU equations if you
make the approximation on each axis
• 𝑋𝑋𝑙𝑙 = 𝑋𝑋𝑑𝑑′′ on the d-axis differential equations
• 𝑋𝑋𝑙𝑙 = 𝑋𝑋𝑞𝑞′′ on the q-axis differential equations
• This has some undesired effects on the transient
response
– Quincy Wang at PowerTech (now at B.C. Hydro) first
pointed this out to me a few years ago
© 2020 PowerWorld Corporation 96
 Why does this even matter?
• GENROU and GENSAL models date from 1970, and
their purpose was to replicate the dynamic
response the synchronous machine
– They have done a great job doing that
• Weaknesses of the GENROU and GENSAL model has
been found to be with matching the field current
and field voltage measurements
– Field Voltage/Current may have been off a little bit,
but that didn’t effect dynamic response
– It just shifted the values and gave them an offset
• Shifted/Offset field voltage/current didn’t matter
too much in the past
© 2020 PowerWorld Corporation 97
 Over and Under Excitation Limiters
• Traditionally our industry has not modeled over
excitation limiters (OEL) and under excitation
limiters (UEL) in transient stability simulation
– The Mvar outputs of synchronous machines during
transients likely do go outside these bounds in our
existing simulations
– Our Simulation haven’t been modeling limits being hit
anyway, so the overall dynamic response isn’t
impacted
• If the industry wants to start modeling OEL and
UEL, then we need to better match the field voltage
and currents
– Otherwise we’re going to be hitting these limits when
in real life we are not
© 2020 PowerWorld Corporation 98
 GENQEC
• Saurav Mohapatra and Jamie Weber at PowerWorld
Corporation have been working with Quincy Wang at
BC Hydro on a “GENQEC”
• We agreed on two main points!
– Saturation function should be applied to all input
parameters by multiplication
• This also ensures a conservative coupling field assumption of
Peter W. Sauer paper from 1992
– Same multiplication should be applied to both d-axis and q-
axis terms (assume same amount of saturation on both)
• Results in differential equations that are nearly the
same as GENROU
– Scales the inputs and outputs, and effects time constants
• Network Interface Equation is same as GENTPF/J

© 2020 PowerWorld Corporation 99

 Applying Saturation to the
Dynamic Equations
• From machine design and analysis, these are
the reactance values that saturate: X md , X fd ,
X1d , and X mq , X1q , X 2q
– Go back to Sauer/Pai book to see what these are
• Assume leakage reactance does NOT saturate:
Xl
• In transient stability, we use transformed
constants:
X d , X d′ , X d′′ , and X q , X q′ , X q′′
• GENTPF/GENTPJ used following in network
boundary equations
′′ Xd′′ − Xl ′′
Xq′′ − Xl
Xdsat = + Xl Xqsat = + Xl
𝑆𝑆𝑆𝑆𝑡𝑡d 𝑆𝑆𝑆𝑆𝑆𝑆q
© 2020 PowerWorld Corporation 100
 GENQEC – Extend concept used in
GENTPJ algebraic network equations
d-axis q-axis
′′ X′′
d −Xl ′′ X′′
q −Xl
Xdsat = + Xl Xqsat = + Xl
𝑆𝑆𝑆𝑆𝑡𝑡d 𝑆𝑆𝑆𝑆𝑆𝑆q

Reactance ′ X′d −Xl ′ X′q −Xl

Xdsat = + Xl Xqsat = + Xl
Values 𝑆𝑆𝑆𝑆𝑆𝑆d 𝑆𝑆𝑆𝑆𝑆𝑆q
Xd −Xl Xq −Xl
Xdsat = + Xl Xqsat = + Xl
𝑆𝑆𝑆𝑆𝑆𝑆d 𝑆𝑆𝑆𝑆𝑆𝑆q

′ T′do ′ T′qo
Time Constants Tdosat = Tqosat =
𝑆𝑆𝑆𝑆𝑆𝑆d 𝑆𝑆𝑆𝑆𝑆𝑆q
(are a function of
′′ T′′ ′′ T′′
qo
reactance values) Tdosat = do
Tqosat =
𝑆𝑆𝑆𝑆𝑆𝑆d 𝑆𝑆𝑆𝑆𝑆𝑆q
𝐸𝐸fd
Exciter 𝐸𝐸fdsat =
𝑆𝑆𝑆𝑆𝑆𝑆d
Interface
Xd −Xl
Signals Xmdsat 𝐼𝐼fd = Xdsat − Xl 𝐼𝐼fd = 𝐼𝐼
𝑆𝑆𝑆𝑆𝑆𝑆d fd

