LECTURE SIX
Synchronous Machine in Power
System and Modeling
INTRODUCTION
• Synchronous machines are used in many industrial applications due to their high power ratings and constant speed
operation.
• The electrical and electromechanical behavior of most synchronous machines can be predicted from the equations
that describe the three phase salient pole synchronous machine.
• A salient pole synchronous motor is an a.c. rotating machine whose speed under steady state condition is
proportional to the frequency of the current in its armature.
• The rotor of synchronous machine is equipped with field winding and one or more damper windings, which is
magnetically unsymmetrical.
• The magnetic field produced by the armature currents rotates at the same speed as that produced by the field
current on the rotor, which is rotating at the synchronous speed.
• Mathematical equations can be used directly to predict the performance of hydro and steam turbine synchronous
generators and synchronous motors.
• Salient pole synchronous machines (SPSMs) have salient pole or projecting poles with concentrated field
windings.
• In synchronous motors, damper windings act as rotor bars and help in self-starting of the motor.
INTRODUCTION…
• Salient pole synchronous machine is used to provide independent control of mechanical torque and
deliver electric power.
• It provides mechanical torque to the rotating assembly and transmits electric power across an air gap to
electric equipment mounted on the rotating assembly.
• The rotor is then driven by external means producing a rotating magnetic field, which induces a three
phase voltage within the stator winding.
• Slip power recovery systems can provide both the mechanical and electrical power transmission, but
these are coupled and not independently controllable. The stator self and mutual inductances and stator-
rotor mutual inductances present computational difficulty when used to solve the phase quantities directly.
• To obtain the phase currents from the flux linkages, the inverse of the time varying inductance matrix will
have to be computed at every time step.
• The computation of inverse at every time step is time consuming and could produce numerical stability
problems.
• To remove the time varying quantities in voltages, currents, flux linkages and phase inductances, stator
quantities are transformed to a d-q rotating reference frame using Park’s transformation. This results in the
machine equations having time-invariant coefficients.
• The idealized machines have the rotor windings along the d- and q-axes. Stator winding quantities need
transformation from three phases to two phase d-q rotor rotating reference frame.
• Park’s transformation is used to transform the stator quantities to d-q reference frame, the d-axis aligned
with the magnetic axis of the rotor and q-axis is leading the d-axis by 90O.
Introduction
• The evolution of wind power conversion technology has led to the development of different types of wind
turbine configurations that make use of a variety of electric generator.
• Depending on their construction and operating principle, the wind generators are divided in two main groups:
induction generators (IGs) and synchronous generators (SGs).
• Both induction and synchronous generators have wound rotors, which are fed by slip rings through brushes
or by a brushless electromagnetic exciter. The wound-rotor induction generator, also known as the doubly
fed induction generator (DFIG), is one of the most commonly used generators in the wind energy industry.
• The wound-rotor synchronous generator (WRSG) is also found in practical WECSs with high numbers of
poles operating at low rotor speeds.
• Squirrel-cage induction generators (SCIGs) are also widely employed in wind energy systems where the rotor
circuits (rotor bars) are shorted internally and therefore not brought out for connection with external circuits.
• In permanent-magnet synchronous generators (PMSGs), the rotor magnetic flux is generated by
permanent magnets.
• Two types of PMSG are used in the wind energy industry: surface mounted and inset magnets.
Synchronous Machines in Power Systems
• Almost all energy consumed by various loads in an electric power system is produced by
synchronous machines, or, more correctly, the conversion from the primary energy sources, like
water energy, nuclear energy, or chemical energy, to electrical energy is done in synchronous
machines with a mechanical intermediate link, the turbine.
• This is true in larger power systems, but not always in smaller systems like isolated islands, power
supply of equipment in deserts, or other smaller systems. In these systems, the energy can come from
asynchronous generators, for example in wind generation units, batteries, or some other source of
electrical energy.
• In systems with synchronous generators, these have an extremely important part in many dynamic
phenomena. Thus, it is very important to develop usable and realistic models of the synchronous
machines.
• It should be emphasized that the description here aims towards the development of models usable for
studying dynamic phenomena in the power system.
...
…
• Most of the electrical power generators are three-phase synchronous
generators.
• Synchronous motors are competitive in higher power ranges because of
efficiency and lower costs.
• Synchronous generator in power systems
✓ transient stability study: maintain synchronism from large oscillations caused by a
transient disturbance
✓dynamic stability study: small signal behaviour and stability about some operating
point
✓long-term dynamic energy balance study: dynamics of slower acting components
• Different model shall fit into the different analysis
...
