oo AA Chapter 8 css Excitation Systems The basic function of an excitation system is to provide direct current to the synchronous machine field winding. In addition, the excitation system performs control and protective functions essential to the satisfactory performance of the power system by controlling the field voltage and thereby the field current. The control functions include the control of voltage and reactive power flow, and the enhancement of system stability. The protective functions ensure that the capability limits of the synchronous machine, excitation system, and other equipment are not exceeded. This chapter describes the characteristics and modelling of different types of synchronous generator excitation systems. In addition, it discusses dynamic performance criteria and provides definitions of related terms useful in the identification and specification of excitation system requirements. This subject has been covered in several IEEE reports [1-8]. These serve as useful references to utilities, manufacturers, and system analysts by establishing a common nomenclature, by standardizing models, and by providing guides for specifications and testing. Models and terminologies used in this chapter largely conform to these publications. 8.1 EXCITATION SYSTEM REQUIREMENTS The performance requirements of the excitation system are determined by considerations of the synchronous generator as well as the power system [6,9]. 315316 Excitation Systems Chap. g Generator considerations The basic requirement is that the excitation system supply and automatically adjust the field current of the synchronous generator to maintain the terminal voltage as the output varies within the continuous capability of the generator. This requirement can be visualized from the generator V-curves, such as those shown in Figure 5.19 of Chapter 5. Margins for temperature variations, component failures, emergency overrating, etc., must be factored in when the steady-state power rating jg determined. Normally, the exciter rating varies from 2.0 to 3.5 KW/MVA generator rating. In addition, the excitation system must be able to respond to transient disturbances with field forcing consistent with the generator instantaneous and short. term capabilities. The generator capabilities in this regard are limited by several factors: rotor insulation failure due to high field voltage, rotor heating due to high field current, stator heating due to high armature current loading, core end heating during underexcited operation, and heating due to excess flux (volts/Hz). The thermal limits have time-dependent characteristics, and the short-term overload capability of the generators may extend from 15 to 60 seconds. To ensure the best utilization of the excitation system, it should be capable of meeting the system needs by taking full advantage of the generator’s short-term capabilities without exceeding their limits. Power system considerations From the power system viewpoint, the excitation system should contribute to effective control of voltage and enhancement of system stability. It should be capable of responding rapidly to a disturbance so as to enhance transient stability, and of modulating the generator field so as to enhance small-signal stability. Historically, the role of the excitation system in enhancing power system performance has been growing continually. Early excitation systems were controlled manually to maintain the desired generator terminal voltage and reactive power loading. When the voltage control was first automated, it was very slow, basically filling the role of an alert operator. In the early 1920s, the potential for enhancing small-signal and transient stability through use of continuous and fast-acting regulators was recognized. Greater interest in the design of excitation systems developed, and exciters and voltage regulators with faster response were soon introduced to the industry. Excitation systems have since undergone continuous evolution. In the early 1960s, the role of the excitation system was expanded by using auxiliary stabilizing signals, in addition to the terminal voltage error signal, to control the field voltage to damp system oscillations. This part of excitation control is referred to as the power system stabilizer. Modern excitation systems are capable of providing practically instantaneous response with high ceiling voltages. The combination of high field- forcing capability and the use of auxiliary stabilizing signals contributes to substantial enhancement of the overall system dynamic performance. This will be discussed in detail in Chapters 12, 13, and 17.gec. 8-2 Elements of an Excitation System 317 To fulfill the above roles satisfactorily, the excitation system must satisfy the following requirements: . Meet specified response criteria. Provide limiting and protective functions as required to prevent damage to itself, the generator, and other equipment. Meet specified requirements for operating flexibility. Meet the desired reliability and availability, by incorporating the necessary level of redundancy and internal fault detection and isolation capability. 8.2 ELEMENTS OF AN EXCITATION SYSTEM Figure 8.1 shows the functional block diagram of a typical excitation control system for a large synchronous generator. The following is a brief description of the various subsystems identified in the figure. © Limiters and protective circuits ® Terminal voltage transducer and. -§— load compensator ® 0) —| To power Ref. Regulator Exciter Generator system ® Power system |_| stabilizer Figure 8.1 Functional block diagram of a synchronous generator excitation control system318 () Q) @) 4) (6) Excitation Systems Chap, g Exciter. Provides de power to the synchronous machine field winding, constituting the power stage of the excitation system. Regulator. Processes and amplifies input control signals to a level and form appropriate for control of the exciter. This includes both regulating ang excitation system stabilizing functions (rate feedback or lead-lag compensation). Terminal voltage transducer and load compensator. Senses generator terminal voltage, rectifies and filters it to de quantity, and compares it with a reference which represents the desired terminal voltage. In addition, load (or line-drop, or reactive) compensation may be provided, if it is desired to hold constant voltage at some point electrically remote from the generator terminal (for example, partway through the step-up transformer). Power system stabilizer. Provides an additional input signal to the regulator to damp power system oscillations. Some commonly used input signals are rotor speed deviation, accelerating power, and frequency deviation. Limiters and protective circuits. These include a wide array of control and protective functions which ensure that the capability limits of the exciter and synchronous generator are not exceeded. Some of the commonly used functions are the field-current limiter, maximum excitation limiter, terminal voltage limiter, volts-per-Hertz regulator and protection, and underexcitation limiter. These are normally distinct circuits and their output signals may be applied to the excitation system at various locations as a summing input or a gated input. For convenience, they have been grouped and shown in Figure 8.1 as a single block. 8.3 TYPES OF EXCITATION SYSTEMS Excitation systems have taken many forms over the years of their evolution. They may be classified into the following three broad categories based on the excitation power source used [4,8]: DC excitation systems AC excitation systems Static excitation systems This section provides a description of the above classes of excitation systems, the different forms they take, and their general structure. Details regarding various regulating and protective functions often included with the excitation systems will be covered in Section 8.5.Sec. 8.3 Types of Excitation Systems 319 g.3.1 DC Excitation Systems The excitation systems of this category utilize de generators as sources of exoitation power and provide current to the rotor of the synchronous machine through slip rings. The exciter may be driven by a motor or the shaft of the generator. It may be either self-excited or separately excited. When separately excited, the exciter field is supplied by a pilot exciter comprising a permanent magnet generator. DC excitation systems represent early systems, spanning the years from the 1920s to the 1960s. They lost favour in the mid-1960s and were superseded by ac exciters. The voltage regulators for such systems range all the way from the early non- continuously acting rheostatic type to the later systems utilizing many stages of magnetic amplifiers and rotating amplifiers [10,11]. DC excitation systems are gradually disappearing, as many older systems are being replaced by ac or static type systems. In some cases, the voltage regulators alone have been replaced by modern solid-state electronic regulators. As many of the de excitation systems are still in service, they still require modelling in stability studies. Figure 8.2 shows a simplified schematic representation of a typical de excitation system with an amplidyne voltage regulator. It consists of a dc commutator exciter which supplies direct current to the main generator field through slip rings. The exciter field is controlled by an amplidyne. DC exciter Main generator Field Armature Field Armature Slip ring ony ape Exe. field theostat Voltage regulator Figure 8.2. DC excitation system with amplidyne voltage regulator320 Excitation Systems Chap. g ‘An amplidyne is a special type of the general class of rotating amplifiers known as metadynes [11,12]. It is a de machine of special construction having two sets of brushes 90 electrical degrees apart, one set on its direct (d) axis and the other set on its quadrature (q) axis. The control-field windings are located on the d-axis, 4 compensating winding in series with the d-axis load produces flux equal and opposite to the d-axis armature current, thereby cancelling negative feedback of the armature reaction. The brushes on the g-axis are shorted, and very little control-field power ig required to produce a large current in the g-axis armature. The g-axis current produces the principal magnetic field, and the power required to sustain the q-axis current is supplied mechanically by the motor driving the amplidyne. The result is a device with power amplification on the order of 10,000 to 100,000 and a time constant in the range from 0.02 to 0.25 seconds. In the excitation system of Figure 8.2, the amplidyne provides incremental changes to the exciter field in a “buck-boost” scheme. The exciter output provides the rest of its own field by self-excitation. If the amplidyne regulator is out of service, the exciter field is on “manual contro!” and is changed through adjustment of the field theostat. 