• Author / Uploaded
• ahmadove1

Citation preview

WindSyn Version 1.0.c (Revision February 2003) Generation of Induction and Synchronous Machine Data for ATP’s U.M. (Universal Machine) Simulations

Gabor Furst Gabor Furst Consultants Inc. Vancouver, Canada This program is available to licensed ATP users only

Gabor Furst Consultants

WindSyn Manual

Table of Contents TABLE OF CONTENTS ...............................................................................................................2 1.

SCOPE ..................................................................................................................................4

2.

INTRODUCTION...................................................................................................................4

3.1

Induction machines....................................................................................................................................................6

3.2

Synchronous machines...........................................................................................................................................6

4.

RUNNING OF THE PROGRAM .........................................................................................7

4.1 DATA INPUT – TYPE SELECTION ..................................................................................7 4.2 INDUCTION MACHINES.....................................................................................................8 4.2.1

Data Input – Induction Machine Data.........................................................................................................8

4.2.2a

Induction Motor Running and Initialization ......................................................................................... 11

4.2.3

Viewing Output Files........................................................................................................................................ 13

4.2.4

Output for Induction Machines.................................................................................................................... 14

4.3 SYNCHRONOUS MACHINES .........................................................................................15 4.3.1

Data Input – Synchronous Machine Data ............................................................................................. 15

4.3.2

Synchronous Machine Running and Initialization Data.................................................................. 17

4.3.3

Viewing Synchronous Machine Output Files....................................................................................... 18

4.3.4

Output for Synchronous Machines........................................................................................................... 18

5.

THE TWINDSYN TEST FILE............................................................................................18

6.

REFERENCES ....................................................................................................................19

2

Gabor Furst Consultants

7.

WindSyn Manual

APPENDIX ............................................................................................................................20

Example of a Induction Motor .PCH File.......................................................................................................................... 20 Example of a Induction Motor .LIS File ................................................................................................................................. 21 Example of a Synchronous Machine .WIS file.................................................................................................................. 23 Example of a TestWind.atp file............................................................................................................................................ 25

3

Gabor Furst Consultants 1.

WindSyn Manual

Scope

The program generates U.M. coil data for three phase, Type 1 synchronous machines, and Types 3 and 4 induction machines. The .wis output file containing the coil data also serves as a data file to rerun previous cases without re-entering input data, The program also generates a PCH file containing all the U.M. data records for insertion into a regular ATP data file. An optional test file TWindSyn.atp enables fast and efficient testing of the data input.

2.

Introduction

The start of the program development dates back to 1996 with the utility Indmot, which was developed to help users to generate U.M. coil data for induction motors, from performance data available from manufacturers or performance data commonly specified for induction motor studies. In the year 2000, the Indmot utility was merged with the writer’s Synmot utility into a Indsyn program including U.M. type, 1, 3 and 4 machines. All of these programs were DOS programs. WindSyn is the Windows version of Indsyn. It uses the same analytical approach to generate coil data as Indsyn but has a greatly improved user’s interface, and options for PCH file generation which are not available in Indsyn. WindSyn handles single three phase machines only, parallel machines may be added in the future. While the program will be most useful for those who have no experience in machine simulation, it should also be useful for experienced users for experimenting with simulation options, and various machine types. An additional benefit, particularly with new ATP users, would be the minimization of data error caused program termination, which may result in hard to interpret KILL codes, or program termination without a KILL code. It is also believed that the program could be useful for educational purposes, demonstrating induction and synchronous motor characteristics.

4

Gabor Furst Consultants

WindSyn Manual

Additional features of the current WindSyn 1.0. c version are: - .wis file serves as data file to repeat runs - Optional user defined cage factor for double cage and deep slot motors - Optional user defined choice of units of inertia - Short circuit level at machine terminals in the TWindSyn.atp file - Output of average torque and slip (induction motors) - KW and kVAR input - speed (rpm) and speed (%) - terminal voltage % rms.

The default extension of output file . lis, was changed to “. wis “ to avoid confusion with Atp .lis files .

5

Gabor Furst Consultants 3.

