DynModels ETAP.pdf

Chapter 24

Dynamic Models Motor dynamic models are required for dynamic motor starting, transient stability, and generator starting studies. Generator dynamic models and some control units (exciters, governors, and Power System Stabilizier [PSS]) are only needed for transient stability studies. In addition, load torque characteristics for different types of models are required for both motor starting and transient stability studies. ETAP provides a variety of induction and synchronous machine models, plus extensive libraries for exciters, governors, and PSS for you to select from to perform your studies. For dynamic motor acceleration studies, only the motors that are accelerated need to have a dynamic model, i.e., generators, exciters, and governors are not dynamically modeled. For transient stability studies, all generators, exciters, and governors are dynamically modeled. Motors, which have dynamic models and are designated to be dynamically modeled from the study case, will be dynamically modeled. For generator starting and frequency dependent transient stability studies, all generators, exciters, governors, and motors have to use frequency dependent models. This chapter describes different types of machine models, machine control unit models, load models, and explains their applications in motor starting and transient stability studies. It also describes tools that assist you to select those models and specify model parameters. The induction machine models section describes five different types of induction machine models and the frequency dependent forms of these models. Those are Circuit Models (Single1, Single2, DBL1, DBL2) and Characteristic Curve Models. In the synchronous machine models section, descriptions of five different types of synchronous machine models and the frequency dependent forms of these models are given. Those are Equivalent Model, Transient Model for round-rotor machines, Sub-transient Model for round-rotor machines, Transient Model for salient-pole machines, and Sub-transient Model for salient pole machines. Motor starting and transient stability studies also require the utility tie system to be modeled as an equivalent machine. A description of the modeling of power grid systems is found in the section Power Grid. Different types of exciter and automatic voltage regulator (AVR) models, including standard IEEE models and vendor special models, are defined in the Exciter and AVR Models section. Governor-turbine models that are also based on both IEEE standards and vendors’ product manuals are listed in the Governor-turbine Models section. PSS models that are also based on both IEEE standards and vendors’ product manuals are listed in the PSS Models section. Finally, different types of load models are described in the Mechanical Load section.

Operation Technology, Inc.

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ETAP 5.0 User Guide

Dynamic Models

Induction Machine

24.1 24. 1 Indu Induct ctio ion n Mach chiine ETAP provides five different types of induction machine models, which cover all commonly, used induction machine designs. These models are: • Single1 CKT Model • Single2 CKT Model • DBL1 CKT Model • DBL2 CKT Model • Characteristic Curve Model • Frequency Dependent Model In general, Single1, Single2, DBL1, and DBL2 are referred to as CKT (circuit) models, because they all use equivalent circuits to represent an induction machine stator and rotor windings. These models can be used for both dynamic motor starting and transient stability studies. Characteristic models use machine performance curves specified at some discrete points points to represent an induction machine. It can be used for dynamic motor starting studies, but is not suitable for transient stability studies. Note that the models described in this section are also employed by synchronous motors for motor starting studies since, during starting, synchronous motors behave similarly to induction motors. This modeling procedure is approved by the industrial standards.

Notations and Symbols The following notations are used in defining various parameters for induction machine models: = = = = X r r = X lr lr = X oc oc = T do do’ = X/R = R s

X s X m Rr

Stator resistance Stator reactance Magnetizing reactance Rotor resistance Rotor reactance Locked-rotor reactance ( = X s + X + X m X r r/( + X r r) ) X m + X Open-circuit reactance ( = X s + X + X m ) Rotor open-circuit time constant ( = ( X m + X + X r r )/(2 )/(2π fRr ) ) Machine X/R Machine X/R ratio ratio

Plus the notations used in the machine electrical and mechanical equations: E It ω s ω m s f H D P m P e

= = = = = = = = = =

Machine internal voltage Machine terminal current Machine synchronous speed Machine mechanical speed Machine slip ( = (ω s - ω m)/ω )/ω s ) Synchronous frequency Machine shaft inertia Damping factor (this value is negligible) Mechanical output power Electrical input power


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ETAP 5.0 User Guide

Dynamic Models

Induction Machine

24.1.1 Single1 Model This is the least complex model for a single-cage induction machine, with no deep-bars. It is essentially using a Thevenin equivalent circuit to represent the machine. The rotor circuit resistance and reactance are assumed constants; but the internal voltage will change depending on the machine speed.

Parameters for this model are:

• • • • •

E X’ Xoc Tdo’ X/R

Machine internal voltage Transient reactance ( = Xlr = X = X s + X + X m X r r/( X m + X + X r r)) X Open-circuit reactance ( = X = X s + X + X m ) Rotor open-circuit time constant ( = ( X ( X m + X + X r r)/(2 )/( fRr ) ) 2π Machine X/R Machine X/R ratio ratio ( = X’ = X’ /R) /R)

Note that the X/R X/R value is obtained from the library and is not the same X/R X/R used for short-circuit calculations.


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ETAP 5.0 User Guide

Dynamic Models

Induction Machine

24.1.2 Single2 Model This is the standard model for induction machines, representing the magnetizing branch, stator, and rotor circuits, and accounts for the deep-bar effect. The rotor resistance and reactance linearly change with the machine speed.


• • • • • • •

Rs Xs Xm Rrfl Rrlr Xrfl Xrlr

Stator resistance Stator reactance Magnetizing reactance Rotor resistance at full load Rotor resistance at locked-rotor Rotor reactance at full load Rotor reactance at locked-rotor


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ETAP 5.0 User Guide

Dynamic Models

Induction Machine

The actual rotor resistance and reactance are calculated based on the full load and locked-rotor values and machine operating slip. The relationships of rotor impedance with slip are shown below:


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ETAP 5.0 User Guide

Dynamic Models

Induction Machine

24.1.3 DBL1 Model This CKT model represents double cage induction machines with integrated bars. The rotor resistance and reactance of each cage are constant for all machine speeds; however, the equivalent impedance of the two rotor circuits becomes a non-linear function of the machine speed.


• • • • • • •

Rs Xs Xm Rr1 Rr2 Xr1 Xr2

Stator resistance Stator reactance Magnetizing reactance Rotor resistance for the first rotor circuit Rotor resistance for the second rotor circuit Rotor reactance for the first rotor circuit Rotor reactance for the second rotor circuit


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ETAP 5.0 User Guide

Dynamic Models

Induction Machine

24.1.4 DBL2 Model This is another representation of double cage induction machines with independent rotor bars. The same as the DBL1 model, the rotor resistance and reactance of each cage are constant for all machine speeds, and the equivalent impedance of the two rotor circuits is a non-linear function of the machine speed. The DBL2 model has a different characteristic than the DBL1 model.


• • • • • • •

Rs Xs Xm Rr1 Rr2 Xr1 Xr2

Stator resistance Stator reactance Magnetizing reactance Rotor resistance for the first rotor circuit Rotor resistance for the second rotor circuit Rotor reactance for the first rotor circuit Rotor reactance for the second rotor circuit


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ETAP 5.0 User Guide

Dynamic Models

Induction Machine

24.1.5 Characteristic Curve Model This model provides the capability to model induction machines directly based on machine performance curves provided by the manufacturer. Although only a discrete set of points is required to specify each curve, ETAP uses advanced curve fitting techniques to generate continuous curves for calculation purposes.

Curves specified in this model include:

• • •

Torque vs. Slip Current ( I ) vs. Slip Power Factor ( PF ) vs. Slip

Note that this model is only used for motor starting studies. For transient stability studies you can use the Machine Parameter Estimation program to convert this model into one of the CKT models.