8.3.2 AC Excitation Systems The excitation systems of this category utilize alternators (ac machines) as sources of the main generator excitation power. Usually, the exciter is on the same shaft as the turbine generator. The ac output of the exciter is rectified by either controlled or non-controlled rectifiers to produce the direct current needed for the generator field. The rectifiers may be stationary or rotating. The early ac excitation systems used a combination of magnetic and rotating amplifiers as regulators [11]. Most new systems use electronic amplifier regulators, AC excitation systems can thus take many forms depending on the rectifier arrangement, method of exciter output control, and source of excitation for the exciter [13-17]. The following is a description of different forms of ac excitation systems in use. (a) Stationary rectifier systems With stationary rectifiers, the de output is fed to the field winding of the main generator through slip rings. When non-controlled rectifiers are used, the regulator controls the field of the ac exciter, which in turn controls the exciter output voltage. A simplified one-line diagram of such a field controlled alternator rectifier excitation system is shown in Figure 8.3. In the system shown, which is representative of the General Electric ALTERREX! excitation system [14], the alternator exciter is driven from the main 1 ALTERREX is a trademark of General Electric Co.sec. 8-3 Types of Excitation Systems 321 enerator rotor. The exciter is self-excited with its field power derived through thyristor rectifiers. The voltage regulator derives its power from the exciter output age. volley alternative form of field-controlled alternator rectifier system uses a pilot exciter as the source of exciter field power. When controlled rectifiers (thyristors) are used, the regulator directly controls the de output voltage of the exciter. Figure 8.4 shows the schematic diagram of such an alternator supplied controlled-rectifier system, representative of the General Electric ALTHYREX'! System [17]. The voltage regulator controls the firing of the thyristors. The exciter alternator is self-excited and uses an independent static voltage regulator to maintain its output voltage. Since the thyristors directly control the exciter output, this system inherently provides high initial response (small response time). As shown in Figures 8.3 and 8.4, two independent modes of regulation are provided: ( 1) ac regulator to automatically maintain the main generator stator terminal voltage at a desired value corresponding to the ac reference; and (2) de regulator to maintain constant generator field voltage as determined by the de reference. The de regulator or manual control mode caters to situations where the ac regulator is faulty or needs to be disabled. The input signals to the ac regulator include auxiliary inputs which provide additional control and protective functions which will be described in Section 8.5. AC exciter Main generator Field Armature stationary diode ‘Field Armature Slip ring = Hs | ot Kr ~ADC DC ref. Controlled << regulator rectifier f AC regulator |. aux. inputs ca a Figure 8.3 Field-controlled alternator rectifier excitation system | ALTHYREX is a trademark of General Electric Co.322 Excitation Systems Chap. g AC exciter Main generator i Stationary i Field Armature controlled rectifier Field Armature IO GMOme opt aa Kt De nt regulator [ Exe. Teg. 1S }=—Aux. inputs AC regulator Figure 8.4 Alternator-supplied controlled-rectifier excitation system (6) Rotating rectifier systems With rotating rectifiers, the need for slip rings and brushes is eliminated, and the de output is directly fed to the main generator field. As shown in Figure 8.5, the armature of the ac exciter and the diode rectifiers rotate with the main generator field. A small ac pilot exciter, with a permanent magnet rotor (shown as N S in the figure), rotates with the exciter armature and the diode rectifiers. The rectified output of the pilot exciter stator energizes the stationary field of the ac exciter. The voltage regulator controls the ac exciter field, which in turn controls the field of the main generator. Such a system is referred to as a brushless excitation system. It was developed to avoid problems with the use of brushes that were perceived to exist when supplying the high field currents of very large generators; for example, the power supplied to the field of a 600 MW generator is on the order of 1 MW. However, with well- maintained brushes and slip rings, these perceived problems did not actually develop. AC excitation systems with and without brushes have performed equally well. High initial-response performance of brushless excitation can be achieved by special design of the ac exciter and high voltage forcing of the exciter stationary field winding. An example of such a system is the Westinghouse high initial response brushless excitation system [13]. Brushless excitation systems do not allow direct measurement of generator field current or voltage. Manual control of main generator voltage is provided by an adjustable de input setting to the thyristor gating circuits. For the sake of simplicity, the functions of the control circuitry are not shown in detail in Figure 8.5.Sec. 8.3. Types of Excitation Systems 323 Pilot exciter Rotating structure Main generator AC exciter Field | Armature Regulator +—— Manual control |+— Aux. inputs Figure 8.5 Brushless excitation system 8.3.3 Static Excitation Systems All components in these systems are static or stationary. Static rectifiers, controlled or uncontrolled, supply the excitation current directly to the field of the main synchronous generator through slip rings. The supply of power to the rectifiers is from the main generator (or the station auxiliary bus) through a transformer to step down the voltage to an appropriate level, or in some cases from auxiliary windings in the generator. The following is a description of three forms of static excitation systems that have been widely used. (a) Potential-source controlled-rectifier systems In this system, the excitation power is supplied through a transformer from the generator terminals or the station auxiliary bus, and is regulated by a controlled rectifier (see Figure 8.6). This type of excitation system is also commonly known as a bus-fed or transformer-fed static system. This system has a very small inherent time constant. The maximum exciter output voltage (ceiling voltage) is, however, dependent on the input ac voltage. Hence, during system-fault conditions causing depressed generator terminal voltage, the available exciter ceiling voltage is reduced. This limitation of the excitation system is, to a large extent, offset by its virtually instantaneous response and high post-fault field-forcing capability [18,19]. In addition, it is inexpensive and easily maintainable. For generators connected to large power systems such excitation systems perform satisfactorily [18]. Compounding ancillaries, such as those described below, are not normally justified; they are likely important for generators feeding power directly into small industrial networks with slow fault-clearing.324 Excitation Systems Chap. g Exciter Main generator transformer Controlled rectifier Field Armature Slip ring the > t = phase act me PT t Field Lol Lt pc ‘DC ref. T] regulator * Alternatively, from i _ auxiliary bus | AC ref. Wy AC i 4] regulator [ux inputs Figure 8.6 Potential-source controlled-rectifier excitation system Examples of this type of excitation system are: Canadian General Electric Silicomatic excitation system, Westinghouse type PS excitation system, General Electric potential source static excitation system, and ABB, Reyrolle-Parsons, GEC- Eliott, Toshiba, Mitsubishi, and Hitachi static excitation systems. (6) Compound-source rectifier systems The power to the excitation system in this case is formed by utilizing the current as well as the voltage of the main generator. This may be achieved by means of a power potential transformer (PPT) and a saturable-current transformer (SCT) as illustrated in Figure 8.7. Alternatively, the voltage and current sources may be combined by utilizing a single excitation transformer, referred to as a saturable-current potential transformer (SCPT). The regulator controls the exciter output through controlled saturation of the excitation transformer. When the generator is not supplying a load, the armature current is zero and the potential source supplies the entire excitation power. Under loaded conditions, part of the excitation power is derived from the generator current. During a system-fault condition, with severely depressed generator terminal voltage, the current input enables the exciter to provide high field-forcing capability. Examples of this type of excitation system are General Electric SCT-PPT and SCPT static excitation systems.gec. 8.3 Types of Excitation Systems 325 Main generator Saturable Armature current transformer or eer neutral - Field — to nding Power rectifier ik Power l Ga rings “Y"potential | p transformer Current a Source | Voltage source | Linear reactor Regulator Aux. inputs —___ Figure 8.7 Compound-source rectifier excitation system (c) Compound-controlled rectifier excitation systems This system utilizes controlled rectifiers in the exciter output circuits and the compounding of voltage and current-derived sources within the generator stator to provide excitation power. The result is a high initial-response static excitation system with full “fault-on” forcing capability. An example of this type of system is the compound power-source GENERREX' excitation system [15,16]. Figure 8.8 shows an elementary single-line diagram of the system. The voltage source is formed by a set of three-phase windings placed in three slots in the generator stator and a series linear reactor. The current source is obtained from current transformers mounted in the neutral end of the stator windings. These sources are combined through transformer action and the resultant ac output is rectified by stationary power semiconductors. The means of control is provided by a combination of diodes and thyristors connected to form a shunt bridge. A static ac voltage regulator controls the firing circuits of the thyristors and thus regulates the excitation to the generator field. The excitation transformer consists of three single-phase units with three windings: current (C) and potential (P) primary windings, and a secondary output winding (F). Under fault conditions, the fault current flowing through the excitation transformer “C” windings provides the field-forcing capability when the generator Voltage is depressed. ! GENERREX is a trademark of General Electric Co.326 Excitation Systems Chap. g Excitation transformer Generator Generator frame Rectifier pc f AC Aux. inputs regulator 74] ye DC ref. AC ref, Figure 8.8 GENERREX compound-controlled rectifier excitation system IEEE1976 [16] The reactor serves two functions: contribution to the desired compounding characteristic of the excitation system and reduction of fault currents for faults in the excitation system or the generator. The excitation transformers and reactors are contained in an excitation dome that is bolted to the top of the generator frame, forming an integral part of the frame. Field flashing for static exciters: Since the source of power to a static excitation system is the main generator, it is in effect self-excited. The generator cannot produce any voltage until there is some field current. It is therefore necessary to have another source of power for a few seconds to initially provide the field current and energize the generator. This process of build-up of generator field flux is called field flashing. The usual field-flashing source is a station battery. 