Estimation of Synchronous Generator Parameters Using an Observer

for Damper Currents and a Graphical User Interface

Elias Kyriakides, Student Member IEEE

Gerald T. Heydt*, Fellow IEEE

Arizona State University

Department of Electrical Engineering
Tempe, AZ 85287-5706
* corresponding author: e- mail: [email protected]

ABSTRACT
This paper presents a method to identify synchronous generator parameters from on- line
data. An observer for estimation of synchronous machine damper currents is designed.
The observer-estimator is used in a Graphical User Interface (GUI) application. Possible
internal machine fault conditions can be detected and remedial action can be undertaken.
It is desired that an algorithm be developed such that it will enable bad measurement
detection and rejection so as to increase the reliability of the results.

Secondary

objectives include calculation of the error characteristics of the estimation, development

of an index of confidence, study of which machine parameters can be estimated, and
which can not, and evaluation of alternative GUI features.
Keywords: adaptive observers, damper currents, graphical user interface, modeling,
observer, on-line measurements, parameter estimation, pseudoinverse, state estimation,
synchronous generator.

I. INTRODUCTION
Synchronous generator parameter identification is a problem that has attracted the
attention of many researchers since the late sixties.

Knowledge of the operational

parameters of generators is necessary for performing stability studies and post mortem
analysis of power systems. Traditionally, synchronous machine parameters are obtained
by off- line tests as described in IEEE Standards [1]. Several researchers between 1969
and 1971 developed methods to find additional parameter values based on the existing
classic synchronous machine models [2-5]. Off- line methods may not be practical and
parameters obtained by these methods may not be accurate. Decommiting a machine for
parameter measurement may not be convenient especially if the machine is a base loaded
unit. The parameters of a synchronous machine vary under different loading conditions
because of changes of the machine internal temperature, magnetic saturation, aging, and
coupling between the machine and external systems.
Researchers have attempted to tackle the parameter estimation problem using
various methods: one of the methods used by Keyhani was the estimation of parameters
from Standstill Frequency Response (SSFR) test data [6, 7]. In this approach, curve
fitting techniq ues are used to derive the transfer functions of the d-axis and q-axis using
available test data. The parameters of the model are then calculated from nonlinear
equations. Other methods for parameter identification are presented in [8-11].
Various estimation techniques have been proposed in the literature.

Least

squares, infinite- norm and 1-norm are some of these methods. Reference [12] offers an
overview and some examples of these methods. In [13], a new approach is presented,
where the authors use a Parks transformation model and synthetic data to estimate

synchronous machine parameters by employing least squares minimization techniques.

The paper also demonstrates a graphical user interface (GUI) that enables fast and user
friendly estimation. The method suffers from the fact that measurements for the damper
currents are unavailable. Therefore, in order to use this technique, it is necessary to
develop a method to estimate the unmeasurable states using known information.

II. MODELING OF SYNCHRONOUS MACHINES

In order to formulate the state estimation equation for a synchronous generator, it
is necessary to employ a mathematical model which represents the synchronous generator
in the conditions under study. This model will comprise three stator windings, one field
winding and two damper windings as shown in Fig. 1. Magnetic coupling is a function of
the rotor position and therefore, the flux linking each winding is also a function of the
rotor position [14]. The instantaneous terminal voltage of any winding takes the form,
v = ri &

(1)

where r is the winding resistance, i is the current and ? is the flux linkage. It should be
noted that in this notation it is assumed that the direction of positive stator currents is out
of the terminals, since the synchronous machine under consideration is a generator.
In (1) the voltage is expressed in terms of both currents and flux linkages. This is
not desirable and therefore one of the two variables has to be replaced. The flux linkage
equations for the synchronous generator are given by,

 a Laa
Lba
b
c = Lca
F
LFa

D LDa
Q LQa

Lab
Lbb
Lcb
LFb
LDb
LQb

Lac
Lbc
Lcc
LFc
L Dc
LQc

LaF
LbF
LcF
LFF
L DF
LQF

LaD
LbD
LcD
LFD
LDD
LQD

LaQ i
a
LbQ i b

LcQ i c

LFQ i F

LDQ i D

LQQ i Q

(2)

where Ljk is a self- inductance when j = k and a mutual inductance when j ? k. The
inductances in the above matrix are given by well known expressions [14].
It is observed that (2) has time-varying terms which will cause complication when
their derivatives are taken. Thus, it is convenient to refer all quantities to a rotor frame of
reference through a Parks transformation [15,16],