Analytical Approach

3.1

Induction machines

WindSyn Manual

The generation of U.M. coil data from performance specifications is based on an Ontario Hydro paper (1) published in 1987. Ontario Hydro’s method was expanded to perform adjustment for frequent inconsistencies in performance specifications, which cannot be analytically matched to coil impedances. The final and independent check is calculation of the slip-torque characteristic from coil impedances. Double cage and deep bar rotor construction corresponds to two sets of rotor coils. The impedance split between the two sets is based on empirical data, taken from the Ontario Hydro study. Saturation of the d axis common inductance is not included in WindSyn. The saturation of this inductance has negligible effect on machine performance even in the event of transients, and is not available from standard manufacturer’s data. Saturation of the rotor inductances is not allowed for in the U.M. data, except via TACS or MODELS. While not of major importance in induction machine simulation, WindSyn calculates an average saturation of rotor inductances and matches this with the required machine performance. The rotor coil inductances thus are average saturated values, over the practical operating range including direct on line starting.

3.2

Synchronous machines

Data input for the U.M. Type 1 synchronous machines is the Parameter type data input similar to the data input used for the SM 58/59 model. The regular U.M. coil data input does not allow for the input of field current and rotor resistance, which was added in WindSyn as an option to enable real world field current output. The parameter data is converted to the traditional synchronous machine d and q axis equivalent circuits for further conversion to U.M. coil data (2). The equivalent circuit is based on the assumption of stator and rotor base MVA’s are the same and that the rated stator current passing through the armature reactance produces the same voltage across the armature reactance as the per unit field current times mutual reactance between stator and rotor in the direct axis.. Saturation of the main d axis field is not included at the present time, as it is not considered to be a significant for industrial simulations for which the U.M. Type 1 option is mostly used. It may be included in the future. In the mean time the addition of the two-segment saturation as described in Section 9 of the Rule Book, can be easily added manually to the PCH file generated by WindSyn.

6

Gabor Furst Consultants

WindSyn Manual

4.

Running of the Program

4.1

Data Input – Type Selection

When opening the program the first time an error message “Winsyn.ini not found” or “…..invalid file directory” may be displayed. Clicking on OK, the screen shown in Figure-1 is displayed. Enter valid directory names for the file locations for the output files and the PFE editor, and click OK. WindSyn will then create a Winsyn.ini file with the user’s file directories. The user then selects one of the nine types of machine, out of four induction motor and five synchronous machines types.

Figure – 1 Type Selection

7

Gabor Furst Consultants

WindSyn Manual

Clicking on File/Open in the upper left corner, the user can select the .wis file for rerunning previous data without data re-entry. Clicking on the file will cause the program to bypass the machine type selection and display the correct data format corresponding to the data file. Data files should have a .wis extension to avoid confusion with Atp .lis files.

4.2

Induction Machines

4.2.1

Data Input – Induction Machine Data

After clicking on one of the induction machine options and the Continue button, the screen as shown in Figure–2 is displayed. The table in the screen contains all the data items required to run WindSyn. All items have been defaulted. This enables the user to experiment with the running of the program, and gives some hints as to the order of magnitudes of data values. Clicking the Exit button on this and all other displays will terminate the program.

8

Gabor Furst Consultants

WindSyn Manual

Figure – 2 Induction machines data entry Most of the inputs are self-explanatory but the following should be noted: -

-

System frequency must be the same as the Power Frequency in the ATP data file Speed is the synchronous speed corresponding to the number of poles of the machine and the power frequency Starting current is the multiple of the full load current at rated voltage, and assuming direct on line starting from an infinite bus Saturation starting current is in per unit full load current. It determines the average saturated value of rotor coil inductance. It is recommended to use the default value of 2.0. Maximum torque (pullout torque) is not entered, as it is implied in the other parameters. Load torque is in per unit corresponding to the rated load and speed specified Inertia is entered in terms of the H constant kWs / kVA defined the same way as for transient stability studies. Unlike the previous program version where inertia had to be entered in

9

Gabor Furst Consultants

WindSyn Manual

H - kWs/kVA, Ver. 1c allows the user to make the entry in kWs/kVA, or kgm2 , or WR2 . After entering in one unit, clicking on another unit causes the program to convert the entry. The conversion to other inertia specifications is: H kVA (106 ) WR = ftlb 2 2 0.231* rpm 182521.0 H kVA J= Newton − m 2 2 0.231rpm 2

The user can go back to the machine type selection page by clicking on Return to type selection, or continue by clicking on Continue at the top of the screen. If clicking on Continue the table in Figure-3 is presented. This table shows a comparison between the performance data, which were entered, and the performance data as adjusted by the program, to make the data consistent. The user can go back and forth between this and the data input screen to adjust the performance data.