8.3.4 Recent Developments and Future Trends The advances in excitation control systems over the last 20 years have been influenced by developments in solid-state electronics. Developments in analog- integrated circuitry have made it possible to easily implement complex control strategies.sec. 8.4 Dynamic Performance Measures 327 The latest development in excitation systems has been the introduction of digital technology. Thyristors continue to be used for the power stage. The control, rotection, and logic functions have been implemented digitally, essentially uplicating the functions previously provided by analog circuitry. The digital controls are likely to be used extensively in the future as they rovide a cheaper and possibly more reliable alternative to analog circuitry. They have the added advantage of being more flexible, allowing easy implementation of more complex control strategies, and interfacing with other generator control and protective functions. 8.4 DYNAMIC PERFORMANCE MEASURES The effectiveness of an excitation system in enhancing power system stability jsdetermined by some of its key characteristics. In this section, we identify and define performance measures which determine these characteristics and serve as a basis for evaluating and specifying the performance of the excitation control system. Figure 8.9 shows the representation of the overall excitation control system in the classical form used for describing feedback control systems. Power Plant a ‘on| Controller |My amplifier |} (generator and |“ (regulator) (exciter) Power system) Feedback elements Figure 8.9 Excitation control system in the classical feedback control form The performance of the excitation control system depends on the characteristics of excitation system, the generator, and the power system. Since the system is nonlinear, it is convenient to classify its dynamic performance into large-signal performance and small-signal performance. For large-signal performance, the nonlinearities are significant; for small-signal performance, the response is effectively linear. 8.4.1 Large-Signal Performance Measures [7] Large-signal performance measures provide a means of assessing the excitation system performance for severe transients such as those encountered in the328 Excitation Systems — Chap, g consideration of transient, mid-term and long-term stability of the power system. Such measures are based on the quantities defined below. To permit maximum flexibility in the design, manufacture, and application of excitation equipment, some of the performance measures are defined “under specified conditions”; these conditions may be specified as appropriate for the specific situation. (a) Excitation system ceiling voltage: The maximum direct voltage that the excitation system is able to supply from its terminals under specified conditions [7,20]. Ceiling voltage is indicative of the field-forcing capability of the excitation system; higher ceiling voltages tend to improve transient stability. For potential source and compound source static excitation systems, whose supply depends on the generator voltage and current, the ceiling voltage is defined at specified supply voltage and current. For excitation systems with rotating exciters, the ceiling voltage is determined at rated speed. (b) Excitation system ceiling current: The maximum direct current that the excitation system is able to supply from its terminals for a specified time [7,20]. When prolonged disturbances are a concern, the ceiling current may be based on the excitation system thermal duty. (c) Excitation system voltage time response: The excitation system output voltage expressed as a function of time under specified conditions [7,20]. (d) Excitation system voltage response time: The time in seconds for the excitation voltage to attain 95% of the difference between the ceiling voltage and rated load- field voltage under specified conditions [7,20]. The rated load field voltage is the generator field voltage under rated continuous load conditions with the field winding at (i) 75°C for windings designed to operate at rating with a temperature rise of 60°C or less; or (ii) 100°C for windings designed to operate at rating with a temperature rise greater than 60°C. (e) High initial-response excitation system: An excitation system having a voltage response time of 0.1 seconds or less [7]. It represents a high response and fast-acting system. () Excitation system nominal response': The rate of increase of the excitation system output voltage determined from the excitation system voltage response curve, divided by the rated field voltage. This rate, if maintained constant, would develop the same voltage-time area as obtained from the actual curve over the first half-second interval (unless a different time interval is specified) [7,20]. | Historically, the excitation system nominal response has been referred to as the excitation system response ratio (see 1978 version of [7], and [20]).sec- 8.4. Dynamic Performance Measures 329 The nominal response is determined by initially operating the excitation system at the rated load field voltage (and field current) and then suddenly creating the three- nase terminal voltage input signal conditions necessary to drive the excitation system voltage to ceiling. It should include any delay time that may be present before the excitation system responds to the initiating disturbance. Referring to Figure 8.10, the excitation response is illustrated by line ac. This tine is determined by establishing area acd equal to area abd: . d Nominal response = —°°_ (a0) (oe) where oe = 0.558 ao = rated load field voltage The basis for considering a nominal time span of 0.5 s in the above definition is that, following a severe disturbance, the generator rotor angle swing normally peaks between 0.4 s and 0.75 s. The excitation system must act within this time period to be effective in enhancing transient stability. Accordingly, 0.5 s was chosen for the definition time period of nominal response. In the past, the nominal response has been a well-established and useful criterion for evaluating the large-signal performance of excitation systems. With older and slower excitation systems, this was an acceptable performance measure, but it is Line ac such that : area acd = area abd ‘Actual response ' jd Rated load field voltage Excitation output voltage Time in seconds ee Figure 8.10 Excitation system nominal response330 Excitation Systems Chap, g not adequate to cover many of the modern excitation systems. In particular, it is not a good figure of merit for excitation systems supplied from the generator or the power system, due to the reduced capability of such systems during a system fault. For high initial-response excitation systems, the nominal response merely establishes the required ceiling voltage. The ceiling voltage and voltage response time are more meaningful parameters for such systems. 8.4.2 Small-Signal Performance Measures [3,7] ‘Small-signal performance measures provide a means of evaluating the response of the closed-loop excitation control systems to incremental changes in system conditions. In addition, small-signal performance characteristics provide a convenient means for determining or verifying excitation system model parameters for system studies. Small-signal performance may be expressed in terms of performance indices used in feedback control system theory: * Indices associated with time response; and * Indices associated with frequency response The typical time response of a feedback control system to a step change in input is shown in Figure 8.11. The associated indices are rise time, overshoot, and settling time. Output Specified band for settling time 0.17 Initial value Delay time] Time ‘Time to reach] peak value Settlin; Figure 8.11 Typical time response to step input. © IEEE 1990 [7]sec. 8.4. Dynamic Performance Measures 331 G 40} Asymptotic 0 approximation _49 B/dec 3 of gain 5 20 50S <20 dB/dec & 8 s £0 -100 3 g Phase angle $ 2 é a -20 -150 3 2 = Excitation Synchronous -40 system machine, -200 + -60 -250 oo 0.01 0.1 1.0 10 100 1000 @ in rad/s Figure 8.12 Typical open-loop frequency response of an excitation control system with generator open-circuited. © IEEE 1990 [7] A typical open-loop frequency response characteristic of an excitation control system with the generator open-circuited is shown in Figure 8.12. The performance indices associated with the open-loop frequency response are the low frequency gain G, crossover frequency w,, phase margin ¢,,, and gain margin G, Larger values of G provide better steady-state voltage regulation, and larger crossover frequency @, indicates faster response. Larger values of phase margin $,, and gain margin G,, provide a more stable excitation control loop. (The reference here is to excitation control system stability and not power system synchronous stability.) In tuning the voltage regulator, an improvement to one index will most likely be to the detriment of other indices. For