1
1
1

2
2
2

2
P=
3 cos cos( 3 ) cos( + 3 )
sin sin( 2 ) sin( + 2 )
3
3

(3)

The angle ? is given by,

= R t + + 2 [20]

(4)

where ? R is the rated (synchronous) angular frequency in rad/s and d is the synchronous
torque angle in electrical radians. The transformed currents are,
i 0 dq = Pi abc

(5)

where the current vectors are defined as,

i 0dq

i 0
ia

= id and i abc = ib
iq
ic

(6)

Similarly, to transform the voltages and flux linkages,

v 0 dq = Pv abc and 0 dq = Pabc

(7)

Parks transformation leads to

0
0
0
0 i L0
r + 3rn 0
v 0
0
0
v
r Lq
0
0
kM Q i

d
d

0 i q
v q = 0 Ld r kM F kM D

v F
0
0
rF
0
0 i F
0

0
0
0
0
rD
0 i D
0

0
0
0
0
rQ i Q
0

+ 3Ln
0

0
Ld

0
0

0
0
kM F kM D

0
0
0

0
kM F
kM D

Lq
0
0

0
LF
MR

0
MR
LD

kM Q

0 i&0

0 i&d

kM Q i&q

0 i&F
0 i&D

LQ i&Q

(8)

where all parameters in the coefficient matrices are constant [13,17]. Further, since the
synchronous speed is constant if small time periods are studied, then (8) can be
considered as a linear time invariant equation.

III. DEVELOPMENT OF AN OBSERVER FOR THE DAMPER WINDING

CURRENTS
Usually, available data for sync hronous generators are the stator phase currents
and voltages at the terminals of the machine, and the field voltage and current. Often, it
is possible to measure the rotor torque angle d, using commercially available instruments.
The torque angle enables the transformation of abc quantities to 0dq quantities as they
appear in (8). In order to set up the parameter estimation problem, it is necessary to have
measurements for the damper currents iD and iQ.

Otherwise, it is not possible to

transform the system into the form H x = z . An alternative approach would have been
the transformation of (8) in the form x& = Ax + Bu and the use of adaptive observers to
estimate both the unavailable states and the unknown parameters [18, 19]. This is not
very practical in this case, since transformation of the system into observer canonical
form leads to a system that is nonlinear in the parameters and thus makes the estimation
process more involved.

Furthermore, the parameters of the system are not exactly

constant due to inductance saturation and changes of parameters according to the

operating point. It is also desired to keep the estimation method as simple as possible so
as to enable a development of a graphical user interface (GUI) that will perform the
estimation in a fast and reliable manner.
Observation of the synchronous generator model as was derived in (8), shows that
it is possible to use the last two equations and rearrange them so as to obtain expressions
for the damper winding currents. The parameters that are involved in this process are not
operational parameters of the machine, but parameters of the damper windings. These
are constant and well known from manufacturers data. Further, there is no interest in
estimating those parameters, and hence one can separate the two equations from the rest
of the model. Rewriting the last two equations of (8),
0 = rD i D kM D i d M R i F LD i D
0 = rQ i Q kM Q i q LQ i Q .

(9)

In general, the current derivatives can be approximated by the forward difference

formula,
i ( t )

i ( t + t ) i ( t )
.
t

(10)

Therefore, (9) can be rearranged in discrete form as,

rD
kM D
M
t ]i D ( n)
t i d ( n) R t i F ( n)
LD
LD
LD
rQ
kM Q
i Q ( n + 1) = [1
t ]i Q ( n)
t i q ( n)
LQ
LQ
i D (n + 1) = [1

(11)

Equation (11) enables the calculation of the damper currents. All parameters can
be accurately calculated using manufacturers data, while the time varying quantities are
available measurements. The only ambiguity in (11) is the value of iD(0) and iQ(0).
These are needed to initiate the observation process. Nevertheless, the initial conditions

can be assumed to be zero without loss of accuracy as will be shown in the two case
studies in the next section.