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ETAP 5.0 User Guide

Dynamic Models

Induction Machine

24.1.6 Frequency Dependent Model In transient stability studies, the frequency dependent models of induction machines are used. ETAP provides the frequency dependent forms for the four types of circuit models (Single1, Single2, DBL1, DBL2). In these models, the stator and rotor reactance and slip of machine are functions of system frequency. The following is the equivalent circuit for a double cage induction machine model with independent rotor bars (DBL2). R s

ω s L s

i s V s

ω s Lr1

ω s Lr2

Rr1 /s

Rr2 /s

ω s Lm


• • • • • • • • •

Rs Ls Lm Rr1 Rr2 Lr1 Lr2 s

s

Stator resistance Stator inductance Magnetizing inductance Rotor resistance for the first rotor circuit Rotor resistance for the second rotor circuit Rotor inductance for the first rotor circuit Rotor inductance for the second rotor circuit System speed Motor slip

The data interface and library for the frequency dependent forms of the four types of induction machine models (Single1, Single2, DBL1, DBL2) are the same as the corresponding regular induction machine models. ETAP internally converts the reactance in machine interface to inductance. The model also can be expressed as the following equivalent circuit in terms of transient inductance and transient internal electromagnetic-force. R s ω L’ i s ω s E’

V s Parameters in the circuit are:


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ETAP 5.0 User Guide

Dynamic Models • L’s • E’

Induction Machine

Transient inductance Transient internal electromagnetic-force


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ETAP 5.0 User Guide

Dynamic Models

Induction Machine

24.1.7 Shaft Torsion Model If the torsion effect is included for the multiple mass shaft of machine, a shaft torsion model is used in ETAP. The shaft model can be represented in a general form as follows:

Couping Gear Swing Equation:

d ω C

2 H C

dt

= − D1 (ω C − ω M ) − K 1 (θ 2 − θ 1 ) − D2 (ω C − ω L ) − K 2 (θ 2 − θ 3 )

Load Swing Equation:

2 H L

d ω L dt

= −T L − D2 (ω L − ω C ) − K 2 (θ 3 − θ 2 )

Parameters for the induction machine shaft model are:

• • • • • • • • • • • • •

M C L 1 2 3

H C H L D1 D2 K 1 K 2 T L

Motor speed Couping gear speed Load speed Motor angle displacement Couping gear angle displacement Load angle displacement Inertia constant of coupling gear Inertia constant of load Damping coefficient between motor and coupling gear Damping coefficient between coupling gear and load Spring coefficient between motor and coupling gear Spring coefficient between coupling gear and load Load torque


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ETAP 5.0 User Guide

Dynamic Models

Synchronous Machine

24.2 Synchronous Machine ETAP provides five different types of synchronous machine models to choose for transient stability studies and frequency dependent models for generator starting and frequency dependent transient stability studies. The complexity of these models ranges from the simple Equivalent Model to the model that includes the machine saliency, damper winding, and variable field voltage. These models are:

• • • • • •

Equivalent Model Transient Model for Round-Rotor Machine Transient Model for Salient-Pole Machine Subtransient Model for Round-Rotor Machine Subtransient Model for Salient-Pole Machine Frequency Dependent Model

Synchronous generators and synchronous motors share the same models. In the following discussion, the generator case is taken as an example.

Notations and Symbols The following notations are used in defining various parameters for synchronous machine models: Xd” Xd’ Xd Xq” Xq Xq’ Xl Ra X/R Tdo” Tdo’ Tqo” Tqo’ S100 S120 H D

= = = = = = = = = = = = = = = = =

Direct-axis subtransient synchronous reactance Direct-axis transient synchronous reactance Direct-axis synchronous reactance Quadrature-axis subtransient synchronous reactance Quadrature-axis synchronous reactance Quadrature-axis transient synchronous reactance Armature leakage reactance Armature resistance Machine X/R ration (= Xd”/Ra) Direct-axis subtransient open-circuit time constant Direct-axis transient open-circuit time constant Quadrature -axis subtransient open-circuit time constant Quadrature -axis transient open-circuit time constant Saturation factor corresponding to 100 percent terminal voltage Saturation factor corresponding to 120 percent terminal voltage Total inertia of the shaft Shaft damping factor


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ETAP 5.0 User Guide

Dynamic Models

Synchronous Machine

General Concept of Modeling Synchronous Machines A synchronous machine is, in general, modeled by an equivalent internal voltage source and its equivalent resistance and reactance. The equivalent internal voltage source is connected to the machine internal bus behind the equivalent resistance and reactance, as shown in the diagram.

Depending on the structure (round-rotor or salient-pole) and design (with or without damper windings), the equivalent internal voltage and equivalent impedance are calculated differently. These differences are reflected in differential equations describing different types of synchronous machine models. Park’s transformation is adopted and the following notations and symbols are employed in the differential equations for synchronous machine models: Efd

=

f( • ) Eq”

= =

Ed”

=

Eq’

=

Ed’

=

Eq

=

Ed Ei It Id Iq

= = = = =

Term representing the field voltage acting along the quadrature-axis. It is calculated from the machine excitation system Function to account machine saturation effect Quadrature-axis component of the voltage behind the equivalent machine subtransient reactance Direct-axis component of the voltage behind the equivalent machine subtransient reactance Quadrature-axis component of the voltage behind the equivalent machine transient reactance Direct-axis component of the voltage behind the equivalent machine transient reactance Quadrature-axis component of the voltage behind the equivalent machine reactance Direct-axis component of the voltage behind the equivalent machine reactance Voltage proportional to field current Machine terminal current Direct-axis component of machine terminal current Quadrature-axis component of machine terminal current


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ETAP 5.0 User Guide

Dynamic Models

Synchronous Machine

Saturation The synchronous machine saturation effect needs to be considered in the modeling. This effect is represented by two parameters S100 and S120 as defined in the following figure and equations:

S 100 =

S 120 =

I f 100 I f I f 120 1.2 I f

where I f

= Field current corresponding to 100% terminal voltage on the air gap line (no saturation)

I f100

= Field current corresponding to 100% terminal voltage on the open-circuit saturation curve = Field current corresponding to 120% terminal voltage on the open-circuit saturation curve

I f120

For generator starting studies, another factor, S break , is required to correct machine inductance as shown in the above generator saturation curve. The factor S break is defined as %V t at the saturation break point.


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ETAP 5.0 User Guide

Dynamic Models

Synchronous Machine

24.2.1 Equivalent Model The screen below shows the equivalent model, its parameters, and the typical data.

This model uses an internal voltage source behind the armature resistance and quadrature-axis reactance to model a synchronous machine. The voltage source is proportional to the machine field flux linkages. The model includes the effect of variable field voltage and the effect of saliency in the case of SalientPole machines. For this model, Req and Xeq are defined as: Req = Ra Xeq = Xq Differential equations to describe this model are:


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ETAP 5.0 User Guide

Dynamic Models

Synchronous Machine

24.2.2 Transient Model for Round-Rotor Machine The screen below shows the transient model for a round-rotor machine, its parameters, and the typical data.

This model uses an internal voltage source behind a fictitious impedance Rh + jXh. Rh and reactance Xh are used to replace Req and Xeq to achieve a faster calculation convergence, i.e.: Req = Rh Xeq = Xh where 2

R h + X h =

'

'

Ra + X d X q '

'

Ra - (X d X q ) / 2

This model is more comprehensive than the equivalent model because it includes more parameters to account for the machine’s saliency. The following differential equations are involved to describe this model:


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ETAP 5.0 User Guide

Dynamic Models

Synchronous Machine

24.2.3 Subtransient Model for Round-Rotor Machine The screen below shows the subtransient model for a round-rotor machine, its parameters, and the typical data.

This model also consists of an equivalent internal voltage source and a fictitious impedance Rh + jXh. This model is a more comprehensive representation of general type synchronous machines. In addition to the machine’s transient parameters, the subtransient parameters are included to model the machine’s subtransient characteristics. This model is particularly useful for machines with damper windings. The model’s differential equations are shown below:


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ETAP 5.0 User Guide

Dynamic Models

Synchronous Machine

24.2.4 Transient Model for Salient-Pole Machine The screen below shows the transient model for a salient-pole machine, its parameters, and the typical data.

This model essentially has the same complexity as a transient model for round-rotor machines, but considers special features of salient-pole machines which are: X’q = X q and the time constant T’ qo is meaningless and omitted For this model, the fictitious resistance Rh and reactance X h are set to: Rh = R a X h = X a The following differential equations are involved to describe this model:


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ETAP 5.0 User Guide

Dynamic Models

Synchronous Machine

24.2.5 Subtransient Model for Salient-Pole Machine The screen below shows the Subtransient Model for a salient-pole machine, its parameters, and the typical data.

This model includes the damper winding effect for a salient-pole machine. The same conditions are held true as with the transient model for salient-pole machines: X’ q = X q and the time constant T’qo is meaningless. The following differential equations are involved to describe this model:


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ETAP 5.0 User Guide

Dynamic Models

Synchronous Machine

24.2.6 Frequency Dependent Model A subtransient synchronous machine model with frequency dependency in ETAP is developed based on a standard IEEE 2.1 synchronous generator model. An equivalent circuit diagram of the model is shown here: ω sψ q Ra

-

L f1d - Lad

Ll

+

id L1d

L ffd

Lad

V d

R d +

R1d

V fd -

Direct-axis Equivalent Circuit

Ra

+

ω sψ d

-

Ll

iq L1q Laq

V

R1q

Quadrature-axis Equivalent Circuit

Parameters in the circuits are:

• • • • • • •

R s Ll Lad Laq L f1d L1d R1d

Stator resistance Stator leakage inductance Direct-axis stator to rotor mutual inductance Quadrature-axis stator to rotor mutual inductance Field to direct-axis rotor mutual inductance Direct-axis rotor equivalent leakage inductance Direct-axis rotor equivalent resistance


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ETAP 5.0 User Guide

Dynamic Models

• • • • • • • •

L ffd R fd L1q R1q V fd ψ d ψ q ω s

Synchronous Machine

Field leakage inductance Field resistance Qaudrature-axis rotor equivalent leakage inductance Qaudrature-axis rotor equivalent resistance Field voltage Direct-axis flux linkages Quadrature-axis flux linkages System speed

The data interface for the frequency dependent subtransient synchronous machine model is the same as the regular subtransient model with a salient-pole. ETAP internally calculates the required parameters for the frequency dependent model from the data in generator interface.