• The position of the rotor relative to the stator is measured by the angle θ between the d-
axis and the magnetic axis of phase a winding.
• The selection of the q-axis as leading the d-axis is purely arbitrary.
• This convention is based on the IEEE standard definition, and is widely used.
• Alternatively, the q-axis could be chosen to lag the d-axis by 90 degrees.
Park's Transformation
• Park's transformation is a phase transformation (coordinate transformation) between
the three physical phases in a three phase system and three new phases, or
coordinates, that are convenient for the analysis of synchronous machines. This
transformation is also known as the dq transformation or Blondel's transformation.
• A reason why the transformation is:
• It is obvious that the phase quantities in the a, b, and c phases will vary periodically
in steady state.
• Further, the self and mutual inductances between stator circuits and rotor circuits
will vary with the rotor position.
• Instead of performing all computations in the fixed stator system, the stator
quantities voltages, currents, and fluxes can be transformed to a system that rotates
with the rotor. Thus, two orthogonal axes are defined: One along the axis in which
the current in the rotor windings generates a flux, and one in an axis perpendicular to
this.
• The first is the direct axis (d-axis), and the other is the quadrature axis (q-axis).
...
If saliency is neglected,
Xd = Xq =Xs
Where Xs is the synchronous reactance.
Synchronous Machine Model
• The synchronous machine consist of:
• three ac stator windings mounted on the stator
• one field winding mounted on the rotor
• The stator winding is three-phased but rotor winding carries direct current.
• Two fictitious windings which model short-circuited paths of the damper windings
• When modelling, the following are assumed:
• a synchronously rotating reference frame with a speed of w
• The reference frame is along the axis of phase a at time zero
• For transient analysis of an ideal synchronous machine
• The machine is represented as a group of magnetically coupled rotating circuits
with inductances which depend on the angular position of the rotor
Synchronous generator
• The synchronous generator is very well suited for direct-drive wind turbines.
• The synchronous generators can be classified into two categories: wound-rotor
synchronous generators (WRSGs) and permanent-magnet synchronous generators
(PMSGs).
• WRSGs and PMSGs are used in wind energy systems with a maximum power
rating up to 7.5 MW.
• PMSGs have higher efficiency and power density as compared to WRSGs.
• Recent trends indicate a move toward direct-drive turbines with PMSG.
• Although most SG-based turbines are direct driven, some manufacturers have
developed SG turbines with gearbox drive trains.
• In the WRSG the rotor flux is generated by the rotor field winding, whereas the
PMSG uses permanent magnets to produce the rotor flux.
• Depending on the shape of the rotor and the distribution of the air gap along the
perimeter of the rotor, synchronous generators can be categorized into salient-pole
and non-salient-pole type.
...
• Similar to the induction generator, the synchronous generator is mainly composed of a stator and a
rotor. The construction of the stator of both wound-rotor and permanent magnet synchronous
generators is essentially the same as that of an induction generator.
• The rotor-field winding of the synchronous generator requires DC excitation. The rotor current can
be supplied directly by brushes in contact with slip rings attached to the shaft and electrically
connected to the rotor winding. Alternatively, a brushless exciter physically attached to the shaft
can be used. The exciter generates AC currents that are rectified to DC using a diode bridge for the
rotor winding.
• The field winding is wound around pole shoes, which are
placed symmetrically on the perimeter of the rotor in a radial
configuration around the shaft to accommodate large number
of poles.
• The generator has an uneven air gap flux distribution
due to the salient structure of the rotor.
Figure. Salient-pole, wound-rotor synchronous
generator (twelve-pole configuration).
Permanent-Magnet Synchronous Generators.
• In the PMSG, the rotor magnetic flux is generated by permanent magnets, and
these generators are, therefore, brushless.
• Because of the absence of the rotor windings, a high power density can be
achieved, reducing the size and weight of the generator.
• In addition, there are no rotor winding losses, reducing the thermal stress on
the rotor.
• The drawbacks of these generators lie in the fact that permanent magnets
are more expensive and prone to demagnetization.
• Depending on how the permanent magnets are mounted on the rotor, the
PMSG can be classified into surface-mounted and inset PM generators.
• Main elements of equivalent circuit are stator and rotor resistance (Rs, Rf),
stator and rotor leakage inductance (Lls, Llf ), output (stator) voltage (Vs),
excitation or speed emf (Vf), stator and field (rotor) current (Is, If),
magnetizing current (Im), core-losses resistance (Rm) and magnetizing
inductance (Lm).