© 2020 PowerWorld Corporation 101

 GENROU Block Diagram
Without Saturation

© 2020 PowerWorld Corporation 102

 GENQEC Basic Diagram

© 2020 PowerWorld Corporation 103

 GENQEC
• Quincy tests and other tests showed that the slope of the
Vterm vs. Ifd curve changed as the generator is loaded.
– This slope changes occurred immediately
– This is what we are calling “compensation”

Vterm

Open Circuit
Test
Load Test
With Id < 0 Load Test
With Id > 0

Ifd
© 2020 PowerWorld Corporation 104
 GENQEC
• Use GENTPF network equation plus add 𝐾𝐾𝑤𝑤 term
that increases field voltage as the stator current
increases (See green part below)

© 2020 PowerWorld Corporation 105

 Comment about all these
Synchronous Machine Models
• We are improving these models
– Does not mean the old models were useless
• All these models have the same input
parameter names, but that does not mean
they are exactly the same
– Input parameters are tuned for a particular model
– It is NOT appropriate to take the all the
parameters for GENROU and just copy them over
to a GENTPJ model and call that your new model
– When performing a new generator testing study,
that is the time to update the parameters

© 2020 PowerWorld Corporation 106

 Status of these models
• Applying saturation using multiplication is definitely
better theoretically
– Maintains the relationships between the rotor fluxes as
they all scale the same
• Multiplication saturation has shown better
experimental results
– GENTPF/GENTPJ results are related to this
– Quincy at BC Hydro has confirmed good fits with GENQEC
– Saurav at PowerWorld confirmed good fits to test data
using an earlier version of this model we called GENTPW
• The GENQEC model’s Kw term is another
experimentally determined parameter to add to the
model
– It removes the need for the Kis parameter, as the addition
of the compensation factor gives a similar effect of stator
current impacting the field current and voltage
© 2020 PowerWorld Corporation 107
 PowerWorld’s hope for GENQEC
• PowerWorld had hopes of figuring out some
theoretical relationship from cross saturation
(currents on the d-axis creating saturation on the q-
axis and vice-versa) that would explain the need for
Kw term and lead to both good experimental
results and better theoretical justification

• Status: We give up!

• GENQEC Kw term is explainable from the
experimental test data.
• We leave it to another Ph.D. student someday to
help explain better why this is needed
© 2020 PowerWorld Corporation 108
 Input Parameters in Dialog
• Stability Tab
• Machine
Model
Tab

© 2020 PowerWorld Corporation 109

 Seeing Terminal Bus values and
Exciter/Governor Setpoint
• On Stability Tab, then Terminal and State,
then Bus/Setpoint Values

Network
Reference
Frame

© 2020 PowerWorld Corporation 110

 Seeing Terminal Values
• On Stability Tab, then Terminal and State, then
Terminal Values

Machine Reference Frame

δ 𝐸𝐸𝑓𝑓𝑓𝑓
𝐿𝐿𝑎𝑎𝑎𝑎 𝐼𝐼𝑓𝑓𝑓𝑓

𝑉𝑉𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑𝑑 𝑉𝑉𝑞𝑞𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡
𝐼𝐼𝑑𝑑 𝐼𝐼𝑞𝑞

© 2020 PowerWorld Corporation

𝑉𝑉𝑑𝑑 𝑉𝑉𝑞𝑞 111
 Network Reference Frame
• Let’s do example
– 𝑉𝑉𝑟𝑟 = 0.9967 cos 18.1423o = 0.947150
– 𝑉𝑉𝑖𝑖 = 0.9967 sin 18.1423o = 0.310351
– sin 𝛿𝛿 = sin 62.4971o = 0.886987
– cos 𝛿𝛿 = cos 62.4971o = 0.461794
• Transform to dq axis

𝑉𝑉𝑑𝑑 sin 𝛿𝛿 − cos 𝛿𝛿 𝑉𝑉𝑟𝑟

𝑉𝑉𝑞𝑞 =
cos 𝛿𝛿 sin 𝛿𝛿 𝑉𝑉𝑖𝑖

𝑉𝑉𝑑𝑑 0.886987 −0.461794 0.947150 0.6968

𝑉𝑉𝑞𝑞 = 0.461794 0.886987 0.310351 = 0.7127

© 2020 PowerWorld Corporation 112

 Seeing the Model States
• On Stability Tab, then Terminal and State,
then Terminal Values