example, an increase in regulator gain will shift the gain curve in Figure 8.12 upward. This has the beneficial effect of increasing the low-frequency gain and crossover frequency, but has the undesirable effect of decreasing the gain and phase margins. In general, a phase margin of 40° or more and gain margin of 6 dB or more are considered a good design practice for obtaining astable, non-oscillatory voltage regulator system. Figure 8.13 shows the corresponding closed-loop frequency response with the generator open-circuited.332 Excitation Systems — Chap. g 0 50 3 g 5 5 o 8 a Phase angle = 8 = 5 Ss = -10 50 8 = 2 r= > Oo S “15 -100 3 a = Excitation Synchronous -20 system machine -150 to" r YR -25 -200 0.1 1.0 10 100 © in rad/s Figure 8.13 Typical closed-loop frequency response with generator open-circuited. © IEEE 1990 [7 The indices of interest associated with the closed-loop frequency response are the bandwidth , and peak value M,, A high value of M, (>1.6) is indicative of an oscillatory system exhibiting large overshoot in its transient response. In general, a value of M, between 1.1 and 1.5 is considered a good design practice. Bandwidth is an important closed-loop frequency response index. Larger values indicate faster response. It approximately describes filtering or noise-rejection characteristics of the system. Generally accepted values of performance indices characterizing good feedback control system performance are: Gain margin > 6 dB Phase margin > 40° Overshoot = 5-15% M, = 11-16sec. 8.5 Control and Protective Functions 333 It is not possible to define such generally acceptable ranges of values for other gnall-signal performance indices: rise time, settling time, and bandwidth. These indices are a measure of the relative speed of the control action. They are primarily ‘termined by the synchronous machine dynamic characteristics. The performance indices given above are applicable to any feedback control gystem having a single major feedback loop, i.c., a single controlled-output variable. Therefore, they are applicable to an excitation control system with the synchronous machine on open circuit or feeding an isolated load. Stable operation of the excitation fontrol system with the generator off-line is ensured based on these performance jndices and associated analytical techniques [3]. On the other hand, synchronous machines connected to a power system form a complex multiloop, multivariable, high- order control system. For such a system, the performance indices identified above are not applicable. The state-space approach using eigenvalue techniques is an effective method of assessing the performance of such complex systems. This is covered in detail in Chapter 12. 8.5 CONTROL AND PROTECTIVE FUNCTIONS ‘A modern excitation control system is much more than a simple voltage regulator. It includes a number of control, limiting, and protective functions which assist in fulfilling the performance requirements identified in Section 8.1. The extensive nature of these functions and the manner in which they interface with each other are illustrated in Figure 8.14. Any given excitation system may include only some or all of these functions, depending on the requirements of the specific application and on the type of exciter. The philosophy is to have the control functions regulate specific quantities at the desired level, and the limiting functions prevent certain quantities from exceeding set limits. If any of the limiters fail, then the protective functions remove appropriate components or the unit from service. The following is a brief description of the various control and protective functions, and the associated elements identified in Figure 8.14. 8.5.1 AC and DC Regulators The basic function of the ac regulator is to maintain the generator stator voltage. In addition, other auxiliary control and protection functions act through the ac regulator to control the generator field voltage as shown in Figure 8.14. The de regulator holds constant generator field voltage and is commonly teferred to as manual control. It is used primarily for testing and start-up, and to cater to situations where the ac regulator is faulty. In this mode of operation, it is the field Voltage that is regulated; only operator intervention by adjusting the setpoint will modify the field voltage. In some excitation systems, facilities for automatic setpoint tracking are provided. This will cause the manual setpoint to continually track the generator excitation variation due to the ac regulator and thus minimize the voltage334 Excitation Systems — Chap, g Voltage sensing and] load compensation Power system stabilizer Voltage sensing [ss —| DC "+ regulator [7 DC voltage { A Field | * adjust i Exciter shorting Generator ‘AC ty [regulator [~ AC voltage —— adjust Exe. sys. stab. circuits Overexe. |** limiter Underexe. limiter ‘V/Ha limiter and protection * Field-shorting circuits are applicable to ac and static exciters only. ** Some systems have open-loop de regulator. *** — Overexcitation limiter may also be used with de regulator Figure 8.14 Excitation system control and protective circuits and reactive power excursions in the event the ac regulator is removed from service abruptly. Care must be taken to ensure that a trip of the unit operating on manual control does not leave the generator in an overexcited condition. 8.5.2 Excitation System Stabilizing Circuits Excitation systems comprised of elements with significant time delays have poor inherent dynamic performance. This is particularly true of de and ac type excitation systems. Unless a very low steady-state regulator gain is used, the excitation control (through feedback of generator stator voltage) is unstable when the generator is on open circuit. Therefore, excitation control system stabilization, comprising either series or feedback compensation, is used to improve the dynamic performance of the control system. The most commonly used form of compensation is a derivative feedback as shown in Figure 8.15. The effect of the compensation issec. 8.5 Control and Protective Functions 335 minimize the phase shift introduced by the time delays over a selected frequency range [31- This results in a stable off-line performance of the generator, such as that existing just prior to synchronization or following a load rejection. The feedback eters can also be adjusted to improve the on-line performance of the generating at Depending on the type of excitation system, there may be many levels of gxcitation control system stabilization involving the major outer loop and minor inner Joops. Static excitation systems have negligible inherent time delays and do not require excitation control-system stabilization to ensure stable operation with the generator off-line (see closure of reference 21). Vv, To generator Exciter and AVR field Compensation SK, 1+sT, Figure 8.15 Derivative feedback excitation control system stabilization 8.5.3 Power System Stabilizer (PSS) The power system stabilizer uses auxiliary stabilizing signals to control the excitation system so as to improve power system dynamic performance. Commonly used input signals to the power system stabilizer are shaft speed, terminal frequency and power. Power system dynamic performance is improved by the damping of system oscillations. This is a very effective method of enhancing small-signal stability performance. The principle of operation of power system stabilizers and their structure and tuning are discussed in detail in Chapters 12 and 17. 8.5.4 Load Compensation The automatic voltage regulator (AVR) normally controls the generator stator terminal voltage. Sometimes, load compensation is used to control a voltage which is representative of the voltage at a point either within or external to the generator. This is achieved by building additional circuitry into the AVR loop as shown in Figure 8.16. The compensator has adjustable resistance (R,) and inductive reactance (X) that simulate the impedance between the generator terminals and the point at which the voltage is being effectively controlled. Using this impedance and the measured armature current, a voltage drop is computed and added to or subtracted336 Excitation Systems — Chap, g Generator step-up Field Armature transformer HT bus To power system Load compensator orth L___,} RX, Exciter Voltage regulator Figure 8.16 Schematic diagram of a load compensator from the terminal voltage. The magnitude of the resulting compensated voltage (V,), which is fed to the AVR, is given by V, = fE+(R XT (8.1) With R, and X, positive in Equation 8.1, the voltage drop across the compensator is added to the terminal voltage. The compensator regulates the voltage at a point within the generator and thus provides voltage droop. This is used to ensure proper sharing of reactive power between generators bussed together at their terminals, sharing a common step-up transformer. Such an arrangement is commonly used with hydro electric generating units and cross-compound thermal units. The compensator functions as a reactive-current compensator by creating an artificial coupling between the generators. Without this provision, one of the generators would try to control the terminal voltage slightly higher than the other; hence, one generator would tend to supply all of the required reactive power while the other would absorb reactive power to the extent allowed by underexcited limits. With R, and X, negative, the compensator regulates the voltage at a point beyond the machine terminals. This form of compensation is used to compensate for the voltage drop across the step-up transformer, when two or more units are connected through individual transformers. Typically, 50% to 80% of the transformer impedance is compensated, ensuring voltage droop at the paralleling point so that generators can operate in parallel satisfactorily. This device is commonly referred to as a line-drop compensator although it is practically always used to compensate only for transformer drop. The nomenclature appears to have been derived from a similar compensator used on distribution system voltage regulators (see Chapter 11, Section 11.2).Sec. 8.5 Control and Protective Functions 337 In most cases, the resistance component of the impedance to be compensated is negligible and R, may be set to zero. Alternative forms of reactive-current and line-drop compensators are described in references 8 and 22. g.5.5 Underexcitation Limiter [23-26] The underexcitation limiter (UEL) is intended to prevent reduction of generator excitation to a level where the small-signal (steady-state) stability limit or the stator core end-region heating limit (see Chapter 5, Figure 5.16) is exceeded. This limiter js also referred to by other names such as underexcitation reactive-ampere limiter (URAL) and minimum excitation limiter (MEL). The control signal of the UEL is derived from a combination of either voltage and current or active and reactive power of the generator. The limits are determined by the signal exceeding a reference level. There are a wide variety of implementations of the UEL function. Some UEL applications act on the voltage error signal of the AVR; when the UEL set limit is reached, a nonlinear element (such as a diode) begins to conduct and the limiter output signal is combined with other signals controlling the excitation system. In a more widely used form of UEL application, the limiter output signal is fed into an auctioneering circuit (high-value gate) which gives control to the larger of the voltage regulator and UEL signals; when the UEL set limit is reached, the limiter is given full control of the excitation system until the limiter signal is below the set limit. Methods of setting the UEL characteristics are described in references 23 to 25. The settings should be based on the needed protection, i.e., system instability or stator core heating. In addition, the limiter performance should be coordinated with the generator loss-of-excitation protection (see Chapter 13). Figure 8.17 indicates the way in which the UEL characteristic (represented on a P-Q plane) is usually coordinated with the calculated small-signal stability limit and the loss-of-excitation (LOE) relay characteristic [28]. If the UEL is used to protect against stator end-region heating, the coordination is done in a similar manner, except that the stability limit is replaced by the heating limit. If the input signals to the UEL are the generator stator voltage and current, the limiting characteristic appears circular on a P-Q plane as shown in Figure 8.17. With active and reactive power as input signals, the limiting characteristic would be a straight line. Care should be taken to ensure that the UEL performance during a transient disturbance is not to the detriment of the power system performance [26,27]. 8.5.6 Overexcitation Limiter The purpose of the overexcitation limiter (OXL) is to protect the generator from overheating due to prolonged field overcurrent. This limiter is also commonly Teferred to as the maximum excitation limiter (MXL).338 Excitation Systems — Chap, g z % 8 +» 3 £6 E Pin MW 9 Q 3 2 Perera °3| Underexcitation limiter 2 YS Small-signal stability limit Loss-of-excitation relay Figure 8.17 Coordination between UEL, LOE relay and stability limit The generator field winding is designed to operate continuously at a value corresponding to rated load conditions. The permissible thermal overload of the field winding of round rotor generators, as specified by ANSI Standard C50.13-1977, is given by the solid curve of Figure 8.18. The curve passes through the following points: Time (seconds) 10 30 60 © 120 Field voltage/current 208 146 «125 «112 (Percent of rated) The actual implementation of overexcitation limiting function varies depending on the manufacturer and vintage of the unit. Limiters supplied by two manufacturers are described in references 28 and 29. The overexcitation limiting function typically detects the high field current condition and, after a time delay, acts through the ac regulator to ramp down the excitation to a preset value (typically 100% to 110% of rated field current). If this is unsuccessful, it trips the ac regulator, transfers control to the de regulator, and tepositions the setpoint to a value corresponding to the rated value. If this also does not reduce the excitation to a safe value, the limiter will initiate an exciter field breaker trip and a unit trip. Two types of time delays are used: (a) fixed time and (b) inverse time. The fixed time limiters operate when the field current exceeds the pickup value for a fixed set time, irrespective of the degree of overexcitation. The inverse time limiters operate with the time delay matching the field thermal capability, as shown in Figure 8.18.gec. 8-5 Control and Protective Functions 339 120 o & —_— a q ; \ = 60 2 Field thermal capability 5 \ 30 N\, Overexcitation limiting a 00° 10 11 12 13 14 15 Generator field voltage per unit of rated value Figure 8.18 Coordination of overexcitation limiting with field thermal capability Exciters with very high ceiling voltages may be provided with an additional field current limiter, which acts instantaneously through the ac regulator and limits the field current to the short time limit (typically 160% of rated value). 8.5.7 Volts-per-Hertz Limiter and Protection These are used to protect the generator and step-up transformer from damage due to excessive magnetic flux resulting from low frequency and/or overvoltage. Excessive magnetic flux, if sustained, can cause serious overheating and may result in damage to the unit transformer and to the generator core. The ratio of per unit voltage to per unit frequency, referred to as volts per hertz (V/Hz), is a readily measurable quantity that is proportional to magnetic flux. Typical V/Hz limitations for generators (GEN) and step-up transformers (XFMR) are shown in the following table. V/Hz (pu) 1.25 12 Ls 1.10 1.05 Damage Time| GEN | 02 1.0 6.0 20.0 co in Minutes | xrmR | 1.0 5.0 20.0 ©340 Excitation Systems Chap, g The unit step-up transformer low voltage rating is frequently 5% below the generator voltage rating; therefore, V/Hz limiting and protection requirements arg usually determined by the transformer limitation. If, however, the generator ang transformer voltage ratings are the same, the generator limitation would be more restrictive. The V/Hz limiter (or regulator, as it is sometimes called) controls the fielg voltage so as to limit the generator voltage when the V/Hz value exceeds a preset value. The V/Hz protection trips the generator, when the V/Hz value exceeds a preset value for a specified time. Usually, a dual-level protection is provided, one with a higher V/Hz setting and a shorter time setting, and the other with a lower V/Hz setting and a longer time setting. When used in conjunction with a V/Hz limiter, it serves as a backup. For many units, the V/Hz protection becomes overvoltage protection above 60 Hz. 8.5.8 Field-Shorting Circuits Since rectifiers cannot conduct in the reverse direction, the exciter current cannot be negative in the case of ac and static exciters. Under conditions of pole slipping and system short circuits, the induced current in the generator field winding may be negative. Ifa path is not provided for this negative current to flow, very high voltages may result across the field circuit. Therefore, special circuitry is usually provided to bypass the exciter to allow negative field current to flow. This takes the form of either a field-shorting circuit, commonly referred to as crowbar, or a varistor [8,30]. A crowbar consists of a thyristor and a field discharge resistor (FDR) connected across the generator field as shown in Figure 8.19. The thyristor is gated in response to an overvoltage condition that is created by the induced current not initially having a path in which to flow. The thyristor so gated conducts induced field current through the field discharge resistor. Generator Field From exciter | Armature FDR Figure 8.19 Field bypass circuit using a crowbarsec. 8.6 Modelling of Excitation Systems 341 A varistor is a nonlinear resistor. When connected across the generator field winding, 28 shown in Figure 8.20, it provides an effective means of bypassing the Jrciter under conditions of high induced voltage. With normal exeiter voltage across the varistor, it has very high resistance and hence carries negligible current. As the voltage across the varistor increases beyond a threshold value, its resistance decreases and current through it increases very rapidly. Thus the varistor provides a low resistance path to induced negative field current and limits the voltage across the field and exciter. Generator I Field Varistor .. Figure 8.20 Field bypass circuit using a varistor In some cases, no special field shorting circuits are provided. The amortisseurs associated with the solid rotor iron provide paths for the induced rotor currents. This is sufficient to limit the induced voltage to a level that is below the withstand capabilities of the generator field and the exciter. Since the field is not shorted, it carries no current in the negative direction. 8.6 MODELLING OF EXCITATION SYSTEMS Mathematical models of excitation systems are essential for the assessment of desired performance requirements, for the design and coordination of supplementary control and protective circuits, and for system stability studies related to the planning and operation of power systems. The detail of the model required depends on the purpose of the study. Referring to Figure 8.14, the control and protective features that impact on transient and small-signal stability studies are the voltage regulator, power system stabilizer, and excitation control stabilization. The limiter and protective circuits identified in the figure normally need to be considered only for mid-term, long-term, and voltage stability studies. Some excitation systems are provided with fast-acting terminal voltage limiters in conjunction with power system stabilizers; these have to be modelled in transient stability simulations. In this section, modelling of excitation systems is described. We begin with consideration of an appropriate per unit system, then describe models for the various components, and finally present complete models for selected types of excitation systems,342 Excitation Systems Chap. g The material presented in this section conforms to the IEEE committee reports on excitation system modelling. The IEEE work on standardization of these models began in the 1960s, and the first set of models was published in 1968 [1]. This work was extended, and improved models to reflect advances in equipment and bette modelling practices were published in 1981 [4]. These were updated and refined in 1992 [8]. 