Figure-–-3 Performance adjustment

10

Gabor Furst Consultants

WindSyn Manual

Clicking again on Continue triggers the display shown in Figure – 4. This screen contains the instructions for running U.M. with the various options as described in Chapter 9. of the Rule Book. The entries also specify the requirements for generating the .PCH file, which contains all the U.M. records required.

4.2.2a

Induction Motor Running and Initialization

Figure-–-4a U.M. running data - Induction machines

11

Gabor Furst Consultants -

-

-

-

WindSyn Manual

The will be stored in the folder as specified in Figure-1. The second entry is the name of the network bus to which the machine is connected. The name has to be less than 6 characters, the program will append A, B. and C to the name for the three phases. The name is defaulted in the program to BUSMA, BUSMB, and BUSMC The third entry is the extra load to be applied after the unit has reached speed. It is expressed as a percentage of the rated load, and will be converted by the program to the units required by U.M. Motor load is positive, generation negative The fourth entry is the time in seconds when the extra load is applied. The fifth entry allows the user to multiply the default damping factor in the range of 0.1 to 10 times the default value. In the lower group on the right hand side the solution option is defaulted to Compensation. This is the option most frequently used, and contrary to the Rule Book, is less likely to cause solution instability than the prediction method. The user can change this to Prediction by clicking on the Prediction button. In the lower group on the left hand side the AutoInitialization button is left unchecked. With this button unchecked the program will use what is called in the Rule Book decoupled starting. The writer of this manual strongly disagrees with the recommendation in Section 9.D.1.5.a of the Rule Book, which suggests preinitialization of the U.M. run to get the desired running condition. This recommendation is impractical, and should be attempted only by the very advanced ATP users. Using decoupled initialization with no pre-initialization of coil currents is the same as direct on line energization of a machine from rest (DOL starting). It is in fact a desirable test of the machine model. Using the prediction method was found to be less stable with decoupled initialization then the compensation method.

After completing all entries on the screen, clicking on Continue will cause the program to solve the case, and the button labeled View output files will appear on the top right hand side of the screen. On clicking on this button the screen shown in Figure-5 is displayed.

12

Gabor Furst Consultants

WindSyn Manual

4.2.3 Viewing Output Files (Updated)

Figure - 5 View output files Clicking of File in the upper left corner, the user has five options: -

Open PCH file displays the generated PCH file in the white area. This is the listing of the .PCH file which can be included in the user’s network atp file, and contains all the requited U.M. records. As the file is called via PFE, the user can edit the file if desired.

-

Open .wis file displays the generated output file that contains the original machine data entered and the U.M. coil data. This enables the user to extract the coil data and use it for direct entry into AtpDraw, or for writing an atp data file in the traditional way. The file can be saved under a different name for future rerunning of the case. The data has, of course, to be re-entered, but this is trivial and takes only a few minutes.

13

Gabor Furst Consultants

WindSyn Manual

-

Return to data causes return to data entry

-

Close will close the PFE editor

-

Resume will cause the program to go back to the opening screen for another type of machine selection.

Below the TestWindSyn button the user can change the TMAX value for the test run. The default is 15 sec. The S/C level MVA is the MVA short circuit level at machine terminals in the TWindSyn.atp file. The value is defaulted to 100 times machine rating, but can be changed by the user. Clicking on the TestWindSyn button on the top of the frame, will generate an atp test file based on the data input. The file is located in the same folder as the .wis and ..PCH files. See details in Section 5.