Dynamic Model of SG
• To simplify the analysis, the SG is normally modelled in the rotor field
synchronous reference frame.
• The stator circuit of the dq-axis model is essentially the same as that of the
induction generator except that
• The speed of the arbitrary reference frame ω in the IG model is replaced by the
rotor speed ωr in the synchronous frame
• The magnetizing inductance Lm is replaced by the dq-axis magnetizing
inductances Ldm and Lqm of the synchronous generator.
• In a nonsalient SG, the d- and q-axis magnetizing inductances are equal
(Ldm = Lqm), whereas in the salient-pole generators, d-axis magnetizing inductance
is normally lower than the q-axis magnetizing inductance (Ldm < Lqm).
• In this section, we will see each of them.
• The dq-axis stator currents, ids and iqs, flow out of the stator (generator mode).
• This is based on the generator convention since most synchronous machines are
used as generators.
Non-salient Machine
• In this section, a brief review of a non-salient synchronous machine is given.
• In a synchronous machine, the excitation may be provided by permanent
magnets or by a rotor based excitation winding which carries a field current if .
• In both cases, the flux density distribution due to the excitation is assumed to
be sinusoidal.
• Furthermore, it is assumed that the magnetizing inductance is equal along both
axes of the xy (dq) plane.
• A cross-sectional view of a four-pole non-salient machine is given in Fig
below.
• It shows the stator and the rotor with a set of surface mount magnets.
• Note the presence of a dual set of xy axes, because a four-pole machine is
shown in Fig.
• The machine does not carry any damper windings given that (to avoid losses)
...
Fig. 6.1 Non-salient PM synchro nous machine
Symbolic Model of a Non-salient Machine
• The machine can be described by an ideal rotating transformer (IRTF) based
model as shown in Fig. 6.2.
• The model was derived by accommodating the stator resistance Rs and the stator
leakage inductance Lσs.
• The magnetizing inductance Lm is shown on the rotor side of the machine.
• For salient machines, the magnetizing inductance depends on the orientation
relative to the rotor and thus it is prudent to place it on the rotor side.
• For this reason, it is beneficial to also locate the magnetizing inductance of the
non-salient machine on the rotor side.
Fig. 6.2 Non-salient synchronous machine
...
• The equation set which corresponds to this machine is given by
• In the symbolic model in Fig. 6.2, a linear relationship ψf = Lmif between the field
flux linkage ψf and excitation current if is assumed.
• In case of saturation, ψf is a non-linear function of current.
• Grouping the two inductances Lσs and Lm and replacing Lm.if by ψf , the stator
flux linkage can be written as
...
• The machine torque can be derived using the stator flux linkage ψs and the
stator current is resulting in Te = ψs ×is.
• The use of (6.1b) with said torque equation gives
• Te = ψm × is + Lσs is × is=0 (6.3)
=0
of which the second term equals zero.
• This implies that the torque is not affected by the leakage inductance Lσs.
• Hence, either the stator flux linkage vector ψs or the magnetizing flux linkage
vector ψm can be used for torque calculation.
• Also shown in Fig. 6.3 is a mechanical load module which represents the
relationship between load torque and shaft speed.
Rotor-Oriented Model: Non-salient Synchronous Machine
• In the machine models discussed previously, the current, voltage and flux linkage space vectors were
defined with respect to a stationary or a shaft oriented reference frame.
• In this section, a so-called rotor-oriented transformation is introduced where the stator and rotor
based space equations are tied to the flux linkage vector ψf-dq = ψf .
• The development of a rotor-oriented model is important for creating a field oriented control
for the non-salient synchronous machine.
• The equation set for the non-salient rotor flux based model may be written as
• The mathematical model of PMSM per unit in an arbitrary reference frame rotating with ωk is
...
• Figure 6.4 graphically depicts the process of constructing the stator flux
linkage vector based on a given stator current idqs , as described by (6.4b).
• In case of permanent magnet machines, the stator current vector idqs
normally has a negative direct current component.
Fig. 6.4 Vector diagram with direct and quadrature axis for non-salient machine
...
• The process of finding a symbolic rotor flux model representation may be further pursued by
combining the voltage and flux linkage expressions shown in equation set (6.4).
• Separating the real and imaginary components leads to
• Equation set (6.5) shows the existence of cross-coupling between the phases.