24.2.7 Shaft Torsion Model If the torsion effect is included for the multiple mass shaft of machine, a shaft torsion model is used in ETAP. The shaft model can be represented in a general form as follows: Synchronous Generator

Turbine Swing Equation:

2 H T

d ω T dt

= T T − D1 (ω T − ω C ) − K 1 (θ 1 − θ 2 )


2 H C

d ω C dt

= − D1 (ω C − ω G ) − K 1 (θ 2 − θ 3 ) − D2 (ω C − ω G ) − K 2 (θ 2 − θ 3 )

Generator Swing Equation:

2 H G

d ω G dt

= −T G − D (ω G − ω Re f ) − D2 (ω G − ω C ) − K 2 (θ 3 − θ 2 )


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ETAP 5.0 User Guide

Dynamic Models

Synchronous Machine

Synchronous Motor

Motor Swing Equation:

d ω M

2 H M

dt

= T M − D (ω M − ω Re f ) − D1 (ω M − ω C ) − K 1 (θ 1 − θ 2 )


d ω C

2 H C

dt

= − D1 (ω C − ω M ) − K 1 (θ 2 − θ 1 ) − D2 (ω C − ω L ) − K 2 (θ 2 − θ 3 )

Load Swing Equation:

2 H L

d ω L dt

= −T L − D2 (ω L − ω C ) − K 2 (θ 3 − θ 2 )

Parameters for the induction machine shaft model are:

• • • • • • • • • • • • • • • •

G Ref M C T L 1 2 3

H G H M H C H L D D1 D2

Generator speed Reference machine speed Motor speed Couping gear speed Turbine speed Load speed Motor angle displacement Couping gear angle displacement Load angle displacement Inertia constant of Generator Inertia constant of motor Inertia constant of coupling gear Inertia constant of load Damping coefficient of generator Damping coefficient between turbine (motor) and coupling gear Damping coefficient between coupling gear and generator (load)


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ETAP 5.0 User Guide

Dynamic Models • K 1 • K 2 • T G • T M • T L

Synchronous Machine

Spring coefficient between turbine (motor) and coupling gear Spring coefficient between coupling gear and generator (load) generator torque Motor torque Load torque


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ETAP 5.0 User Guide

Dynamic Models

Power Grid

24.3 Power Grid For motor starting and transient stability studies, it is required to model a power grid (utility system) with an equivalent machine. Due to the fact that a power grid is generally considered as an interfacing point to the power grid whose voltage and frequency are supported by a larger system and unlikely to change, it is valid to assume this equivalent machine has a constant internal voltage source and an infinite inertia. Thus the power grid is modeled in ETAP with the following Thevenin equivalent:

where Ei is calculated from the initial terminal bus voltage and Req and Xeq are from positive sequence R and X of the Power Grid Editor, as shown below:


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ETAP 5.0 User Guide

Dynamic Models

Excitation System

24.4 Excitation System To accurately account for dynamics from exciter and AVR systems in power system transient responses, complete modeling of these systems is usually necessary. ETAP provides the following exciter and AVR models:

• • • • • • • • • • •

• • • • • • • • • • •

IEEE Type 1 IEEE Type 2 IEEE Type 3 IEEE Type 1S IEEE Type DC1 IEEE Type DC2 IEEE Type DC3 IEEE Type ST1 IEEE Type ST2 IEEE Type ST3 IEEE Type AC1

IEEE Type AC2 IEEE Type AC3 IEEE Type AC4 IEEE Type AC5A Basler SR8F & SR125A HPC 840 JEUMONT Industrie IEEE Type ST1D IEEE Type AC8B IEEE Type AC1A User-defined Dynamic Model (UDM)

For IEEE type exciter and AVR systems, the equivalent transfer functions and their parameter names are in accordance with the IEEE recommended types from the following references:

• • •

IEEE Committee Report, “Computer Representation of Excitation System”, IEEE Trans. on PAS, Vol. PAS-87, No. 6, June 1968, pp 1460-1464. IEEE Committee Report, “Excitation System Models for Power System Stability Studies”, IEEE Trans. on PAS, Vol. PAS-100, No. 2, February 1981, pp 494-509. IEEE Std. 412.5-1992, “IEEE Recommended Practice for Excitation System Models for Power System Stability Studies”, IEEE Power Engineering Society, 1992

Excitation System Saturation Following is a typical block diagram for exciters:


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Dynamic Models

Excitation System

This diagram shows the output of the AVR is applied to the exciter after a saturation function SE is subtracted from it. The exciter parameter KE represents the setting of the shunt field rheostat when a selfexcited shunt field is used. It should be noted that there is a dependency between exciter ceiling Efdmax, AVR ceiling VRmax, exciter saturation SE and exciter constant KE . These parameters are related by the following equation (the sign of KE is negative for a self-excited shunt field): VR – ( K E + SE ) Efd = 0

for Efdmin < Efd < Efdmax

At excitation ceiling ( E fd = Efdmax ) the above equation becomes: VRmax = (K E +SEmax ) - Efdmax Therefore, it is important that the exciter parameters entered satisfy the above equation, when applicable. ETAP will check this condition at run time and flag any violations. The exciter saturation function (SE ) represents the increase in exciter excitation due to saturation. It is defined as:

where the quantities A and B are defined as the exciter field currents which produce the exciter output voltage on the constant-resistance-load saturation curve and air gap line, respective, as shown in the exciter saturation curve below

ETAP assumes that S E is specified at the following exciter voltages: Saturation Factor SEmax SE.75max


Exciter Voltage Efdmax 0.75Efdmax

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Dynamic Models

Excitation System IEEE Type (1)

24.4.1 IEEE Type 1

IEEE Type 1 - Continuously Acting Regulator and Exciter (1)

This type of exciter and AVR system represents a continuously acting regulator with rotating exciter system. Some vendors' units represented by this model include:

• • •

Westinghouse brushless systems with TRA, Mag-A-Stat, Silverstat, or Rotoroal regulator Allis Chalmers systems with Regulex regulator General Electric systems with Amplidyne or GDA regulator

Parameters and Sample Data Parameters for this model and their sample data are shown in the following screen capture:


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Dynamic Models


Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter VRmax

VRmin SEmax SE.75 Efdmax KA KE KF TA TE TF TR

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage The value of excitation function at Efdmax The value of excitation function at 0.75 Efdmax Maximum exciter output voltage Regulator gain Exciter constant for self-excited field Regulator stabilizing circuit gain Regulator amplifier time constant Exciter time constant Regulator stabilizing circuit time constant Regulator input filter time constant


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Unit p.u. p.u.

p.u. p.u. p.u. p.u. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models


24.4.2 IEEE Type 2

IEEE Type 2 - Rotating Rectifier System (2)

This type of exciter and AVR system represents a rotating rectifier exciter with static regulator system. Its characteristics are similar to IEEE Type 1 exciter, except for the feedback-damping loop. This system applies to units where the main input to the damping loop is provided from the regulator output rather than the exciter output. To compensate for the exciter damping which is not included in the damping loop, the feedback transfer function contains one additional time-constant. An example of such a system is the Westinghouse brushless system, which was in service up to 1966.



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Dynamic Models



VRmin SEmax SE.75 Efdmax KA KE KF TA TE TF1 TF2 TR

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage The value of excitation function at Efdmax The value of excitation function at 0.75 Efdmax Maximum exciter output voltage Regulator gain Exciter constant for self-excited field Regulator stabilizing circuit gain Regulator amplifier time constant Exciter time constant Regulator stabilizing circuit first time constant Regulator stabilizing circuit second time constant Regulator input filter time constant


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Unit p.u. p.u.

p.u. p.u. p.u. p.u. Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models


24.4.3 IEEE Type 3 (1− A)

Ifd

I

A = (0.78 X 1 I fd / V thev )

2

V thev = K P V t + jK I I t

×

V A > 1.8 B = 0 for Vref VBmax

VR max

1 V

1 + sT R

-

+ ∑

-

+

K A 1 + sT A

+ VR min

∑

1 K E + sT E

Efd

0.0

sK F 1 + sT F

IEEE Type 3 - Static System with Terminal Potential and Current Supplies (3)

This type of exciter and AVR system represents static excitation systems with compound terminal voltage and current feedback. The regulator transfer function for this model is similar to IEEE Type 1. In this model, the regulator output is combined with a signal, which represents the self-excitation from the generator terminals. An example of such a system is the General Electric SCPT system.