4.2.4 Output for Induction Machines WindSyn sets outputs internally in the program, and the options set are not changeable by the data input. The outputs, however, are transparent in the PCH file created, and advanced users can change it by editing manually this file in accordance with Section E.2.3.d.1 of the Rule Book. It should be noted, however, that the options selected, together with the derived outputs, generated by TACS processing of U.M. outputs, will satisfy a vast majority of study requirements. The following outputs are generated through the PCH file: U.M. outputs: U.M. output OMEGM, machine speed, radians per second U.M. out put TQGEN, machine torque, Newton – m U.M. output IPD, IPQ armature currents in d and q axis, amperes U.M. output IE1, IE2, etc. rotor coil currents based on unity turns ratio between stator and rotor Derived outputs: SPEEDR, PCSPEED - rotor speed, r.p.m. and percent KW and KVAR - KW and kVAR input (output) SlLIP - slip in percent PCVOLT – terminal voltage r.m.s. TQAVG, average torque in Newton-m

14

Gabor Furst Consultants 4.3

WindSyn Manual

Synchronous Machines

Only those features of the program which differ from the Induction Motor option will be discussed. 4.3.1

Data Input – Synchronous Machine Data

Once a synchronous machine type is selected on the type selection screen (see Section1.0, Figure-1), clicking on the Continue button will bring up the data entry form. The difference between induction and synchronous machines in this respect is, that while for all four types of induction machines the same data entry form is used, each synchronous machine type has its own data entry form. The reason for the difference is that induction machines are specified based on performance data, while synchronous machines are specified based on parameter data. This type of data entry requires more freedom for the user, which is provided by individual forms. Figures 6-1a and 6-1b show two data entry forms, one for a salient pole synchronous machine with damper (amortisseur) winding in the direct axis only (6-1a), and the other for a round rotor machine (6-1b) with damper windings in both axes. The program determines the valid data entry for the machine selected. All entries are defaulted as for the induction machine to assist the user. In addition to the data required by U.M, two optional data items can be entered. One is the no load field current in amps, the other is field resistance in ohms. The field current enables the generation a real world field current output, in addition to the standard U.M. output that is in field current based on unity turns ratio between stator and rotor. When the field resistance is specified, the open circuit directs axis time constant Td0’ is calculated from the field resistance and overrides the specified value of Td0’.

15

Gabor Furst Consultants

WindSyn Manual

Figure – 6-1a Data entry for salient pole machine with amortisseurs in the d axis only

Figure – 6-1a Data entry for round rotor machine with amortisseurs in the both axes

16

Gabor Furst Consultants

WindSyn Manual

4.3.2 Synchronous Machine Running and Initialization Data

Updated

Figure-7 Running and Initialization

After clicking on the Continue button on the data entry form, the form shown in Figure-7 is displayed. This form is the same as that shown for induction machines with two exceptions. Autoinitialization for synchronous machines requires the specification of voltage at the machine terminals, and the rotor angle at which the initialization should take place. The voltage is the rated machine voltage in terms of Vph-peak volts, the angle is in degrees and is deemed to be the angle between the machine terminal voltage and the infinite bus. (not the internal angle between V terminal and V q ).

17

Gabor Furst Consultants

WindSyn Manual

On the lower right hand side of the form, the user can specify the closing time of the main machine breaker and the field breaker. The closing times are defaulted to ‘–1’, thus both breakers are closed in the steady state. For machine breaker closing after t=0 the user must specify an external starting torque to accelerate the machine. This is done by entering an ‘extra load torque’ in the upper half of the form with a negative sign. An “autostart” feature will be developed in the future. An example of the .wis and PCH file output is shown in the Appendix.

4.3.3 Viewing Synchronous Machine Output Files Same as for induction machines

4.3.4 Output for Synchronous Machines Output for synchronous machines is the same as for induction machine with the following additional output. Field current FIELDC in amps and field voltage FIELDV in volts is added to the synchronous machine outputs. If there is no no-load field current specified, the field current will be equal to the value as stated under 4.3.1 above. If the no load field current is specified, the field current will be in real world amps. The output of field voltage will only e correct if both field current and resistance were specified in the data entry.

5.

The TWindSyn Test File

This file is generated by WindSyn at the option of the user, and is located in the same folder as the other output files. The purpose of TWindSyn.atp is to be able to test and experiment with the data entered by the user without having to use a large network data file, or even without having repeatedly enter data in AtpDraw. The TWindSyn.atp file is based on the specific user’s input data, having regard to the size of the machine and the frequency in the data entry. The data file is basically a three phase source with an impedance in series with the source, representing a short circuit MVA at the machine terminal se to 25 times the machine rating. The user simply clicks on the TestWindSyn button on the form shown in Figur-5, which causes to create this file. ATP can then immediately run the file. A sample of the file is shown in the Appendix.