• For example, the q-axis current isq causes a d-axis voltage component usd.
• One important feature of a machine control is to compensate or to decouple the cross-coupling,
• From equation set (6.5), a symbolic representation for the rotor flux based model can be derived,
as shown in Fig. 6.5.
Fig. 6.5 Symbolic rotor-oriented model of a non-salient machine
...
• A current based generic model for a rotor flux based machine, which
corresponds to Fig. 6.5, is given in Fig. 6.6 and directly derived from the
torque (6.4c).
• From (6.4c), it can be seen that in a flux based reference system, torque is
produced by the isq component of the current, allowing a simple torque
control similar to the DC-machine.
Fig. 6.6 Generic current based rotor-oriented
non-salient synchronous machine model
Salient Synchronous Machine-PMSM
• Salient synchronous machines have a reluctance that is rotor position dependent.
• A common type of salient synchronous machines is the interior permanent magnet machine which carries magnets
within the rotor lamination.
• In the PMSM, the main magnetic field is produced by permanent magnets. Those magnets are placed on the rotor.
• The result flux is constant in time, assuming that stator current has no effect (no armature reaction). In reality the stator
current produces its own magnetic field affecting the original, which is called the armature reaction.
• The net stator flux is the summation of the two fluxes:
• A cross section of an interior magnet machine with four poles is shown in Fig. 6.7.
• In the direction of the x (d)-axis, the magnets are in the flux path, increasing the effective air-gap due to their low
permeability.
• In the direction of the y (q)-axis, the magnets have no effect and thus the effective air-gap is unchanged. Consequently,
the magnetizing inductances Lmx (Lmd) and Lmy (Lmq) related to the x(d)- and y(q)-axes are different.
• In the example given, Lmy is larger than Lmx (Ldm<Lqm). This is typical for interior magnet of synchronous
generators.
• The inductance is composed of the two components Lmx and Lmy which act on the real and imaginary part of the
current.
...
Fig. 6.8 Synchronous machine, with a salient rotor
Fig. 6.7 PM synchronous machine, with saliency
Generic Model
• The generic model of the salient synchronous machine follows directly from the non-
salient model, according to Fig. 6.3.
• For the salient model, the gain module 1/Ls shown in Fig. 6.3 must be replaced by a gain
1/Lsd, 1/Lsq as illustrated in Fig. 6.9.
• The input and output vectors for this gain module are unchanged, while the gain variables
are defined by equation set (6.15).
• As with the non-salient case, the field flux linkage ψf may be supplied by an excitation
winding which carries a current if or by permanent magnets, as shown in Fig. 6.7.
Fig. 6.9 Generic
synchronous machine
model, with a salient rotor
Rotor-Oriented Model of the Salient Synchronous Machine
• The coordinate transformation process for deriving a symbolic and generic
representation of the rotor-oriented model of the salient machine, is similar to that
undertaken for the non-salient case.
• The process is initiated with the aid of (6.14a) and (6.15).
• For a rotor flux based model the synchronous reference frame with the direct and
quadrature axis is linked to the field flux linkage vector ψf , as shown in Fig. 6.10.
• The equation set for the salient rotor flux based model may be written as
Fig. 6.10 Vector diagram with direct and quadrature axis for salient machine
...
• The stator voltage (6.16a) for the salient rotor flux based model in synchronous
coordinates is identical to that found for the non-salient case (see (6.4a)).
• The flux linkage relationship given by (6.16b) differs from equation set (6.15) by the
coordinate reference frame used. However, the xy reference frame is fully aligned with
the dq reference frame.
• Equation (6.16c) is derived using the general torque equation Te = ψ ×i.
• Expression (6.16b) can be rewritten as
• and is used to graphically depict the process of constructing the stator flux linkage vector
based on a given stator current idqs.
• Figure 6.10 shows a flux linkage and current vector diagram for the salient synchronous
machine.
...
• The torque equation (6.16c) shows that the introduction of a salient rotor leads to an
additional torque component (Lsd −Lsq)isd.isq.
• Recalling that torque in a machine is formed by the cross-product of flux linkage and
current,
• Fig. 6.10 shows that there are two torque producing components, namely one
electromagnetic component due to the interaction of ψf and isq (shown as providing a
positive torque) and a reluctance component due to the interaction of (Lsq − Lsd)isq and
isd (also shown as providing a positive torque).
• The flux linkage component Lsdidqs is parallel with idqs and therefore does not produce
torque.