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Dynamic Models




VRmin VBmax KA KE KF KI KP XL TA TE TF TR

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage The value of excitation function at Efdmax Regulator gain Exciter constant for self-excited field Regulator stabilizing circuit gain Current circuit gain coefficient Potential circuit gain coefficient Reactance associated with potential source Regulator amplifier time constant Exciter time constant Regulator stabilizing circuit second time constant Regulator input filter time constant


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Unit p.u. p.u. p.u. p.u. p.u. p.u.

Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Excitation System IEEE Type (1S)

24.4.4 IEEE Type 1S

IEEE Type 1S - Controlled Rectifier System with Terminal Voltage (1S)

In this type of exciter and AVR system, excitation is obtained through terminal voltage rectification. In this model the maximum regulated voltage (VRmax) is proportional to terminal voltage Vt .



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Dynamic Models

Excitation System IEEE Type (1S)

Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter VRmin Efdmax KA KF KP TA TF TR

Definition Minimum value of the regulator output voltage The value of excitation function at Efdmax Regulator gain Exciter constant for self-excited field Regulator stabilizing circuit gain Regulator amplifier time constant Regulator stabilizing circuit second time constant Regulator input filter time constant


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Unit p.u. p.u. p.u. p.u. p.u. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Excitation System IEEE Type (DC1)

24.4.5 IEEE Type DC1

IEEE Type DC1 - DC Commutator Exciter with Continuous Voltage Regulation (DC1)

This type of exciter and AVR system is used to model field-controlled DC-Commutator exciters with continuous voltage regulators. Examples of this model are:

• • •

Allis Chalmers Regulex regulator General Electric Amplidyne and GDA regulator Westinghouse Mag-A-Stat, Rototrol, Silverstat, and TRA regulators



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Dynamic Models



VRmin SEmax SE.75 Efdmax KA KE KF TA TB TC TE TF TR

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage The value of excitation function at Efdmax The value of excitation function at 0.75 Efdmax Maximum exciter output voltage Regulator gain Exciter constant for self-excited field Regulator stabilizing circuit gain Regulator amplifier time constant Voltage regulator time constant Voltage regulator time constant Exciter time constant Regulator stabilizing circuit time constant Regulator input filter time constant


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Unit p.u. p.u.

p.u. p.u. p.u. p.u. Sec. Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models



IEEE Type DC2 - DC Commutator Exciter with Continuous Voltage Regulation and Supplies from Terminal Voltage (DC2)

This type of exciter and AVR system is used for field-controlled DC commutator exciters with continuous voltage regulators supplied from the generator or auxiliaries bus voltage. Its only difference from IEEE Type DC1 is the regulator output limits, which are now proportional to terminal voltage Vt .



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Dynamic Models



VRmin SEmax SE.75 Efdmax KA KE KF TA TB TC TE TF TR

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage The value of excitation function at Efdmax The value of excitation function at 0.75 Efdmax Maximum exciter output voltage Regulator gain Exciter constant for self-excited field Regulator stabilizing circuit gain Regulator amplifier time constant Voltage regulator time constant Voltage regulator time constant Exciter time constant Regulator stabilizing circuit time constant Regulator input filter time constant


24-38

Unit p.u. p.u.

p.u. p.u. p.u. p.u. Sec. Sec. Sec Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models



I EEE Type DC3 - DC Commutator Exciter with Non-Continuous Voltage Regulation (DC3)

This type of exciter and AVR system is used for the older DC commutator exciters with non-continuously acting regulators. Examples of this model are:

• •

General Electric exciter with GFA4 regulator Westinghouse exciter with BJ30 regulator


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Dynamic Models




VRmin SEmax SE.75 Efdmax KE KV TE TR TRH

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage The value of excitation function at Efdmax The value of excitation function at 0.75 Efdmax Maximum exciter output voltage Exciter constant for self-excited field Fast raise/Lower contact setting Exciter time constant Regulator input filter time constant Rheostat travel time


24-40

Unit p.u. p.u.

p.u. p.u. p.u. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Excitation System IEEE Type (ST1)

24.4.8 IEEE Type ST1

IEEE Type ST1 - Potential-Source Controlled-Rectifier Exciter (ST1)

This type of exciter and AVR system is used to represent potential-source, controlled-rectifier excitation systems. This is intended for all systems supplied through a transformer from the generator terminals. Examples of this model include:

• • •

Canadian General Electric Silcomatic exciters Westinghouse Canada Solid State Thyristor exciters Westinghouse type PS static excitation systems with type WTA or WHS regulators


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Dynamic Models




VRmin VImax VImin KA KC KF TA TB TC TF TR

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage Maximum internal signal within voltage regulator Minimum internal signal within voltage regulator Regulator gain Regulator gain Regulator stabilizing circuit gain Regulator amplifier time constant Voltage Regulator amplifier time constant Voltage Regulator amplifier time constant Regulator stabilizing circuit time constant Regulator input filter time constant


24-42

Unit p.u. p.u. p.u. p.u. p.u. p.u. p.u. Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models


24.4.9 IEEE Type ST2

IEEE Type ST2 - Static System with Terminal Potential and Current Supplies (ST2)

This type of exciter and AVR system is used for compound source rectifier excitation systems. These systems use both current and voltage sources. An example of this model is General Electric static exciter SCT-PPT or SCPT.


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Dynamic Models




VRmin Efdmax KA KC KE KF KI KP TA TE TF TR

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage Maximum exciter output voltage Regulator gain Regulator gain Exciter constant for self-excited field Regulator stabilizing circuit gain Current circuit gain coefficient Potential circuit gain coefficient Regulator amplifier time constant Exciter time constant Regulator stabilizing circuit time constant Regulator input filter time constant


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Unit p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models


24.4.10 IEEE Type ST3 Ifd

IN = K C

It

I fd

IN

V E

F EX = f ( IN )

FEX

V E = K P V t + j( K I + K P X L ) I t

× VE

VR max

Vref VImax Vt

1 1 + sT R

-

Efdmax

+

K J

∑

1 + sT C 1 + sT B

+

K A

∑

1 + sT A

-

Efd

×

VImin VGmax

VR min

K G

IEEE Type ST3 - Compound Source-Controlled Rectifier Exciter (ST3)

This type of exciter and AVR system represents compound-source rectifier excitation systems. These exciters utilize internal quantities within the generator as the source of power. Examples of this model are:

• •

General Electric GENERREX exciter Shunt-Thyristor exciter


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Dynamic Models




VRmin Efdmax VGmax VImax VImin KA KC KG KI KJ KPreal KPimg TA TB TC TE TR XL

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage Maximum exciter output voltage Maximum inner loop voltage feedback Maximum internal signal within voltage regulator Minimum internal signal within voltage regulator Regulator gain Rectifier loading factor related to commutating reactance Inner loop feedback constant Current circuit gain coefficient First stage regulation gain Real part of potential circuit gain coefficient Reactive part of potential circuit gain coefficient Regulator amplifier time constant Exciter time constant Regulator stabilizing circuit time constant Exciter time constant Regulator input filter time constant Reactance associated with potential source


24-46

Unit p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u.

p.u. p.u. p.u. p.u. p.u. Sec. Sec. Sec. Sec. Sec. p.u.

ETAP 5.0 User Guide

Dynamic Models

Excitation System IEEE Type (AC1)

24.4.11 IEEE Type AC1

IEEE Type AC1 - Alternator-Rectifier Exciter System with Non-Controlled Rectifiers and Field Current Feedback (AC1)

This type of exciter and AVR system represents alternator-rectifier excitation systems with non-controlled rectifiers and exciter field current feedback. There is no self-excitation and the source of voltage regulator power is not affected by external transients. Westinghouse Brushless excitation systems fall under this type of exciter model.


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Dynamic Models



Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter VRmax VRmin SEmax SE.75 Efdmax KA KC KD KE KF TA TB TC TE TF TR

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage The value of excitation function at Efdmax The value of excitation function at 0.75 Efdmax Maximum exciter output voltage Regulator gain Rectifier loading factor related to commutating reactance Demagnetizing factor Exciter constant for self-excited field Regulator stabilizing circuit gain Regulator amplifier time constant Exciter time constant Regulator stabilizing circuit time constant Exciter time constant Regulator stabilizing circuit time constant Regulator input filter time constant


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Unit p.u. p.u.

p.u. p.u. p.u. p.u. p.u. p.u. Sec. Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models



IEEE Type AC2 - High-Initial-Response Alternator-Rectifier Exciter System (AC2)

This type of exciter and AVR system represents high-initial-response, field-controlled alternator-rectifier excitation systems. It uses an alternator main exciter and non-controlled rectifiers. It is similar to IEEE Type AC1 exciter model but has two additional field current feedback loops. An example of this model is Westinghouse High-Initial-Response Brushless excitation system.