18

Gabor Furst Consultants

WindSyn Manual

6.

References

1.

C.J. Rogers, D. Shirmohamed ; Induction Machine Modeling for Electromagnetic Transient Program, IEEE Transaction on Energy Conversion, December 1987 P.M. Anderson, A.A. Fouad: Power System Control and stability, The Iowa State University Press, 1986

2.

19

Gabor Furst Consultants 7.

WindSyn Manual

Appendix

Example of a Induction Motor .PCH File C 12/25/02 C INDMOT.PCH C Double cage motor, 10000 hp, 1500 rpm /TACS 92TQGEN 92OMEGM 98SPEEDR = OMEGM * 9.5493 98KWM = SPEEDR * TQGEN * 0.000106 33TQGEN SPEEDROMEGM KWM /BRANCH C grounding of rotor coil end s C the analogue network records follow C the separator from the 14 source INERS INER 1.E-6 IX 7.E+07 C the damping term in ohms INER 1.384 /SWITCH C Switch to connect the motor to the network C replace the bus names SRCA, SRCB, SRCC ! BUSMA MOTA -1 1000. BUSMB MOTB -1 1000. BUSMC MOTC -1 1000. INERS IX -1 1000. /SOURCE C next the source records required C the source for the analogue network 14INERS -1 0.000001 .0000001 C the source of any additional load applied 14INERS -1 -0.5 0.0000001 C U.M. DATA 19 C autoinitialize 0 0 BLANK 3 2 2111INER 2 1.411069 1.411069 C armature coils MOTA 1 .980484 .028508 MOTB 1 .980484 .028508 MOTC 1 C rotor coils 5.55633 .028508 1 1.730297 .051702 1 5.55633 .028508 1 1.730297 .051702 1 BLANK ending U.M. data

{damping

1/mho}

1 1 1 1

-1 100.

.157

20

Gabor Furst Consultants

WindSyn Manual

Example of a Induction Motor .WIS File Indmot.wis 12/25/02 INPUT DATA Input data Rotor type Double System frequency Hz ---------- 50 Rated voltage kV ---------- 10 Horse power rating hp ---------- 1000 Synchronous speed r.p.m. ---------- 1500 Rated power factor ---------- 0.9 Full load slip % ---------- 1 Full load efficiency ---------- 0.98 Direct across line starting current p.u.-- 6 Starting torque . p.u. ---------- 0.95 Inertia . kg.m^2 --------- 67.6923 Load torque N-m ---------- 4541.17 Leakage reactance saturation threshold current p.u. ---------- 2 ===================================================== Adjusted input values =============================================== Motor equivalent circuit parameters adjusted for consistent performance data The numbers in brackets are the specified values All quantities on MVA rating Motor rated voltage kV 10. Motor HP rating HP 1000.1000 Slip % .01 Power factor .882 Efficiency .979 Starting torque p.u. .96 Pull-out torque (max. torque) 1.95 Starting current p.u. 5.92 Inertia m-kg^2 or Farad 4541.17 ( Load torque N-m or A 4541.17 Damping 1/ (N-m/(rad/s)) or ohm 1.38

( 10 ) ( 1000 ) ( 1 ) ( 0.9 ) ( 0.98 ) ( 0.95 ) ( ) ( 6 ) 1 kWs/kVA )

Reactances in equivalent diagram Stator resistance p.u. Stator xl non saturated * p.u. Stator xlsat saturated * p.u. Rotor xl's same as stator Magnetizing reactance p.u. Rotor outer cage resistance p.u. Rotor outer cage reactance p.u Outer cage saturated reactance p.u. Rotor inner cage resistance p.u. Rotor inner cage reactance p.u. Inner cage saturated reactance p.u.