IV. CASE STUDIES FOR DAMPER WINDING CURRENTS OBSERVER

In order to ascertain the validity of the proposed method, it is desired to perform a
number of case studies comparing the estimated damper currents to damper currents
generated using the Electromagnetic Transients Program (EMTP). Two of the conducted
case studies are presented.
A synchronous generator was simulated in EMTP both in steady state and in
transient mode. The machine under consideration is a cross-compound generator located
in the southwest USA. The generator contains a high pressure unit rated at 483 MVA
and a low pressure generator rated at 426 MVA. Table 1 shows the parameters for this
generator as calculated by manufacturers data. These parameters are used in the EMTP
program for generation of the required measurements.
In the first case study, the machine is operating nearly in steady state.

The

starting point for the simulation is not exactly in the steady state, and there is a small
transient that results in a small damper current. Observation of the damper current for a
longer period of time shows that it damps out to zero as expected. The damper currents
are observed according to (11) with the initial conditions assumed to be zero. The
general concept of an observer is as follows: certain states of a physical system may be
difficult to measure or calculate. These unobserved states may nonetheless be needed to
calculate an estimate of the machine parameters. An observer is a dynamic system that
is constructed so that the unobserved states may be estimated. The observer is adaptive:

parameters of the observer are adjusted methodically so that the output of the machine
simulation agrees with the actual measured machine output. Fig. 2 shows the concept of
an observer.
Figure 3 shows the actual and estimated damper current in the direct axis winding.
The estimated current is in good agreement with the actual current. The mean square
error (MSE) of the two signals is 8.7x10-13 p.u. Fig. 4 depicts the actual and estimated
currents for the quadrature axis damper winding. The observed state is in phase with the
actual value for the damper current. There is some difference between the two states, but
this is insignificant since the MSE was calculated to be 2.4x10-10 p.u. As it will be shown
later, this difference does not affect the accuracy of the estimated parameters.
In the second case study, transient data were considered. A permanent line to line
fault was applied at 0.25 seconds between phases b and c. The observed damper currents
as compared to the actual damper currents for each axis can be seen in Figs. 5 and 6. The
same trend appears in each case. The direct-axis damper model seems to offer an exact
observed state.

The MSE is calculated to be 0.0147 p.u.

On the other hand, the

quadrature-axis damper current has a more significant error. The MSE is calculated to be
0.705 p.u., but still the observed cur rent is in phase with the actual current.

V. CONFIGURATION OF THE STATE ESTIMATOR

State estimation is a process during which a number of unknown system state
variables or parameters are assigned a value based on measurements from that system
[18]. Typ ically, the number of measurements (or number of equations) is greater than the
parameters to be estimated. In this case the system is overdetermined and the solution is

found in a least squares sense. That is, it is desired that the sum of the squares of the
differences between the estimated and the measured parameters to be minimized.
It is desired to rearrange (8) into the form H x = z and obtain the estimated
parameters by x = H + z , where H+ is the pseudoinverse of H [13,20]. H is a matrix of
dimension m n and contains the coefficients of the unknowns, which are either obtained
by direct measurements of current and voltages, or via the observer in the case of the
damper currents, or via calculation in the case of the derivatives. The formula for the
derivatives is the forward difference formula (10). The vector z has dimension m and it
contains known parameters, or measurements or a combination of the two. Figure 7
illustrates in block diagram form the idea of the observer, the data manipulation and the
parameter estimation algorithm.

VI. ESTIMATION OF MACHINE PARAMETERS AND TESTING OF THE

ALGORITHM
The machine parameter estimation algorithm was tested using the available steady
state EMTP data where the exact parameters are those listed in Table 1.
It is desired to estimate each one of the parameters in (8) and to verify the validity
of the program, as well as to ascertain which parameters are possible to be estimated. In
case that a parameter is not estimated within an acceptable error using noise free data,
then its estimation using noise corrupted data will not be feasible.

There are six

parameters that are desired to be estimated in the two matrices of (8). Most of these
parameters appear two or three times in the two matrices.