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Dynamic Models



Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter VRmax VRmin SEmax SE.75 VAmax VAmin Efdmax KA KB KC KD KE KF

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage The value of excitation function at Efdmax The value of excitation function at 0.75 Efdmax Maximum regulator internal voltage Minimum regulator internal voltage Maximum exciter output voltage Regulator gain Second stage regulator gain Rectifier loading factor related to commutating reactance Demagnetizing factor Exciter constant for self-excited field Regulator stabilizing circuit gain


24-50

Unit p.u. p.u.

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

ETAP 5.0 User Guide

Dynamic Models


Parameter KH KL TA TB TC TE TF TR VLR

Definition Exciter field current feedback gain Gain of exciter field current limit Regulator amplifier time constant Exciter time constant Regulator stabilizing circuit time constants Exciter time constant Regulator stabilizing circuit time constant Regulator input filter time constant Exciter field current limit reference


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Unit p.u. p.u. Sec. Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models



IEEE Type AC3 - Field-Controlled Alternator-Rectifier Exciter (AC3)

This type of exciter and AVR system represents field-controlled, alternator-rectifier excitation systems. It can model systems that derive voltage regulator power from the exciter output voltage and simulate their non-linearity. An example of this model is General Electric ALTERREX excitation system using static voltage regulators.


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Dynamic Models



Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter SEmax SE.75 Efdmax EFDN VAmax VAmin VLV KA KC KD KE KF KLV

Definition The value of excitation function at Efdmax The value of excitation function at 0.75 Efdmax Maximum exciter output voltage Value of Efd at which feedback gain changes Maximum regulator internal voltage Minimum regulator internal voltage Exciter low voltage limit reference Regulator gain Rectifier loading factor related to commutating reactance Demagnetizing factor Exciter constant for self-excited field Regulator stabilizing circuit gain Gain of the exciter low voltage limit signal


24-53

Unit

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

ETAP 5.0 User Guide

Dynamic Models


Parameter KN TA TB TC TE TF TR KR

Definition Exciter control system stabilizer gain Regulator amplifier time constant Exciter time constant Regulator stabilizing circuit time constant Exciter time constant Regulator stabilizing circuit time constant Regulator input filter time constant Constant for regulator and alternator field power supply


24-54

Unit p.u. Sec. Sec. Sec. Sec. Sec. Sec. p.u.

ETAP 5.0 User Guide

Dynamic Models



IEEE Type AC4 - High-Initial-Response Alternator-Supplied Controlled Rectifier Exciter (AC4)

This type of exciter and AVR system represents alternator-supplied, controlled-rectifier excitation systems. A high-initial response excitation system, it has a Thyristor bridge at the output circuit. General Electric ALTHYREX and Rotating Thyristor excitation systems are examples of this type of exciter.



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Dynamic Models


Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter VRmax VRmin VImax VImin KA KC TA TB TC TR

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage The value of excitation function at Efdmax The value of excitation function at 0.75 Efdmax Regulator gain Rectifier loading factor related to commutating reactance Regulator amplifier time constant Exciter Exciter time constant Regulator stabilizing circuit time constant Regulator input filter time constant


24-56

Unit p.u. p.u. p.u. p.u. p.u. p.u. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Excitation System Basler SR8F & SR125A (SR8F)

24.4.15 IEEE Type AC5A

IEEE Type AC5A - Simplified Rotating Rectifier Excitation System (AC5A)

This type of exciter and AVR system is a simplified model for brushless excitation excitation systems. The regulator is supplied from a source, such as a permanent magnet generator, which is not affected by system disturbances. This model can be used to represent small excitation systems such as those produced by Basler and Electric Machinery.



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Dynamic Models



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Dynamic Models


Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter VRmax VRmin SEmax SE.75 Efdmax KA KE KF TA1 TA2 TA3 TE TF1 TF2 TF3 TR

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage The value of excitation function at Efdmax The value of excitation function at 0.75 Efdmax Maximum exciter output voltage Regulator gain Exciter constant for self-excited field Regulator stabilizing circuit gain Voltage regulator time constant Voltage regulator time constant Voltage regulator time constant Exciter time constant Exciter control system time constant Exciter control system time constant Exciter control system time constant Regulator input filter time constant

Unit p.u. p.u.

p.u. p.u. p.u. p.u. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec.

24.4.16 Basler SR8F & SR125A

Basler SR8F & SR125A Excitation System (SR8F)

This type of exciter and AVR system is used to represent Basler SR8F and SR125A exciter systems.



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Dynamic Models



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Dynamic Models


Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter VRmax VRmin KA KF TA TB TF1 TF2 TR

Definition Maximum value of the regulator output voltage Minimum value of the regulator output voltage Regulator gain Regulator stabilizing circuit gain Regulator amplifier time constant Voltage regulator time constant Regulator stabilizing circuit time constant Regulator stabilizing circuit time constant (Rot. Rec.) Regulator input filter time constant


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Unit p.u. p.u. p.u. p.u. Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Excitation System HPC 840 (HPC)

24.4.17 HPC 840

HPC 840 Excitation and AVR System (HPC)

This type of exciter and AVR system includes both forward gain and feedback damping loops. There are three compensation signals to regulate excitation voltages. These signals are terminal voltage magnitude, real power generation, and reactive power generation.


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Dynamic Models



Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter Amax Amin Bmax Bmin C D Efdmax Kpow KQ KE SE .75 SEmax TL T4 TD

Definition Regulator internal maximum limit (Amax = VImax * Ka) Regulator internal minimum limit (Amin = VImin * Ka) Integrator upper limit (Bmax = LIMmax * Ka) Integrator lower limit (Bmin = LIMmin * Ka) Combined excitation system (C = Kg * kp * Ka) Combined stabilizing feedback gain (D = Kd * Kf/Kp) Maximum Exciter output voltage Active power compensation factor Reactive power compensation factor Exciter constant for self-excited field Value of excitation saturation function at 0.75 Efdmax Value of excitation saturation function at Efdmax Integration time constant Excitation system total delay Stabilizing feedback time constant


24-63

Unit p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u.

Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models


Parameter Tdsty TE TF TP TQ VRmax VRmin Control Bus

Definition Voltage transducer filter time constant Exciter time constant Regulator stabilizing circuit time constant Active power compensation time constant Reactive power compensation time constant Maximum value of the regulator output voltage Minimum value of the regulator output voltage Voltage feedback bus ID


24-64

Unit Sec. Sec. Sec. Sec. Sec. p.u. p.u.

ETAP 5.0 User Guide

Dynamic Models

Excitation System JEUMONT Industrie (JEUM)

24.4.18 JEUMONT Industrie

JEUMONT - JEUMONT Industrie (JEUM)

This type of exciter and AVR system consists of a voltage block, a current block, a voltage regulator block, and an excitation block. It uses a rotating rectifier for excitation system.


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Dynamic Models



Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter AV1 AV2 AV3 AV4 AV5 AV6 AV7 AV8 AV9 AV10 AV11 Ai1

Definition Gain of voltage control loop Constant of voltage control loop Constant of voltage control loop Gain of voltage control loop Gain of reference voltage Gain of voltage control loop Time constant of voltage control loop Time constant of voltage control loop Time constant of voltage control loop Time constant of voltage control loop Parameter of voltage control loop Gain of current control loop


24-66

Unit

Sec. Sec.

Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models


Parameter Ai2 Ai3 Ai4 Ai5 Ai6 Ai7 Ai8 Ai9 Ai10 Ai11 Ai12 AR1 AR2 KU1 KU2 Vres VSUP Te Ke SEmax SE.75max Efdmax Kae Kif Max1 Min1 Max2 Min2 Max3 Min3 Max4 Min4 Max5 Min5 Max6 Min6 Max7 Min7 Control Bus

Definition Gain of supply voltage to current control loop Gain of current control loop Gain of current control loop Gain of current control loop Gain of current control loop Time constant of current control loop Time constant of current control loop Time constant of current control loop Time constant of current control loop Gain of current control loop Time constant of current control loop Gain of regulator Regulator reference Gain of terminal voltage feedback Gain of regulator Supply voltage of thy-bridge Supply voltage of current control loop Time constant of exciter loop Gain of exciter loop Saturation coefficient at maximum field voltage Saturation coefficient at 0.75 maximum field voltage Maximum field voltage Gain of field current feedback loop Gain of field current feedback Maximum value 1 of voltage control loop Minimum value 1 of voltage control loop Maximum value 2 of voltage control loop Minimum value 2 of voltage control loop Maximum value 3 of voltage control loop Minimum value 3 of voltage control loop Maximum value 4 of current control loop Minimum value 4 of current control loop Maximum value 5 of current control loop Minimum value 5 of current control loop Maximum value 6 of current control loop Minimum value 6 of current control loop Maximum value 7 of current control loop Minimum value 7 of current control loop Voltage feedback bus ID


24-67

Unit

Sec. Sec. Sec. Sec. Sec.

V V V Sec.