• Note that Lsq < Lsd would lead to a negative reluctance torque contribution (as long as isd
stays negative).
• By using (6.16a) and (6.16b), as well as by grouping the real and imaginary components,
the following d- and q-axis voltage expressions can be derived:
...
• A symbolic representation of the rotor-oriented model which corresponds with
equation set (6.18) is given in Fig. 6.11.
• Note that the model for the salient machine reduces to the model of the non-salient
machine shown in Fig. 6.5, with Lsd = Lsq = Ls.
• The corresponding generic model is given in Fig. 6.12.
Fig. 6.11 Symbolic rotor-oriented model: salient machine
Fig. 6.12 Generic current based rotor-
oriented salient synchronous machine model
PMSM Model in Per Unit System
• Mathematical models of the PMSM can be presented as differential
equations of state variables.
• This can be presented either on the dq-axis, which is the preferred
solution, or in a stationary frame.
• The motor model in the dq-axis rotating with rotor speed is:
...
• The above equations are modelled in MATLAB/Simulink, as shown in Fig. 2.12
The parameters of the interior type
PMSM to be simulated are
R=0.032988;
Ld=0.86431;
Lq=0.86431;
ψf=fe¼2.3036;
J=0.00529. Rated speed is 2000 rpm.
Figure 2.12 Simulink model of interior PMSM
PMSM Model in χ-β (x–y)-Axis
• The Permanent Magnet Synchronous Machine (PMSM) model
presented in per unit χ-β reference frame is given by:
Where
The above equations are modeled in Figure 2.13.
...
Figure 2.13 PMSM model in a-b-axis
SYNCHRONOUS GENERATORS
• Synchronous generators (SGs) are widely used in wind energy conversion systems
of a few kilowatts to a few megawatts. The synchronous generators can be classified
into two categories: wound-rotor synchronous generators (WRSGs) and
permanent-magnet synchronous generators (PMSGs).
• In the WRSG the rotor flux is generated by the rotor field winding, whereas the
PMSG uses permanent magnets to produce the rotor flux.
• Depending on the shape of the rotor and the distribution of the air gap along the
perimeter of the rotor, synchronous generators can be categorized into Salient-pole
and non-salient-pole types.
• Similar to the induction generator, the synchronous generator is mainly composed
of a stator and a rotor.
• The construction of the stator of both wound-rotor and permanent magnet
synchronous generators is essentially the same as that of an induction generator.
36
Wound-Rotor Synchronous Generators.
• As the name indicates, the wound rotor synchronous generator has a wound-rotor configuration to
generate the rotor magnetic flux.
• Figure below illustrates a typical salient-pole WRSG, where only twelve poles are shown for better
appreciation of the rotor structure.
• The field winding is wound around pole shoes, which are placed symmetrically on the perimeter of the
rotor in a radial configuration around the shaft to accommodate large number of poles.
• The generator has an uneven air gap flux distribution due to the salient structure of the rotor.
• The synchronous generators with a high number of poles (e.g., 72 poles) operating at low rotational
speeds can be used in direct-driven megawatt wind energy systems where there is no need for a
gearbox.
• This leads to a reduction in power losses and maintenance cost.
• The rotor-field winding of the synchronous generator requires DC excitation.
• The rotor current can be supplied directly by brushes in contact with slip rings attached to the shaft and
electrically connected to the rotor winding.
• Alternatively, a brushless exciter physically attached to the shaft can be used.
• The exciter generates AC currents that are rectified to DC using a diode bridge for the rotor winding.
• The first option is simple but requires regular maintenance of the brushes and slip rings, whereas the
second option is more expensive and complex but needs little maintenance.
37
Figure. Salient-pole, wound-rotor synchronous generator (twelve-pole configuration). 38
Permanent-Magnet Synchronous Generators.
• In the PMSG, the rotor magnetic flux is generated by permanent magnets,
and these generators are, therefore, brushless.
• Because of the absence of the rotor windings, a high power density can be
achieved, reducing the size and weight of the generator.
• In addition, there are no rotor winding losses, reducing the thermal stress
on the rotor.
• The drawbacks of these generators lie in the fact that permanent magnets
are more expensive and prone to demagnetization.
• Depending on how the permanent magnets are mounted on the rotor, the
PMSG can be classified into surface-mounted and inset PM generators.
39
SURFACE-MOUNTED PMSG
• In the surface-mounted PMSG, the permanent magnets are placed on the rotor surface.