δ
ω
𝐸𝐸𝑞𝑞′
δ=1.0908 radians
ψ′𝑑𝑑
= 62.4971 degrees
ψ′′
𝑞𝑞

𝐸𝐸𝑑𝑑′
© 2020 PowerWorld Corporation 113
 Model Simplifications
• Newer models (GENTPF/GENTPJ, GENQEC)
have particular input parameter combinations
to indicate model simplifications
• Salient Pole Machine
′
with a single amortisseur
winding • 𝑋𝑋𝑞𝑞 = 𝑋𝑋𝑞𝑞
′
• 𝑇𝑇𝑞𝑞𝑞𝑞 =0
• Salient Pole Machine without any amortisseur
windings ′
′′
• 𝑋𝑋𝑞𝑞 = 𝑋𝑋𝑞𝑞 = 𝑋𝑋𝑞𝑞
′
• 𝑋𝑋𝑑𝑑 = 𝑋𝑋𝑑𝑑′′
′ ′′ ′′
• 𝑇𝑇𝑞𝑞𝑞𝑞 = 𝑇𝑇𝑑𝑑𝑑𝑑 = 𝑇𝑇𝑞𝑞𝑞𝑞 =0
′
• 𝑇𝑇𝑑𝑑𝑑𝑑 >0
© 2020 PowerWorld Corporation 114
 Simplification for GENQEC for
Salient Pole with 1 amortisseur
′
′
𝑋𝑋𝑞𝑞 = 𝑋𝑋𝑞𝑞 and 𝑇𝑇𝑞𝑞𝑞𝑞 = 0,

• q-axis is
simplified to

• This becomes

© 2020 PowerWorld Corporation 115

 GENQEC simplified

• Salient Pole with 1 amortisseur

′
• 𝑋𝑋𝑞𝑞 = 𝑋𝑋𝑞𝑞
′
• 𝑇𝑇𝑞𝑞𝑞𝑞 =0

© 2020 PowerWorld Corporation 116

 Reminder: Xd and Xq have physical
meaning: Example WECC

𝑿𝑿′𝒒𝒒 /𝑿𝑿𝒒𝒒

About 75% are

Clearly Salient Pole
Machines!

© 2020 PowerWorld Corporation 117

 Simplification for GENQEC for
Salient Pole with no amortisseur

′
• 𝑋𝑋𝑞𝑞 = 𝑋𝑋𝑞𝑞 = 𝑋𝑋𝑞𝑞′′
′
• 𝑋𝑋𝑑𝑑 = 𝑋𝑋𝑑𝑑′′
′ ′′ ′′
• 𝑇𝑇𝑞𝑞𝑞𝑞 = 𝑇𝑇𝑑𝑑𝑑𝑑 = 𝑇𝑇𝑞𝑞𝑞𝑞 =0
′
• 𝑇𝑇𝑑𝑑𝑑𝑑 >0
© 2020 PowerWorld Corporation 118
 Simplification for GENQEC for
Salient Pole with 0 amortisseur
• This becomes the following. The yellow
highlighted blocks are infinitely fast delay
blocks which simplify to 3 algebraic equations

• 𝐸𝐸𝑑𝑑′ = 0
𝑋𝑋𝑑𝑑′ −𝑋𝑋𝑙𝑙
• ψ′𝑑𝑑 = 𝐸𝐸𝑞𝑞′ − 𝐼𝐼𝑑𝑑
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
𝑋𝑋𝑞𝑞′ −𝑋𝑋𝑙𝑙
• ψ′𝑞𝑞 = 𝐸𝐸𝑑𝑑′ + 𝐼𝐼𝑞𝑞
𝑆𝑆𝑆𝑆𝑡𝑡𝑑𝑑
© 2020 PowerWorld Corporation 119
 GENQEC for no amortisseur
windings

′
• 𝑋𝑋𝑞𝑞 = 𝑋𝑋𝑞𝑞 = 𝑋𝑋𝑞𝑞′′
′
• 𝑋𝑋𝑑𝑑 = 𝑋𝑋𝑑𝑑′′
′ ′′ ′′
• 𝑇𝑇𝑞𝑞𝑞𝑞 = 𝑇𝑇𝑑𝑑𝑑𝑑 = 𝑇𝑇𝑞𝑞𝑞𝑞 =0
′
• 𝑇𝑇𝑑𝑑𝑑𝑑 >0

© 2020 PowerWorld Corporation 120