.052764 .021972 3.699194 .046366 .10553 .07474 .014439 .166332 .13554

Coil parameters for the U.M.machine ===================================== Direct axis Quad. axis Stator Stator Stator Stator

common inductance common inductance

lm lm

coils resistance rs leakage inductance unsaturated lstn leakage inductance saturated lsts

1.411069 1.411069 .980484 .040254 .028508

21

Gabor Furst Consultants Rotor coils #1 coil resistance rrot1 #1 leakage inductance unsaturated lrot1n #1 leakage inductance saturated lrot1s #2 resistance rrot2 #2 leakage inductance unsaturated lrot2n #2 leakage inductance saturated lrot2s Rotor coils q axis same as for the d axis

WindSyn Manual

5.55633 .040254 .028508 1.730297 .063448 .051702

22

Gabor Furst Consultants

WindSyn Manual

Example of a Synchronous Machine .wis file 12/27/02 Synmot.wis INPUT DATA =========== Frequency Motor rating Rated voltge ph-ph r.m.s. Power factor Efficiency Synchronous reactance d axis Synchronous reactance q axis Potieer reactance Transient reactance d axis Transient reactance q axis Subtransient reactance d axis Subransient reactance q axis Open circuit time const. d axis Open circuit time const. q axis Open cct. subtr. time const. d Open cct. subtr. time const. q Rated load torque

Hz hp kV

xd xq

p.u. p.u. p.u. p.u. p.u.

xd' xd' xd'' xq'' Td0 Tq0 Td0'' Tq0'' Newton-m

50 1252.03804347826 10 0.95 0.97 1.8 1.6 0.12 0.36 0.60 0.17 0.17 6.0 1.0 0.06 0.2 5867.434

Coil Inductances and reactances =================================== armature main field d armature main field q Stator coils stator d axis stator q axis stator resistance Rotor coils d axis field coil res. d axis field coil ind. d axis damper res. d axis damper ind. q axis #1 damper res. q axis #1 damper ind. q axis #2 damper res. q axis #2 damper ind.

H H

0.534776380709852 0.471112525863441

H H R

3.81983129078466E-02 3.81983129078466E-02 3.00001

ohm H ohm H ohm H ohm H

0.103984296249138 8.91293967849753E-02 9.2480125987418 2.01043752146561E-02 0.697246538277893 0.226134012414452 2.44439591514941 1.77666571664403E-02

23

Gabor Furst Consultants

WindSyn Manual

Example of a Synchronous Machine .PCH file C 12/27/02 C SYNCH.PCH /TACS 92TQGEN 92OMEGM 92IE1 91IX 90MOTA 91BUSMA 99KFI1 = .42 98FIELDC = IE1/KFI1 98SPEEDR = OMEGM * 9.5493 98TRIA 53+BUSMA .0051 0.0053 98TRVA 53+MOTA .0051 0.0053 98KVAR = 3 * (-MOTA * TRIA * 0.5 + BUSMA * TRVA * 0.5 )/ 1000 98KWM = SPEEDR * TQGEN * 0.000106 98FIELDV = .086907 33FIELDCFIELDVSPEEDRKWM KVAR /BRANCH C excitation source EXCSF 1.0E+6 C next provision for field resistor EXCSF EXCS 1.0E-5 C the analogue network records follow C the separator from the 14 source INERS INER 1.E-6 IX 3.E+08 C the damping term in ohms INER .0892 {damping 1/mho} /SWITCH C Switch to connect the motor to the network C replace the bus names SRCA, SRCB, SRCC ! BUSMA MOTA -1 1000. BUSMB MOTB -1 1000. BUSMC MOTC -1 1000. INERS IX -1 1000. EXCSF EXCS -1 1000. /SOURCE C next the source records required C excitation source C source for the excitation bus 14EXCS 0.000001 .0000001 -1 C the source for the analogue network 14INERS -1 0.000001 .0000001 -1 C the source of any additional load applied 14INERS -1 -0.6 0.000001 100. C U.M. DATA 19 C autoinitialize 1 0 BLANK 1 2 0111INER 2 .157 .375617 .216457 8164.97 .01 EXCS INERS C armature coils MOTA 1 3.00001 .038198 MOTB 1 3.00001 .038198 MOTC 1 C rotor coils .086907 .05892 EXCSF 1 7.250313 .02315 1 BLANK ending U.M. data

1 1 1 1 1

24

Gabor Furst Consultants

WindSyn Manual

Example of a TestWind.atp file BEGIN NEW DATA CASE C WindSyn test case C generated on 12/28/02 for Wound POWER FREQUENCY, 50 UM TO TACS AVERAGE OUTPUT .50E-4 10 C iprint iplot kssout icat 1000 11 1 C ELECTRIC NETWORK DATA C BUS**>BUS**>BUS**>BUS**>