8.6.1 Per Unit System In choosing the per unit system for exciter output voltage and current, there are several options. First, the per unit system used for the main synchronous machine field circuit would appear to be the obvious choice. While this system was chosen to simplify the synchronous machine equations (see Chapter 3, Section 3.4), it is not considered suitable for expressing the exciter output quantities. This is because, for normal operating conditions, the per unit exciter output voltage would be very small, being on the order of 0.001. Second, for excitation system specification purposes it has become standard practice to use the rated-load field voltage as 1.0 per unit. However, this is not convenient for use in the formulation of synchronous machine and excitation system equations for system studies. The third choice is to have 1.0 per unit exciter output voltage equal to the field voltage required to produce rated synchronous machine armature terminal voltage on the air-gap line; 1.0 per unit exciter output current is the corresponding synchronous machine field current. This per unit system is universally used in power system stability studies as it offers considerable simplicity. Here, we refer to this system as the non-reciprocal per unit system to distinguish it from the reciprocal per unit system used for modelling synchronous machines. Excitation system models must interface with the synchronous machine model at both the field terminals and armature terminals. The input control signals to the excitation system are the synchronous machine stator quantities and rotor speed. The per unit systems used for expressing these input variables are the same as those used for modelling the synchronous machine. Thus, a change of per unit system is required only for those related to the field circuit. We now develop the relationship between the per unit values of the exciter output voltage/current expressed in the non-reciprocal system and the synchronous machine field voltage/current expressed in the L,,-base reciprocal system (see Section 3.4). For the synchronous machine, under open-circuit conditions, i,=i,=0. Substituting in Equations 3.139, 3.140, 3.142 and 3.143 yields (82) (83)Sec. 8.6 Modelling of Excitation Systems 343 pu E, Air-gap line, slope = L,4, occ pu ig WL, ‘adu pu ly 1.0 Figure 8.21 Synchronous machine open circuit characteristics Referring to Figure 8.21, the field current required to produce 1.0 per unit stator terminal voltage on the air-gap line (slope = L,q,) is determined by E, =e, = Leadig = 1.0 pu (8.4) Therefore, in the reciprocal per unit system, the field current ij, required to generate rated stator terminal voltage on the air-gap line is given by The corresponding field voltage is R, fa = Bula = 7 pu ‘ad By definition, the corresponding value of exciter output current J is equal to 1.0 per unit. Therefore,344 Excitation Systems Chap. g Tea = Laas (8.5) and the corresponding exciter output voltage is L, Ey = He (8.6) Physically, exciter output voltage/current and generator field voltage/current are the same; distinction is made only in their per unit values to allow independent selection of the per unit systems for modelling excitation systems and synchronous machines, This is illustrated in Figure 8.22. Exciter model PU conversion Syne. machin‘ -reci ‘a =(R, JL, a model Non-reciprocal he “a (RulLaau) Ege A) Reciprocal Pu system ba = Malleaa pu system Figure 8.22 Per unit conversion at the interface between excitation system and synchronous machine field circuit Under steady-state conditions, the per unit values of Ey and Ig are equal. During a transient condition, however, Ey and Ij, differ; Ej is determined by the excitation system and J,, is determined by the dynamics of the field circuits. A few interesting observations regarding the above per unit conversion are appropriate at this time: 1. The factor Lag/R in Equation 8.6 is the steady-state value of G(s) (see Chapter 4, Equations 4.14 and 4,17), in the absence of saturation. 2. Equation 4.24 in terms of AB, becomes Ay,(s) LesTig AE () = a (sTA)d+sTZ) (8.7A) = GS)AEy The steady-state value of G(s) is equal to 1.0. There is thus a one to one relationship between yy and Ey.sec. 8.6 Modelling of Excitation Systems 345 With amortisseurs neglected, Equation 8.7A becomes Ayds) = hk (8.7B) ao From the steady equations developed in Section 3.6.3, with the generator on open circuit, we have Ay, = Ae, = AE, Substitution in Equation 8.7B yields the following open-circuit transfer function of the generator: AE(s) 1 AE AS) 1+8Tjy (8.70) Example 8.1 The following are the parameters in per unit on machine rating of the 555 MVA, 0.9 p-f., 24 kV turbine generator considered in Examples 3.1, 3.2 and 3.3 of Chapter 3: Lady = 1.66 Lagu = 1.61 1, = 0.15 Ly = 0.165 Rey = 0.0006 R, = 0.003 (a) The field current required to generate rated stator voltage E, on the air-gap line is 1300 A and the corresponding field voltage is 92.95 V. Determine the base values of Ey and J;; in the non-reciprocal per unit system and the base values of eg and iz in the reciprocal per unit system. (&) Compute the per unit values of Zy and J;, when the generator is delivering rated MVA at rated power factor and terminal voltage. Assume that the corresponding values of the saturation factors K,, and K,, are equal to 0.835. Solution (a) By definition, the base values of E, and Jy are respectively equal to the field voltage and field current required to produce rated air-gap line voltage. Hence, Ea tase = 92.95 V Trt base = 1300 A From Equations 8.5 and 8.6, the base values of eg and jg are Lada ase .66x1300 = 2158 A 4 base346 Excitation Systems — Chap. g a base = Load RiadE fa base 1.66/0.0006)92.95 = 257.2 kV The above base values of ey and i; as expected, agree with the values computed jn Example 3.1. (6) From the results of Example 3.2, at the rated output conditions, .000939 pu 565 pu a lig = The corresponding per unit values of Ey and Jy are Egy = Laard Redd pa = (1.66/0.0006)0,000939 = 2.598 pu Toa = Lecla = 1,66x1.565 = 2.598 pu 1 Specification of temperature The base exciter output voltage depends on the synchronous machine field resistance, which in turn depends on the field temperature. The standard temperatures used for calculating the base exciter output voltage are 100°C for thermal units (operating temperature rise greater than 60°C) and 75°C for hydraulic units (operating temperature rise 60°C or less) [5]. However, care should be exercised in using these temperatures for modelling of excitation systems. The value of the field resistance used should correspond to the resistance under the actual operating conditions being simulated, as closely as possible. The value of T jp should be consistent with this value of field resistance. The field resistance corrected to a specified operating temperature may be calculated as follows [31]: t.+k R= (88) t+k t, = specified operating temperature, °C 1, = temperature corresponding to known or measured value of winding resistance, °C R, = winding resistance at temperature f, R, = winding resistance at temperature 1, where ‘The characteristic constant & depends on winding material. It is equal to 234.5 for pure copper and 225 for aluminium based on a volume conductivity of 62% pute copper [31].sec. 8.6 Modelling of Excitation Systems 347 Example 8.2 The per unit Ry of a steam-turbine-driven generator is 0.00063 at 75°C and the corresponding Value of Tip is 7.6125 s. The base exciter output voltage at the standard temperature of 100°C is 105.575 V. If the generator is operating at a temperature of 60°C, find consistent values of Re, Tip, and base E,, at this temperature. Assume that the constant k of the field winding material is 234.5. Solution The field resistance at 60°C is 234.5 +60 Reo = 0.00063 2243 *60 en ~ 0.00063 = 0.0006 pu The time constant Tip is inversely proportional to Ry. Hence at 60°C it is Ty Ries 60 = 7.61252:00063 _ 9.9 5 0.0006 The base Ey is directly proportional to Ry Hence at 60°C, Base Eq) = base Fao 234.5+60 ) 234.5+100. = 105.575x0.8804 = 92.95 V a 8.6.2 Modelling of Excitation System Components The basic elements which form different types of excitation systems are the de exciters (self or separately excited); ac exciters; rectifiers (controlled or non- controlled); magnetic, rotating, or electronic amplifiers; excitation system stabilizing feedback circuits; signal sensing and processing circuits. We describe here models for these individual elements. In the next section we will consider modelling of complete excitation systems. (q) Separately excited de exciter The circuit model of the exciter is shown in Figure 8.23.348 Excitation Systems Chap. g Ry Field Armature .o WWW °, Ly Ey Ly Ey 4 oO Figure 8.23 Separately excited de exciter For the exciter field circuit, we write = ay By = Rely (8.9) with W = Lely Neglecting field leakage, the exciter output voltage Ey is given by Ey = Ky (8.10) where Ky depends on the speed and winding configuration of the exciter armature. The output voltage Ey is a nonlinear function of the exciter field current ,-due to magnetic saturation. The voltage Ey is also affected by the load on the exciter. The common practice [1,4] in de exciter modelling is to account for saturation and load regulation approximately by combining the two effects and using the constant- resistance load-saturation curve, as shown in Figure 8.24. The air-gap line is tangent to the lower linear portion of the open circuit saturation curve. Let R, be the slope of the air-gap line and A/,,denote the departure of the load saturation curve from the air-gap line. From Figure 8.24, we write E, L,= zie (8.11) ef where Al,yis a nonlinear function of Ey and may be expressed as Ay = ExS(Ey) (8.12) where S,(Ey) is the saturation function dependent on Ey.Sec. 8.6 Modelling of Excitation Systems 349 Ey Air-gap line --- Open circuit curve Constant-resistance load-saturation curve Operating point Figure 8.24 Exciter load-saturation curve From Equations 8.9 to 8.12, we have R, 1 4E, ef, x Ey+RyS(E)Ex* (8.13) R,* OOM Ky dt The above equation gives the relationship between the output Ey and the input voltage E.z A convenient per unit system for this equation is one with base values of Ey and J, chosen to be equal to those values required to give rated synchronous machine voltage on the air-gap line. Thus, Irae = Ertl, 14) Retase = Ry Dividing Equation 8.13 by Eyjase We have E, Ry E, E, ef _ Se _*x x at = f_* RSE) Extase Re Exrase Extase male]350 Excitation Systems Chap. g In per unit form, we have - R- . -- 1 dé, E,, = —£E,[1+5(E)]+—— (8.15 oR all SC Oe dt ) In the above equation, SE) is the per unit saturation function defined as follows: SE) = Ala. p SE) (8.16) x bs From Figure 8.25, with Ey and J, expressed in per unit, the per unit saturation function is given by [4] 54é) - +8 (8.17) The parameter Ky defined by Equation 8.10 may be written as xe & Ey KOT RTP rps Ww Lyly Lyly u E, poe Air-gap line Constant-resistance load-saturation curve Figure 8.25 Exciter saturation characteristicsec. 