V V V V V V V V V V V V V V V V

ETAP 5.0 User Guide

Dynamic Models


24.4.19 IEEE Type ST1D

IEEE Type ST1D- Static System with Terminal Potential and Current Supplies (ST1D)

This type of exciter and AVR system is used for compound source rectifier excitation systems with volts per-hertz limiter. These systems use both current and voltage sources.


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Dynamic Models



Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter R C XC TR TC TB K A TA K F TF K C VVLR K VL TVL

Definition Resistive part of reactive droop compensation Inductive part of reactive droop compensation Transducer time constant Transient gain reduction lead time constant Transient gain reduction lag time constant Amplifier gain Amplifier time constant Stabilizing feedback signal gain Stabilizing feedback signal time constant Field current gain Set point of V/Hz limiter Over-excitation feedback signal gain Over-excitation feedback signal time constant


24-69

Unit p.u. p.u. Sec. Sec. Sec. p.u. Sec. p.u. Sec. p.u. p.u. p.u. Sec.

ETAP 5.0 User Guide

Dynamic Models


Parameter K VF TH VImax VImin VR max VR min Vdc Rf Vref TD VHZ Ifb Vfb

Definition Stabilizing feedback signal gain Measurement time constant Maximum error limit Minimum error limit Maximum regular output Minimum regular output Field flashing battery voltage Field flashing battery and external circuit resistance Voltage reference Pickup delay time V/Hz pickup value Exciter base current Exciter base voltage


24-70

Unit p.u. Sec. p.u. p.u. p.u. p.u. Volts Ohms p.u. Sec. p.u. Amps Volts

ETAP 5.0 User Guide

Dynamic Models

Excitation System IEEE Type (AC8B)

24.4.20 IEEE Type AC8B



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Excitation System IEEE Type (AC8B)

Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter

Definition

Unit

VRmax VRmin

Maximum value of the regulator output voltage in pu Minimum value of the regulator output voltage in pu

p.u. p.u.

SEmax SE.75

Saturation value of exciter at Efdmax Saturation value of exciter at 0.75 Efdmax

p.u. p.u.

Efdmax KP KI KD KA KE TD

Maximum exciter output voltage in pu Proportional control gain in pu Integral control gain in pu Derivative control gain in pu Regulator gain in pu Exciter constant for self-excited field in pu Derivative control time constant in sec

p.u. p.u. p.u. p.u. p.u. p.u. Sec.

TA TE

Regulator amplifier time constant in sec Exciter time constant in sec

Sec. Sec.


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Excitation System IEEE Type (AC1A)

24.4.21 IEEE Type AC1A

IEEE Type AC1A Exciter (AC1A)


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Definition

Unit

VAmax VAmin VRmax VRmin VUEL VOEL SEmax SE.75 Efdmax KA

Maximum value of the regulator output voltage in pu Minimum value of the regulator output voltage in pu Maximum regulator internal voltage in pu Minimum regulator internal voltage in pu Underexcitation limiter in pu Overexcitation limiter in pu Saturation value of exciter at Efdmax in pu Saturation value of exciter at 0.75 Efdmax in pu Maximum exciter output voltage in pu Regulate gain in pu

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


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Parameter

Definition

Unit

KC KD KF

Rectifier loading factor in pu Demagnetizing factor in pu Regulate stabilizing circuit gain in pu

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

KE TA

Exciter gain in pu Regulator amplifier time constant in sec

p.u. Sec.

TC TB

Internal signal lead time constant in sec Internal signal lag time constant in sec

Sec. Sec.

TE TF

Exciter time constant in sec Regulate stabilizing time constant in sec

Sec. Sec.

TR a1

Regulate input filter time in sec Rectifier regulation characteristic coefficient in pu

Sec. p.u.

a2 b1 b2

Rectifier regulation characteristic coefficient in pu Rectifier regulation characteristic coefficient in pu Rectifier regulation characteristic coefficient in pu

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

b3 b4 b5 b6

Rectifier regulation characteristic coefficient in pu Rectifier regulation characteristic coefficient in pu Rectifier regulation characteristic coefficient in pu Rectifier regulation characteristic coefficient in pu

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

b7 b8 b9 b10

Rectifier regulation characteristic coefficient in pu Rectifier regulation characteristic coefficient in pu Rectifier regulation characteristic coefficient in pu Rectifier regulation characteristic coefficient in pu

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


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Dynamic Models

Excitation System User-defined Dynamic Model (UDM)

24.4.22 User-defined Dynamic Model (UDM) From the exciter type list, user can access UDM models that have been created and saved.

Details on how to use UDM models are described in User-define Dynamic Models chapter.


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Governor-Turbine

24.5 Governor-Turbine Modeling of governor-turbine system in transient stability studies is essential for simulation time frames of more than a second. ETAP provides the following governor-turbine models:

• • • • • • • • • • • • • • • • • • • • • • • • •

Steam-Turbine (ST) Single-Reheat Steam-Turbine (ST1) Tandem-Compound Single-Reheat Steam-Turbine (ST2) Tandem-Compound Double-Reheat Steam-Turbine (ST3) IEEE General Steam-Turbine (STM) Gas-Turbine (GT) Gas-Turbine including Fuel System (GTF) General Purpose (GP) Diesel-Engine (DT) Woodward Steam-Turbine 505 Woodward UG-8 Woodward Governor 2301 GE Heavy Duty Governor and Gas Turbine (GTH) GE Simplified Heavy Duty Governor and Gas Turbine (GTS) Solar Turbine MARS Governor Set (MARS) Detroit Diesel DDEC Governor Turbine (DDEC) GHH BROSIG Steam-Turbine Governor (GHH) Woodward Hydraulic Governor-turbine (HYDR) IEEE Gas -Turbine (SGT) PowerLogic Governor-turbine Model A (PL-A) Solar Taurus 60 Solonox Gas Fuel Turbine/Governor (ST60) Solar Taurus 70 Solonox Gas Fuel Turbine/Governor (ST70) Gas-Turbine and Governor (GT-2) Gas-Turbine and Governor (GT-3) Combustion Turbine and Governor (CT251)

For IEEE type governor-turbine systems, the equivalent transfer functions and their parameter names are in accordance with the IEEE recommended types from the following reference:

•

IEEE Committee Report, "Dynamic Models for Steam and Hydro Turbines in Power System Studies", IEEE Transaction on Power Apparatus and System, Vol. PAS-92, No. 6, Nov./Dec. 1973, pp. 1904-1915.

•

IEEE Committee Report, "Dynamic Models for Fossil Fueled Steam Units in Power System Studies", IEEE Transactions on Power Systems, Vol. PS-6, No. 2, May 1991, pp. 753-761.


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Governor-Turbine Steam Turbine (ST)

24.5.1 Steam-Turbine (ST)

ST Governor System Representation (ST)

This type of governor-turbine system represents a simple steam turbine and speed governing system.



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Governor-Turbine Steam Turbine (ST)

Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter Mode

Droop Fhp Pmax Pmin Tc Tch Trh Tsr

Definition Droop or Isoch Steady-state speed droop (Shaft capacity ahead of reheater)/(Total shaft capacity) Maximum shaft power (rated MW) Minimum shaft power ( > = 0) Governor reset time constant Steam chest time constant Reheater time constant Speed relay time constant


24-79

Unit

% p.u. MW MW Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Single-Reheat Steam-Turbine (ST1)

24.5.2 Single-Reheat Steam-Turbine (ST1)

Single-Reheat Steam-Turbine (ST1)

This type of governor-turbine system represents a two-stage steam turbine with reheat and speed governing system. It consists of a speed relay, a control amplifier, a steam chest, and a reheater.



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Governor-Turbine Single-Reheat Steam-Turbine (ST1)


Droop Fhp Pmax Pmin Tc Tch Tdrp Tsr

Definition Droop or Isoch Steady-state speed droop (Shaft capacity ahead of reheater)/(Total shaft capacity) Maximum shaft power Minimum shaft power Governor reset time constant Steam time constant Load sensor time constant Speed relay time constant in second


24-81

Unit

% p.u. MW MW Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Compound Single-Reheat Steam (ST2)

24.5.3 Compound Single-Reheat Steam-Turbine (ST2)

Compound Single-Reheat Steam-Turbine (ST2)

This type of governor-turbine system represents a tandem-compound, single-reheat steam turbine, and speed governing system. It is a type ST1 model with a block representing crossover piping to the low pressure turbines.


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Governor-Turbine Compound Single-Reheat Steam (ST2)



Droop Fhp Fip Flp Pmax Pmin Tc Tch Tco Trh Tsr

Definition Droop or Isoch Steady-state speed droop (Shaft capacity ahead of reheater)/(Total shaft capacity) Intermediate pressure turbine power fraction Low pressure turbine power fraction Maximum shaft power Minimum shaft power Governor reset time constant Steam chest time constant Crossover time constant Reheater time constant Speed relay time constant


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Unit

% p.u. p.u. p.u MW MW Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Compound Double-Reheat Steam (ST3)

24.5.4 Compound Double-Reheat Steam-Turbine (ST3)

Compound Double-Reheat Steam-Turbine (ST3)

This type of governor-turbine system represents a tandem-compound, double-reheat steam turbine, and speed governing system. It is similar to type ST2 model except for the added block representing reheated steam between the very-high pressure and high-pressure turbines.