Table 2 depicts the actual and estimated parameters and the percent error for each
parameter. The estimation was performed using EMTP steady state data. Two of the
parameters in (8), r+3rn and L0 +3Ln , cannot be estimated with good accuracy in the
steady state. This is expected since these quantities are located in the first equation of
(8), which is decoupled from the others.

All the voltage and current states in this

equation are zero in the steady state and it is not possible to calculate these parameters.
These two quantities are possible to be estimated in the transient case, as the zero axis
quantities will not be zero. Observation of the other parameters in Table 2 shows that it
is possible to estimate all parameters with satisfactory results. The maximum error
observed was 3.3% and it occurred for the stator resistance r. The field resistance rF,
which is significant for studies performed by utilities, was estimated with an accuracy of
0.8% which is considered satisfactory.
It is also useful to study the effect of estimating more than one parameter at a
time. This will indicate whether multiple parameter estimation is feasible and it will
enable the user to avoid multiple program executions. For this purpose it was decided to
estimate three parameters simultaneously. These parameters are Ld, Lq and rF. Table 3
shows the estimated quantities and the percent error for each of the parameters. It can be
seen that the estimated parameters and the percent error are identical to the previous case
study (Table 2), where these parameters were estimated individually. This shows that
more than one generator parameters can be estimated at the same time, and it will be
particularly useful in case that there is uncertainty about two or more parameters.

10

VII. GRAPHICAL USER INTERFACE IMPLEMENTATION USING VISUAL

C++
One of the major objectives of this research work is to develop a visual graphical
user interface (GUI) in the form of a Windows application for a synchrono us machine
state estimator.

This application will enable the practicing engineer and interested

utilities to estimate the parameters of a synchronous machine without having to decommit

the unit or get involved in time consuming methods of estimation. The application
developed during this research work is unique due to three main characteristics: on- line
operation, portability and user friendly interaction.
On-line operation is the distinguishing characteristic of this application.

It

enables on- line and expeditious estimation of any given synchronous machine based on
measurements of the field and stator voltages and currents. Such measurements are
readily available and in large quantities in every utility.

Moreover, the application

developed is portable, since it can be installed in any personal computer operating under
Windows. The application does not require a Visual C++ environment, since it is a
stand-alone application, able to operate without the support of external C++ libraries.
User friendly interaction is achieved by means of the dialogs and context-sensitive help
provided on request. The input and output dialogs are self explanatory and will be
described in Section VIII.

VIII. INPUT / OUTPUT DIALOG AND ESTIMATOR CONFIGURATION

The main window of the program offers a variety of options on its toolbar, like
any other Windows program. To begin the process of estimating machine parameters,

11

the user must open the input screen as shown in Fig. 8. This is achieved by selecting the
option Estimator on the toolbar of the main window, and then selecting the Set up
Estimator option.
The user can set up the Estimator and calculate the parameters of the synchronous
machine that is to be studied, in three steps. The first step is to enter the name of the data
file in the edit box as shown in Fig. 8. This can be done by clicking on the Browse button
and navigating through the hard disk of the computer until the desired file is located. The
file should be of type .txt to be eligible for usage by the application. Text files can be
created either by using the Windows Notepad or any other software with similar
capabilities. Another option is to create text files using Microsoft Excel and save the file
as a text -tab delimited- format.
The second step on behalf of the user is to input the known parameters of the
synchronous machine. These parameters may be known either from previous off- line
tests or from manufacturers data. Sample values are shown in Fig. 8 and these are the
default values for the generator that is being studied for this application. The existence of
default values does not require the user to enter the values anew every time it is desired to
execute the application.

The fact that all values are set to default values should not be

confusing to the user. If the user desires the estimation of a certain parameter, then the
default value of that specific parameter does not interfere in any way in the estimation.
The third and final step of this process is to select the parameters that are desired to be
estimated. The user has the opportunity to select up to five parameters for estimation.
This selection can be done by simply clicking on the check box corresponding to the
parameter to be estimated as shown in Fig. 8.