• Figure below shows such a generator, where 16 magnets are evenly mounted on the surface
of the rotor core, separated by nonferrite materials between two adjacent magnets.
• Since the permeability of the magnets is very close to that of the nonferrite materials, the
effective air gap between the rotor core and stator is uniformly distributed around the
surface of the rotor.
• This type of configuration is known as a non-salient-pole PMSG.
• The main advantage of the surface-mounted SG is its simplicity and low construction cost
in comparison to the inset PMSG.
• However, the magnets are subject to centrifugal forces that can cause their detachment from
the rotor and, therefore, the surface-mounted PMSGs are mainly used in low-speed
applications.
• In a direct-driven WECS, the synchronous generator with a high number of poles is used.
• The surface-mounted PMSG can have an external rotor in which the permanent magnets are
attached to the inner surface of the rotor.
• In this case, the centrifugal forces help to keep the magnets attached to the rotor core.
40
...
Figure. Surface-mounted nonsalient PMSG (sixteen-pole configuration).41
INSET PMSG
• In the inset PMSG, the permanent magnets are inset into the rotor surface as shown in
Figure below.
• The saliency is created by the different permeability of the rotor core material and magnets.
This configuration also reduces rotational stress associated with centrifugal forces in
comparison to the surface-mounted PMSG and, therefore, this type of generator can operate
at higher rotor speeds.
Figure.. Inset PMSG with salient poles (four-pole configuration). 42
Proposed WECC Low Voltage Ride-Through (LVRT)
requirements for all generators1
Most grid
codes now
require that
wind power
plants assist
the grid in
maintaining
or
regulating
the system
voltage
1. R. Zavadil, N. Miller, E. Mujadi, E. Cammand B. Kirby, “Queuing Up: Interconnecting Wind Generation into The Power
System” November/December 2007, IEEE Power and Energy Magazine
LVRT requirements of various National
Grid Codes
Summary of ride-through capability for wind turbines
In general all generators which are coupled to the network either with inverters or with
synchronous generators are capable of providing reactive power (for Example Doubly Fed
Induction Generator)
In DFIG real and reactive power can be controlled independently
Grid
Rotor Side Converter (RSC) Grid side converter (GSC)
Dynamic Model of SG
• To simplify the analysis, the SG is normally modelled in the rotor field synchronous
reference frame.
• The stator circuit of the dq-axis model is essentially the same as that of the induction generator
shown in Fig. 3.8 except that .
✓ The speed of the arbitrary reference frame w in the IG model is replaced by the rotor speed wr
in the synchronous frame
✓ The magnetizing inductance Lm is replaced by the dq-axis magnetizing inductances Ldm and
Lqm of the synchronous generator.
✓In a nonsalient SG, the d- and q-axis magnetizing inductances are equal (Ldm = Lqm), whereas
in the salient-pole generators, d-axis magnetizing inductance is normally lower than the q-axis
magnetizing inductance (Ldm < Lqm).
✓ The dq-axis stator currents, ids and iqs, flow out of the stator. This is based on the generator
convention since most synchronous machines are used as generators.
• To model the rotor circuit, the field current in the rotor winding is represented by a constant
current source If in the d-axis circuit.
• In the PMSG, the permanent magnet that replaces the field winding can be modelled by an
equivalent current source If with a fixed magnitude.
• The voltage equations for the synchronous generator are given
47
Figure 3-19. General dq-axis model of SG in the rotor field synchronous reference frame
...
• The SG model is valid for both wound-rotor and permanent-magnet
synchronous generators.
• For a given field current If in the WRSG, the rotor flux can be calculated by
flux-r = Ldm If. For the PMSG, the rotor flux r is produced by permanent
magnets and its rated value can be obtained from the nameplate data and
generator parameters.
• • The model is also valid for both salient- and nonsalient-pole synchronous
generators.
• For a nonsalient generator, the dq-axis synchronous inductances, Ld and Lq,
are equal, whereas they are different for a salient-pole generator. The d-axis
synchronous inductance of PMSG is usually lower than that of the q-axis
(Ld < Lq).
52
Figure 3-20. Simplified dq-axis model of SG in the rotor-field synchronous reference frame
Project Problem
• 1. Design the models for PMSM, by working with sinusoidal input signals.
• 2. Develop a MATLAB-Model for the block diagrams shown below.
Figure: Block diagram for dynamic simulation of synchronous generators
Block diagram for simulation
Figure: Block diagram of a stand-alone SG configuration with a three-phase resistive load.
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