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Governor-Turbine Compound Double-Reheat Steam (ST3)



Droop Fhp Fip Flp Fvhp Pmax Pmin Tc Tch Tco Trh1 Trh2 Tsr

Definition Droop or Isoch Steady-state speed droop (Shaft capacity ahead of reheater)/(Total shaft capacity) Intermediate pressure turbine power fraction Low pressure turbine power fraction Very high pressure turbine power fraction Maximum shaft power Minimum shaft power Governor reset time constant Steam chest time constant Crossover time constant First reheater time constant Second reheater time constant Speed relay time constant


24-85

Unit

% p.u. p.u. p.u. p.u. MW MW Sec. Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine IEEE General Steam-Turbine (STM)

24.5.5 IEEE General Steam-Turbine (STM)

IEEE General Steam-Turbine (STM)

This type of governor-turbine system represents an IEEE suggested general steam turbine and speed governing system. It may be used for modeling the steam systems represented by ST, ST1, ST2, and ST3, as well as the cross-compound, single-reheat and cross-compound, double-reheat systems.


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Droop DB K1 K2 K3 K4 K5 K6 K7 K8 Pmax Pmin T1

Definition Droop or Isoch Steady-state speed droop in second Speed deadband Partial very high pressure turbine power fraction Partial very high pressure turbine power fraction Partial high pressure turbine power fraction Partial high pressure turbine power fraction Partial intermediate pressure turbine power fraction Partial intermediate pressure turbine power fraction Partial low pressure turbine power fraction Partial low pressure turbine power fraction Maximum shaft power Minimum shaft power Amplifier/Compensator time constant


24-87

Unit

% p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. MW MW Sec.

ETAP 5.0 User Guide

Dynamic Models


Parameter T2 T3 T4 T5 T6 T7 UC UO

Definition Amplifier/Compensator time constant Amplifier/Compensator time constant Load sensor (droop) time constant Control Amp./current driver time constant Acutator time constant Engine dead time constant Limit of value closing Limit of value opening


24-88

Unit Sec. Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Gas Turbine (GT)

24.5.6 Gas-Turbine (GT)

Gas-Turbine (GT)

This type of governor-turbine system represents a simple gas turbine and speed governing system.



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Governor-Turbine Gas Turbine (GT)


Droop Pmax Pmin Tc Tsr Tt

Definition Droop or Isoch Steady-state speed droop in second Maximum shaft power Minimum shaft power Governor reset time constant Speed relay time constant Turbine relay time constant


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Unit

% MW MW Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Gas Turbine including Fuel System (GTF)

24.5.7 Gas-Turbine including Fuel System (GTF)

Gas-Turbine including Fuel System (GTF)

This type of governor-turbine system represents a steam turbine and speed governing system, with the inclusion of the fuel system.


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Dynamic Models

Governor-Turbine Gas Turbine including Fuel System (GTF)



Droop Ff KD Kf Kr Pmax Pmin T1 T2 T3 T4 T5 T6 T7 T8 T9 VL VU

Definition Droop or Isoch Steady-state speed droop Minimum fuel flow Governor gain Fuel system feedback gain Kf = 0 or 1 Fuel system transfer function gain Maximum shaft power Minimum shaft power Amplifier/Compensator time constant Amplifier/Compensator time constant Amplifier/Compensator time constant Load sensor (droop) time constant Control Amp./current driver time constant Acutator time constant Engine dead time constant Fuel value time constant Fuel system lead time constant Lower incremental power limit Upper incremental power limit


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Unit

%

MW MW Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. p.u. p.u.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine General Purpose (GP)

24.5.8 General Purpose (GP)

General Purpose (GP)

This type of governor-turbine system represents a general-purpose governor-turbine system.



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Dynamic Models

Governor-Turbine General Purpose (GP)


Droop Pmax Pmin Ta Tc Tdrp Tsr Tt

Definition Droop or Isoch Steady-state speed droop Maximum shaft power Minimum shaft power Actuator time constant Governor reset time constant Load sensor time constant Speed relay time constant Turbine relay time constant


Unit

% MW MW Sec. Sec. Sec. Sec. Sec.

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Dynamic Models

Governor-Turbine Diesel-Engine (DT)

24.5.9 Diesel-Engine (DT)

Diesel-Engine (DT)

This type of governor-turbine system represents a simple diesel engine and speed governing system.



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Dynamic Models

Governor-Turbine Diesel-Engine (DT)


Droop Pmax Pmin T1 T2 T3 T4 T5 T6 T7 T8

Definition Isoch only Steady-state speed droop Maximum shaft power Minimum shaft power Amplifier/Compensator time constant Amplifier/Compensator time constant Amplifier/Compensator time constant Load sensor (droop) time constant Control Amp./current driver time constant Acutator time constant Engine dead time constant Fuel value time constant


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Unit

% MW MW Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Woodward Steam-Turbine 505 (505)

24.5.10 Woodward Steam-Turbine 505 Speed Ref

Speed

+

-

1 + sD1

e−

1.5T s

∑

1 + sT f 1

Speed Ctrl Loop

+

P 1

∑

+

-

1

∑

Ratio/ Limiter

+

Turbine Shaft

HP

L1

1

1

1 + sT a 1

1 + sT m 1

Pm

L2

Dr 1

1 1 + s / I 1

Steam Map

L3 +

P 2

∑

+

-

Inverse Ratio/ Limiter

1

∑

+

1

1

1 + sT a 2

1 + sT m 2

EF

L4

Dr 2

LP

1

Extraction Flow

1 + s / I 2 Extraction Ctrl Loop Ext Press

-

e

∑

+

−1.5T s

1 + sD2 1 + sT f 2

Ext Pres Ref

Woodward 505 and 505E Steam-Turbine (505)

This type of governor-turbine system represents the Woodward 505 and 505E PID governor for extraction steam turbine system.


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Droop1 Droop2 Efmax ExtFlow ExtPress Hpa HPb HPc Hpmax I1 I1 I2 L1 L2 L3 L4

Definition Droop or Isoch Steady-state speed droop Extraction loop droop Max. extraction flow Turbine extraction flow Extraction pressure Min. extraction @ max. power Max. extraction @ min. power Min. extraction @ min. power Max. HP flow Speed loop integral (Droop mode) Speed loop integral gain in (Isoch mode) Extraction loop integral gain Up limit for speed loop output Low limit for speed loop output Up limit for extraction loop output Low limit for extraction loop output


24-98

Unit

% % T/Hr % % T/Hr T/Hr T/Hr T/Hr % % % % % % %

ETAP 5.0 User Guide

Dynamic Models


Parameter P1 P1 P2 RampRate Sa Sb Sc SDR1 SDR1 SDR2 Smax Ta1 Ta2 Tm1 Tm2 TS

Definition Speed loop proportional gain (Droop mode) Speed loop proportional gain (Isoch mode) Extraction loop proportional gain Speed reference ramp rate Max. power @ min. extraction Min. power @ max. extraction Min. power @ min. extraction Speed loop parameter (Droop mode) Speed loop parameter (Isoch mode) Extraction loop parameter Max. power HP valve actuator time constant LV valve actuator time constant Turbine time constant (shaft power output) Turbine time constant (extraction flow) Controller sample time


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Unit % % % % %/Sec. kW kW % % % kW Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Governor-Turbine Woodward UG-8 (UG-8)

24.5.11 Woodward UG-8

Woodward UG-8 (UG-8)

This type of governor-turbine system represents the Woodward UG-8 governor, used mainly for diesel generators. This model includes a representation for a ball head filter, amplifier/compensator, and a diesel engine.



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Governor-Turbine Governor-Turbine Woodward UG-8 (UG-8)


A1 A2 A3 Ad B1 B2 C1 K1 Pmax Pmin T7 T8

Definition Droop or Isoch Compensator constant Compensator constant Compensator constant Permanent droop constant Ball head filter constant Ball head filter constant Governor drive ratio Partial very high pressure turbine power fraction Maximum shaft power Minimum shaft power Engine dead time constant Fuel value time constant


24-101

Unit

rad/Sec. rad/Sec. rad/Sec. rpm/in

Deg/in MW MW Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Governor-Turbine Woodward 2301 (2301)

24.5.12 Woodward Governor 2301 This type of governor-turbine system represents the Woodward 2301 and 2301A speed governing systems with a diesel turbine system and load sharing capability.