12

Finally, the soft ware offers a number of options to the user, such as the estimation
method (least squares or least absolute deviation), the data type (abc or 0dq quantities)
and whether the output should be written in a history data file or not.
Upon execution of the main program of the application, which contains the state
estimator, the values of the estimated parameters and the rms error for this estimation are
returned to the graphical user interface for output. The resulting output window can be
seen in Fig. 9. On the left side of the output window, the user can see the parameters
selected previously and their estimated value in per unit. The rms error on the lower right
side of the estimator is a measure of confidence on the estimated parameters and is given
by,

rms error = residual # of measurements

(12)

( residual ) 2 = {[H ] [x ] [Z ]}T {[H ] [ x] [Z ]} ,

where

and x is the vector of the estimated parameters.

IX. CONCLUSIONS
In this paper, a method to identify synchronous machine parameters from on- line
measurements is shown. The method is based on least squares estimation and a simple
formula for the derivative operator. The method is developed to be used with a Visual
C++ engine and graphical user interface (GUI), so that the practicing power engineer
may link machine measurements taken in an on- line environment with the Estimator. An
observer for identification of the unmeasurable damper winding currents is also
presented. The two case studies show that the observed currents are in good agreement
with the actual currents in both steady state and transient operation. Parameter estimation

13

results show that the machine parameters are estimated accurately, with a maximum error
of 3.3% for the stator resistance, while all other errors are less than 1%. Multiple
parameters at a time were also estimated accurately. This enables estimation of more
than one machine parameter in the real data case, when more than one parameter is
unknown. The accuracy of estimation was shown not to degrade with multiple parameter
estimation.
The GUI was developed in Visual C++ and its correct operation was verified.
The GUI is user friendly and self- guiding. Calculation time is in the order of a few
seconds, while the results are presented on the computer screen automatically.

ACKNOWLEDGMENTS
The authors acknowledge the financial support of Arizona Public Service and of
PSERC, as well as the technical support of Drs. B. Agrawal, A. Keyhani, and J. Rico.

NOMENCLATURE
abc: Stator per-phase quantities on conventional a-b-c axes
dq0: Stator transformation to direct, quadrature and zero axis parameters
i0 : Stationary current, proportional to zero sequence current
ia : Current through stator phase a
ib : Current through stator phase b
ic : Current through stator phase c
id : Current through rotor axis d
iD : Current through damper winding D

14

iF: Current through field winding

iq : Current through rotor axis q
L0 : Equivalent zero sequence inductance (L0 =x0 in p.u.)
Laa : Stator phase winding a self inductance
Lab =Lba : Stator phase winding a to b mutual inductance
Lac=Lca: Stator phase winding a to c mutual inductance
LaF=LFa: Stator phase winding a to field winding mutual inductance
LaD=LDa=Lmd=LAD: Stator phase winding a to damper winding mutual inductance
Lbb : Stator phase winding b self inductance
Lbc=Lcb: Stator phase winding b to c mutual inductance
LbF=LFb: Stator phase winding b to field winding mutual inductance
LbD=LDb: Stator phase winding b to damper winding mutual inductance
Lcc: Stator phase winding c self inductance
LcF=LFc: Stator phase winding c to field winding mutual inductance
LcD=LDc: Stator phase winding c to damper winding mutual inductance
Ld : Equivalent direct axis reactance
LDD=LD: Damper winding D self inductance
LDF=LFD: Damper winding to field winding mutual inductance
LFF=LF: Field winding self inductance
Lm : Stator phase winding magnetizing inductance
Ln : Equivalent neutral inductance
Lq : Equivalent quadrature axis reactance (Lq = xq in p.u.)
LQQ=LQ: Damper winding Q self inductance

15

Ls : Stator phase winding inductance

MD: Stator to damper winding D mutual inductance
MQ: Stator to damper winding Q mutual inductance
MF: Stator to field winding mutual inductance
MR: Rotor mutual inductance
Ms : Stator phase winding mutual inductance
P: Parks transformation matrix
r=ra =rb =rc: Stator phase resistance
rD: Equivalent resistance of damper winding D
rF : Equivalent field winding resistance
rQ: Equivalent resistance of damper winding Q
rn : Equivalent neutral resistance
v0 : Zero axis voltage, proportional to zero sequence voltage
va : Stator phase a voltage
vb : Stator phase b voltage
v c: Stator phase c voltage
vd : Direct axis voltage
vq : Quadrature axis voltage
d: Synchronous machine torque angle in electrical radians
?t: Time step
?: Angular displacement of d axis from a axis in mechanical radians
?: Flux linkage
? : Synchronous angular frequency in radians per second

16

? R: Rated synchronous angular frequency in radians per second

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December 1999, pp. 901-908.