8.6 Modelling of Excitation Systems Corresponding to any given operating point (Ig, Eyp), let I, = Lf Lg, = Ly Therefore, Ky=R,/L,,. Substituting in Equation 8.15, we get = = = | dé By = KyBy Se Epi Te where R, K, = —2 Rx L T, = —& R 5,E) - 5) %¢ Ex) ~ Mek YR, 351 (8.18) (8.19) (8.20) Equation 8.19 represents the input-output relationship of the exciter. For a separately excited exciter, the input voltage E,yis the regulator output Vg. The output voltage Ey of ade exciter is directly applied to the field of the synchronous machine. Therefore, the exciter may be represented in block diagram form as shown in Figure 8.26. In the diagram, all variables are in per unit; however, the superbar notation denoting this has been dropped. V, = Ey Se(Ey) Commonly used representation: V,=A,ye7*"* Figure 8.26 Block diagram of a de exciter Ey Exp352 Excitation Systems — Chap. g The adjustment of field-circuit resistance Rj, affects Kz as well as the saturation function S;(£y), but not the integration time T;, of the forward loop. There are several convenient mathematical expressions that may be used tp approximate the effect of exciter saturation. A commonly used expression is the exponential function Beds Vy = EySp(E,) = Apye7®™* (8.21) The block diagram of Figure 8.26 provides a convenient means of representing the dc exciter in stability studies. However, the effective gain and time constant of the exciter are not readily apparent from it. These are more evident when the block diagram is reduced to the standard form by considering small-signal response: AE,=AV, AE,= AE gy 1+sT For any operating point with Ey=Epp=Eppo, the effective gain K and time constant of the exciter for small perturbations are 1 K = ——1+__ (8.22) Bex SeEppo)* Ke T, T- z (8.23) Bry SE poo) *Ke where S_(Eyo) =Agy (b) Self-excited de exciter Figure 8.27 shows a circuit model of a self-excited de exciter. Ry L of Ot Figure 8.27 Self-excited de excitersec. 8.6 Modelling of Excitation Systems 353 For this exciter, the regulator output Vp is in series with the exciter shunt field. therefore, the per unit voltage across the exciter field (without the explicit per unit notation) is 1p = Vat Ey (8.24) The relationship between the per unit values of E,y and Ey developed for the separately excited exciter also applies in this case. Substituting for E,; given by Equation 8.24 in Equation 8.15, we have vi+E, = Pee ties eyj-t +E, = —LE,[1+ +1“ aE =p Fal SEMI a This reduces to dE, Vp = KE SgEQEx Te (8.25) where R K, = —2-1 R, L, T, = = (8.26) R S, = SEy—* The block diagram of Figure 8.26 also applies to the self-excited de exciter. The value of K,, however, is now equal to R,/R,-1 as compared to R,/R, for the separately excited case. The station operators usually track the voltage regulator by periodically adjusting the rheostat setpoint so as to make the voltage regulator output zero. This is accounted for by selecting the value of K, so that the initial value of Vp is equal to zero. The parameter Ky is therefore not fixed, but varies with the operating condition. (c) AC exciters and rectifiers The ac exciter representation (excluding rectification) recommended in Teference 8 for use in large-scale stability studies is shown in Figure 8.28.354 Excitation Systems Chap, g Figure 8.28 Block diagram of an ac exciter The general structure of the model is similar to that of the de exciter. However, in this case the load regulation due to the armature reaction effect is accounted for distinctly, and the no-load saturation curve is used to define the saturation function S,. The exciter internal voltage Vy is the no-load voltage as determined by the saturation function. The main generator field current Jp represents the exciter load current, and the negative feedback of KpIpp accounts for the armature reaction demagnetizing effect. The constant Kp depends on the ac exciter synchronous and transient reactances [32]. Figure 8.29 illustrates the calculation of the saturation function S, for a specified value of Vj. The per unit saturation function is S,(V_) = & (827) Any convenient mathematical expression can be used to represent the saturation function. As in the case of de exciters, a commonly used expression for Vy=V;,5,(Vs) is the exponential function given by Equation 8.21. Three-phase full-wave bridge rectifier circuits are commonly used to rectify the ac exciter output voltage. The effective ac source impedance seen by the rectifier is predominantly an inductive reactance. As described in Chapter 10, the effect of this inductive reactance (referred to as the commutating reactance) is to delay the process of commutation, i.e., transfer of current from one valve to another. This produces 4gec. 8-6 Modelling of Excitation Systems 355 Air-gap line No-load saturation curve pu exciter field current Figure 8.29 AC exciter saturation characteristic decrease in the average output voltage of the rectifier as its load current increases. Reference 33 shows that a three-phase full-wave bridge rectifier circuit operates in one of three distinct modes as the rectifier load current varies from no load to the short circuit level. The mode of operation depends on the commutating voltage drop (equal to the product of commutating reactance and load current). The equations defining the rectifier regulation as a function of commutation voltage drop may be expressed as follows [8,34]: Egy = FexVe (8.28) where Fey = fy) (8.29) and K-l, Ty = SSF 8.30 Woe (8.30) The constant Ke depends on the commutating reactance. The expressions for the function fy) characterizing the three modes of rectifier circuit operation are356 Excitation Systems — Chap. g Mode 1: fly) = 1.0-0.577Iy, if 1y <0.433 Mode 2: fly) = $0.75-R, if 0.4330, then set 4° = 0, y = Ly If y presentation: 4 iF y Ly System equation: a _ uy dt T Limiting action: If Ly0, then set 2 =0, y= Ly If yLy, then y = Ly If vv, y=u If u>v, y=v If usv, y=v Figure 8.37 Low- and high-value gating functions (¥) Terminal voltage transducer and load compensator [8] The block diagram representation of these elements is shown in Figure 8.38. The time constant 7 represents rectification and filtering of the synchronous machine terminal voltage. The parameters of the load compensator (described in Section 8.5.4) are Ro and X¢. The input variables E, and J, are in phasor form. When load compensation is not used, Rc and X¢ are set to zero. The voltage transducer output V- forms the principal control signal to the excitation system. If a load compensator is not used and Tp is negligible, Vo=E,.362 Excitation Systems — Chap. g a th - ——\_¥, T Voy= |E,*(Re+iX¢)l,| > —-| 1T, Load compensator Voltage transducer Figure 8.38 Terminal voltage transducer and load compensator model 8.6.3 Modelling of Complete Excitation Systems Figure 8.39 depicts the general structure of a detailed excitation system mode| having a one-to-one correspondence with the physical equipment. While this mode| structure has the advantage of retaining a direct relationship between model parameters and physical parameters, such detail is considered too great for general system studies. Therefore, model reduction techniques are used to simplify and obtain a practical model appropriate for the type of study for which it is intended. The parameters of the reduced model are selected such that the gain and phase characteristics of the reduced model match those of the detailed model over the frequency range of 0 to 3 Hz. In addition, all significant nonlinearities that impact on system stability are accounted for. With a reduced model, however, direct correspondence between the model parameters and the actual system parameters is generally lost. The appropriate structure for the reduced model depends on the type of excitation system. The IEEE has standardized 12 model structures in block diagram form for representing the wide variety of excitation systems currently in use [8] Vig Amplifying stages Exciter + V.—=OF-O-O-E G, G, G, 5 | Other signals ° Minor loop E, stabilization Major loop stabilization Hy fe Figure 8.39 Structure of a detailed excitation system modelsec: 8.6 Modelling of Excitation Systems 363 ‘These are intended for use in transient stability and small-signal stability studies. For urposes of illustration, we will consider five of these models. These are shown in Figures 8.40 to 8.44, with slight modification of the block diagram conventions to conform to the recommendations made in reference 35. The figures include a brief description of the key features and sample data. The suffix “A” accompanying the designations is for the purpose of differentiating these models developed in 1992 from similar models developed previously in 1981 [4]. The principal input signal to each of the excitation systems is the output V- ofthe voltage transducer shown in Figure 8.38. At the first summing point, the signal Ve is subtracted from the voltage regulator reference V,.¢ and the output Vs of the power system stabilizer, if used, is added to produce the actuating signal which controls the excitation system. Additional signals, such as the underexcitation limiter output (Vye,), come into play only during extreme or unusual conditions. Under steady state, Vs=0 and V,,r takes on a value unique to the synchronous machine Joading condition so that the error signal results in the required field voltage E,. This is illustrated in Example 8.3. 