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Armature Circuit and Field Winding Parameters of Large Utility Generators, IEEE
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Armature, Field, and Saturated Parameters of a Large Steam Turbine-Generator from
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Parameter Identification, North American Power Symposium (NAPS) Proceedings,
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14 P. M. Anderson, B. L. Agrawal, J. E. Van Ness, Subsynchronous Resonance in
Power Systems, IEEE Press, New York, 1990.
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of Analysis Part I, AIEE Transactions, Vol. 48, July 1929, pp. 716-727.

18

16 R. H. Park, Two-Reaction Theory of Synchronous Machines, Part II, AIEE

Transactions, Vol. 52, June 1933, pp. 352-355.
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19

Table 1. Synchronous generator parameters

Parameter

Value (p.u.)

Parameter name

0.0027

rn

100

Equivalent neutral resistance

Lq

1.72

Equivalent quadrature axis reactance

Ld

1.80

Equivalent direct axis reactance

MF

1.339

Stator to field mutual inductance

MD

1.339

Stator to D-damper winding mutual inductance

MQ

1.2737

Stator to Q-damper winding mutual inductance

rF

9.722x10-4

Equivalent field resistance

rD

8.823x10-3

Equivalent resistance of damper winding D

rQ

0.07151

Equivalent resistance of damper winding Q

L0

0.15

Equivalent zero sequence inductance

Ln

100

Equivalent neutral inductance

LF

1.7579

Field winding self inductance

MR

1.64

LD

1.68124

Self inductance of damper winding D

LQ

1.59059

Self inductance of damper winding Q

Stator phase resistance

Rotor mutual inductance

20

Table 2. Estimated parameters using EMTP data

Parameter

Actual value (p.u.)

Estimated value (p.u.)

% Error

0.0027

0.00261

3.3

Ld

1.80

1.7999

5.6x10-3

Lq

1.72

1.72009

5.2x10-3

rF

9.722x10-4

9.7994x10-4

0.8

LF

1.75791

1.746998

0.62

MF

1.33905

1.33908

2.2x10-3

21

Table 3. Multiple simultaneous parameter estimation using EMTP data

Parameter

Actual value (p.u.)

Estimated value (p.u.)

% Error

Ld

1.80

1.7999

5.6x10-3

Lq

1.72

1.72009

5.2x10-3

rF

9.722x10-4

9.7994x10-4

0.8

22

ia
a

rF

vF

iF

ra

LF

L aa
Lbb

ib

rb

rD

v D =0

iD

va
b

LD

Lc c

rn
Ln

vb

rc

vn

ic

rQ

v Q =0

iQ

c
vc

LQ

n
in

Fig. 1. Schematic diagram of a synchronous machine

INPUTS

PHYSICAL
SYSTEM

OUTPUTS

STATES THAT ARE MEASURED

OR CALCULATED

STATES
STATES THAT ARE NEITHER
MEASURED NOR CALCULATED

OBSERVER

METHODICAL ADJUSTMENT OF OBSERVER

PARAMETERS TO FORCE OUTPUT TO
AGREE WITH PLANT

Fig. 2. Concept of an observer for a dynamic system

23

Fig. 3. Actual and estimated d-axis damper current using steady state data

Fig. 4. Actual and estimated q-axis damper current using steady state data

24

Fig. 5. Actual and estimated d-axis damper current using transient data

Fig. 6. Actual and estimated q-axis damper current using transient data

25

Unknown plant
I4 x 1
V4 x1

= R6 x 6 i D L 6 x6
02 x1
i
Q

I 4 x1

iD
i
Q

I
iD , iQ

+
e

Observer
-

a priori
system
knowledge

Estimated
parameters

Parameter
identification
algorithm

Fig. 7. Block diagram for observer implementation and parameter identification

algorithm

Fig. 8. Input window of the Estimator

Fig. 9. Output window of the Estimator

26