1. Type DCIA exciter model Vs Vue Vee r v5) L+sTo L HV Ky Exp © T+sT, gate 1+sTy ‘ J ¥, s Vewan Ky I+sT, Figure 8.40 IEEE type DCIA excitation system model. © IEEE 1992 [8 * Alternate input point The type DCIA exciter model represents field-controlled de commutator exciters, with continuously acting voltage regulators. The exciter may be separately excited or self-excited, the latter type being more common. When self-excited, Ky is selected so that initially Vp=0, representing operator action of tracking the voltage regulator by periodically trimming the shunt field rheostat setpoint,364 Excitation Systems — Chap. g Sample data Self-excited de exciter: K,=187 —Ty=0.89Ty=1.15——Agy=0.014— Byy=1.55 K,=0.058 —T,=0.62 —Ty=0.06 = T,=0.173 TT =0.05 Vewax=17— Veggyy= 71-7 K,, is computed so that initially V_=0, and the load compensator is not used, 2. Type ACIA exciter model VaMax Vamax Vee [SHV LV 1 Ve [gate 7 “= [gate ste | ] 0 Figure 8.41 IEEE type ACIA excitation system model. © IEEE 1992 [8] The type ACIA exciter model represents a field-controlled alternator excitation system with non-controlled rectifiers, and is applicable to brushless excitation systems. The diode rectifier characteristic imposes a lower limit of zero on the exciter output voltage. The exciter field is supplied by a pilot exciter, and the voltage regulator power supply is not affected by external transients. Sample data Exciter and regulator: K,=400.0 T,=0.02—T,=0 Te= K,=0.03 T,=1.0 K,=1.0 7,-0.8 Ky K,=02 Vewax=73— Vesuw=~6:6 — Vayax=15.0 Vayyy=~15.0 Apy=0.1 Byx=0.03 The load compensator is not used, and Tx is negligible.sec. 8.6 Modelling of Excitation Systems 365 3, Type ACIA exciter model Vv, p= eax ~Keleo) +! rea Ly 1+sTg | tate iets Ves Vouw Veer Figure 8.42 IEEE type AC4A excitation system model. © IEEE 1992 [8] The type AC4A exciter model represents an alternator-supplied controlled- rectifier excitation system — a high initial-response excitation system utilizing a full- wave thyristor bridge circuit. Excitation system stabilization is usually provided in the form of a series lag-lead network (transient gain reduction). The time constant associated with the regulator and firing of thyristors is represented by 7,. The overall gain is represented by Ky. The rectifier operation is confined to mode 1 region. Rectifier regulation effects on exciter output limits are accounted for by constant Ke. Sample data Exciter and regulator: K,-2000 7,004 T,=1.0 Ty=12.0 — Veyay=5.64 Vewyy=~453 K,=0 Vinax=10 —— Viygy=-1.0 4, Type STIA exciter model The type STIA exciter model represents a potential-source controlled-rectifier system. The excitation power is supplied through a transformer from generator terminals; therefore, the exciter ceiling voltage is directly proportional to the generator terminal voltage. The effect of rectifier regulation on ceiling voltage is represented by Ke. The model provides flexibility to represent series lag-lead or rate feedback stabilization. Because of the very high field-forcing capability of the system, a field- current limiter is sometimes employed; the limit is defined by I, and the gain by K;p.366 Excitation Systems Chap, g (ENawx-Kelp HV \,_[GsTa@4sTo), LV \___| &» gate (d+sT+sT od) gate EVp Vann ¥, an Yor. [sky TesTp * Alternate input points Figure 8.43 IEEE type STIA excitation system model. © IEEE 1992 [8] Sample data Exciter and regulator: K,=200.0 — T,=0 Vewax=70 — Veyy=-6:4 Ke=0.04 K,g=454 Ign Tys Tes Tos Toys Kes Tp not used Viaax> Vieun> Vamax> Varun ate not represented. Voltage transducer and load compensator: T,-0.015 Ro=0 X,=0 5. Type ST2A exciter model The type ST2A exciter model represents a compound-source rectifier excitation system. The exciter power source is formed by phasor combination of main generator armature voltage and current. The regulator controls the exciter output through controlled saturation of the power transformer. The parameter 7; represents the integration rate associated with the control windings; E-pyqy represents the limit on exciter output due to magnetic saturation. Sample data K,=1200 T,=0.15 —-K,=1.0 7,-0.5 K,=0.65 Kp=0.02 7 y=0.56 — Vayyay=1.2— Veyyy=-12 Eppyay=3-55 Kp=1.19 — K,=1.62Sec. 8.6 Modelling of Excitation Systems 367 Vy Wer Wee pot Vewan Erpmax ot Ly aon, E, as 7) HV Ky Ve 45 1 ‘ED wy 4 gate | st | # \ sTp Vy Veg Ve | an Vem [_sKe l+sTp | ¥, 7 = > \ Vj 7 Mer! Kelsi Krist > tt i f (ly Ke Ve Trp ——*) * Alternate input point Figure 8.44 IEEE type ST2A excitation system model. © IEEE 1992 [8] Example 8.3 A generator is operating under steady-state conditions with an Ey, of 2.598 pu and E,=1.0 pu. (@) _Ifit is equipped with a type AC4A excitation system represented by the block diagram of Figure 8.42, determine the value of Via. (b) If it is equipped with a self-excited de excitation system represented by the block diagram of Figure 8.40, determine the values of Kz and Vo: The parameters of the excitation systems are the same as for the sample data provided with the figures. Solution (a) Type ACSA excitation system of Figure 8.42 When Ey, is 2.598 pu, we have368 Excitation Systems — Chap, g Va=EglKy 2.598 200.0 =0.013 pu Since a load compensator is not used, Vo=E,=1.0 pu Under steady-state operation, V;=V» and V,=0. Since the generator is operating under normal conditions, Vg, =0. Therefore, from Figure 8.42 we see that Vig = VerVy = 1.0+0.013 = 1.013 pu (b) Selfexcited de exciter of Figure 8.40 In this case, K,, takes a value such that Vp=0. With Ey, at a steady-state value and V_=0, Ving=0. Hence, K,Eg = Vy = “Age *®"H = -0,014e1552598 = -0.7852 Therefore, _0.7852 2.598 = -0.3022 Under steady-state normal operation, V,=0 and Vs=0. With Vp=0, V, hg = 1.0 pu 1. Modelling of limiters The standard models shown in Figures 8.40 to 8.44 do not include representation of limiting circuits, namely, the underexcitation limiter, V/Hz limiter, and maximum excitation limiter. These circuits do not come into play under normal conditions and are not usually modelled in transient and small-signal stability studies. They may, however, be important for long-term stability and voltage stability studies.Sec: 8.6 Modelling of Excitation Systems 369 The actual implementation of these limiting functions varies widely depending onthe manufacturer, the vintage of the equipment, and the requirements specified by the utility. Therefore, models for these circuits have to be established on a case by basis. Here we will illustrate how such devices are modelled by considering specific examples. (a Underexcitation limiter: Figure 8.45 shows the model of an underexcitation limiter used in conjunction with a type STIA (static) exciter. The parameters K- and Kp determine the characteristics of the limiter on the P-Q plane. The output Vig, of the limiter is applied to the HV gate of the exciter model of Figure 8.43. 1+sT, kK, 4 sh flu Vor GssTd+sT) Tum ale Sample data: 0.015 K,=10.0 T,=64s T,=08s Vey = 4.0 Vouyy = 4.0 Voyy = -0.2 Iyyy = -0.012 Kp = Radius of UEL characteristic Ke = Centre of UEL characteristic Figure 8.45 An example of UEL model [26]370 Excitation Systems — Chap, g (b) V/Hz limiter: An example of the V/Hz limiter model is shown in Figure 8.46. The operation of the limiter is quite straightforward. When the per unit V/Hz value exceeds the limiting value of Vz,,., a strong negative signal drives the excitation down. The V,,, limit is set typically at 1.07 to 1.09 pu. AVR summing E, (pu) Vary function P A 1 Vz fEY—E Ky 1 5 Kn & Elf | s \ 0 Veep Sample data: Voz = 1.07 Kz, = 1000 Kz, = 0.007 Figure 8.46 V/Hz limiter model (c) Field-current or overexcitation limiter: Figure 8.47 shows the model of a field-current limiter circuit. It is designed to have a limiting action as shown in Figure 8.47(b). A high setting provides almost instantaneous limiting at 1.6 times full-load current (FLC). A low setting of 1.05xFLC in conjunction with a ramp timing function provides a limiting action with time delay dependent on the level of field current. For example, a field current level of 1,325xFLC will be allowed for 15 s, followed by a reduction in current level to 1.05xFLC over the next 15 s. Referring to the block diagram of Figure 8.47(a), when Iq exceeds the high setting Ip,,/), signal V;, of control loop @ acts to reduce excitation instantaneously. When the field current is below Jjy,/), the limiting action is through the control loop @. The magnitude of the control signal Vj.) and the value of gain K, determine the time delay and ramping action. Once the field current reaches the low setting Jpzya the select switch changes to the low select position; this ensures that the field current, in the event of a second disturbance, does not exceed the low setting for a minimum period to allow cooling of the machine. When the field current is below [pz ys the signal V;,, helps to reset rapidly the integrator output to zero.gec. 8.6 Modelling of Excitation Systems 371 AVR summing fanction K, Vey High-low select switch Normally at" high setting (a) Block diagram representation Sample data: Tryyy = 1-6xfull load Leg Iriya = 1.05xfull load Leg K, = 150 K, = 0.248 4 = 12.6 K, = 140 IMI = -0.085 LM2 Trp = 1.6 FLC FLC = full load current Trtyg = 1.05 FLC ° 30s ‘ime (b) Limiting characteristics Figure 8.47 Field-current limiter model372 Excitation Systems Chap. g 8.6.4 Field Testing for Model Development and Verification Although most of the data related to excitation system models can be obtaineg from factory tests, such data can only be considered as typical. The actual settings are usually determined on site during installation and commissioning of the equipmen, It is therefore desirable to determine the model parameters by performing tests on the actual equipment on site. The nature of the tests required will depend on the type of excitation system being tested. A general procedure for model verification and development is ag follows: 1. Obtain circuit diagrams, block diagrams, nominal settings and setting ranges, Construct a detailed block diagram of the complete excitation system, identifying gains, time constants, and non-linearities. 2. With the generator (synchronous machine) shut down, perform frequency response tests and/or transient response tests on the individual elements comprising the excitation system. Identify their transfer functions, non- linearities, saturation characteristics, and ceiling limits. Using these data, validate as much of the detailed block diagram of the excitation system as possible and modify the diagram as necessary. 3. Perform frequency response and time-response tests with the generator running at rated speed and producing rated voltage on open-circuit. Measure the overall linear response and responses at various points of the system to a step change in terminal voltage. Perform additional tests with the generator operating near rated load. Validate the detailed model of the complete system by comparison with the measured responses. 4. Reduce the detailed model to fit the standard model applicable to the specific type of excitation system using techniques of classical control theory. Validate the responses of the reduced model against the measured responses. The above procedure is quite involved and time-consuming for the older slow- response exciter. For a high-response excitation system, frequency response tests are usually not required as the number of time constants within the major feedback loop is small. For static excitation systems, model parameters can usually be obtained from design data; field tests are required only for verification. Techniques for field testing, performance verification and model development of excitation systems are described in references 3, 7, and 36.