Woodward Governor 2301A and 2301 (2301)


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Dynamic Models

Governor-Turbine Woodward 2301 (2301)


Load Sharing (MW Sharing) To share load (MW) between generators, set LS GP# (Load Sharing Group Number) of 2301 governors to the same group number. Note that in order to use this capability, load sharing governors must be in isochronous mode.


LS GP# Droop θmax θmin

α β ρ K1

Definition Droop or Isoch Load sharing group number Steady-state speed droop in second Min. shaft position in degrees Max. shaft position in degrees Gain setting Reset setting Actuator compensation setting Partially very high pressure power fraction


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Unit

% Deg Deg

Deg/A

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Woodward 2301 (2301)

Parameter

τ T1 T2 Pmax Pmin k

Definition Actuator time constant Engine Dead Time constant Amplifier/compensator time constant Maximum shaft power Minimum shaft power Internal variable ( = MVA/( θmax-θmax))


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Unit Sec. Sec. Sec. MW MW MW/Deg

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine GE Gas Turbine (GTH)

24.5.13 GE Heavy Duty Governor - Gas Turbine (GTH) This type of governor-turbine system represents the GE heavy-duty gas turbine speed governing system.

GE Heavy Duty Governor and Gas Turbine (GTH)


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Droop Max Min Term.Ctrl Acc.Ctrl X Y Z a b c Kf KI

Definition Droop or Isoch Steady-state speed droop in second Fuel upper limit (VCE' upper limit) Fuel lower limit (VCE' lower limit) Flag to include temperature control loop Flag to include acceleration control loop Governor transfer function coefficient Governor transfer function coefficient Governor transfer function coefficient Fuel system transfer function coefficient Fuel system transfer function coefficient Fuel system transfer function coefficient Fuel system feedback gain, Kf = 0 or 1 Gain for Isoch Mode


24-106

Unit

% p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u.

ETAP 5.0 User Guide

Dynamic Models


Parameter Tf Tcr Tcd Ttd T Tt Tr t1

t2 Ta

Definition Fuel system time constant Combustion reaction time delay Compressor discharge volume time constant Turbine & exhaust system transportation delay Transportation delay Temperature controller integration rate Turbine rated exhaust temperature Tr - 700 (1 - WF) + 550 (1 -N) in English units Tr - 390 (1 - WF) + 306 (1 -N) in Metric units 1.3 (WF - 0.23) + 0.5 (1 -N) Ambient temperature


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Unit Sec. Sec. Sec. Sec. Sec. Sec. Deg.F

Deg.F

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine GE Gas Turbine (GTS)

24.5.14 GE Simplified Heavy Duty Governor - Gas Turbine (GTS) This type of governor-turbine system represents the GE simplified single shaft gas turbine speed governing system.

GE Simplified Heavy Duty Governor and Gas Turbine (GTS)


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Governor-Turbine GE Gas Turbine (GTS)



Droop Max Min X Y Z A B C D R S T

Definition Droop or Isoch Steady-state speed droop Fuel upper limit Fuel lower limit Governor transfer function coefficient Governor transfer function coefficient Governor transfer function coefficient Fuel system transfer function coefficient Fuel system transfer function coefficient Fuel system transfer function coefficient Fuel system transfer function coefficient Fast load pickup operating zone limit Fast load pickup operating zone limit Fast load pickup operating zone limit


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Unit p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Solar Turbine MARS Governor Set (MARS)

24.5.15 Solar Turbine MARS Governor Set (MARS) This type of governor-turbine system represents the Solar Turbine MARS governor set for gas turbine and speed governing systems.

Solar Turbine MARS Governor Set (MARS)


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Dynamic Models



Definition

Unit

Mode Droop

Speed droop

%

MaxGov MinGov

Governor maximum at no load Governor minimum at no load

p.u. p.u.

Max2

Maximum mechanical power Minimum mechanical power

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

Min2

Max3 Min3 Maxo Mino Wover Tref Ks Kt Ko Ku Kl T1 T2 T3 T4 T5 T6 T7 T8 Th1 Th2

Maximum gas producer Minimum gas producer Maximum overspeed control Minimum overspend control Over speed reference

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

Temperature reference

p.u. p.u.

Speed control gain Temperature control gain Overspeed control gain Loader delta maximum fuel Loader delta minimum fuel Governor reset time Combustor time constant Gas producer time constant Controller delay time constant Speed Lead/Lag lead time constant Speed Lead/Lag lag time constant Thermocouple time constant Controller delay time constant Controller recursion time constant Controller recursion time constant


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ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Detroit Diesel (DDEC)

24.5.16 Detroit Diesel DDEC Governor Turbine (DDEC) This type of governor-turbine system represents the Detroit Diesel turbine with DDEC controller and the Woodward DSLC unit system.

Detroit Diesel DDEC Governor Turbine (DDEC)



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Dynamic Models

Governor-Turbine Detroit Diesel (DDEC)


Droop PMmax PMmin K1 K2 R1 Ts T1 T2 T3

Definition Droop or Isoch Steady-state speed droop Maximum shaft power (rated MW) Minimum shaft power (>=0) PL control gain Lead/Lag controller gain PL control constant Load share system time constant PTO filter time constant Filter and Delay time constant Filter time constant


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Unit

% MW MW p.u. p.u. p.u. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine GHH BROSIG Steam Turbine Governor (GHH)

24.5.17 GHH BROSIG Steam Turbine Governor (GHH) This type of governor-turbine system represents the GHH BROSIG steam turbine governor system.

GHH BROSIG Steam Turbine Governor System (GHH)


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Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter KP1 KP2 KP3 KP4 GL GM GH Tn1 Tn2 Tn3 Tn5 Tn6 TL TM TH HP MP

Definition Generator load control gain Extraction 1 control gain Extraction 2 control gain Speed control gain Low pressure steam valve control gain Medium pressure steam valve control gain High pressure steam valve control gain Time constant of generator load control Time constant of extraction 1 control Time constant of extraction 2 control Time constant of medium pressure steam valve control Time constant of low pressure steam valve control Time constant of low pressure steam valve control loop Time constant of medium pressure steam valve control loop Time constant of high pressure steam valve control loop Extraction 1 pressure Extraction 2 pressure


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Unit

Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. bar bar

ETAP 5.0 User Guide

Dynamic Models


Parameter VLmax VLmin VMmax VMmin VHmax VHmin PLmax PLmin PMmax PMmin PHmax PHmin Pa Pb Pc Pd Pe Pf LFa LFc LFd EX2f LFv1 LFv2 LFv3 LF1 LF2 LF3 KFM0 FM0 FM1 KFL0 FL0 FL1 m1 m2 m3 e1 e2 Esf1 Esf2 Initia2

Definition Maximum value of low pressure valve control signal Minimum value of low pressure valve control signal Maximum value of medium pressure valve control signal Minimum value of medium pressure valve control signal Maximum value of high pressure valve control signal Minimum value of high pressure valve control signal Maximum value of low pressure valve position Minimum value of low pressure valve position Maximum value of medium pressure valve position Minimum value of medium pressure valve position Maximum value of high pressure valve position Minimum value of high pressure valve position Power output value at point A of steam map Power output value at point B of steam map Power output value at point C of steam map Power output value at point D of steam map Power output value at point E of steam map Power output value at point F of steam map Maximum value of live steam flow Live steam flow value at point C of steam map Minimum value of live steam flow Extraction 2 steam value at point F of steam map Valve position value at point 1 of live steam flow characteristics Valve position value at point 2 of live steam flow characteristics Valve position value at point 3 of live steam flow characteristics Flow value at point 1 of live steam flow characteristics Flow value at point 2 of live steam flow characteristics Flow value at point 3 of live steam flow characteristics Exponential coefficient of medium pressure steam flow characteristics

Minimum flow value of medium pressure steam flow characteristics Coefficient of medium pressure steam flow characteristics Exponential coefficient of low pressure steam flow characteristics Minimum flow value of low pressure steam flow characteristics Coefficient of low pressure steam flow characteristics Valve control parameter Valve control parameter Valve control parameter Valve control parameter Valve control parameter Initial extraction 1 steam flow Initial extraction2 steam flow


24-117

Unit mm/Sec. mm/Sec. mm/Sec. mm/Sec. mm/Sec. mm/Sec. mm mm mm mm mm mm MW MW MW MW MW MW t/h t/h t/h t/h mm mm mm t/h t/h t/h 1/mm t/h t/h 1/mm t/h t/h

t/h t/h

ETAP 5.0 User Guide

Dynamic Models


Steam Map Diagram


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Dynamic Models

Governor-Turbine Woodward Hydraulic (HYDR)

24.5.18 Woodward Hydraulic Governor-turbine (HYDR) This type of governor-turbine system represents the Woodward hydraulic governing systems.

Woodward Hydraulic Governor-turbine (HYDR)


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Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter VO VC1 VC2 GMAX1 GMAX2 GMIN Q RP RT TP TG TR Zt Zp1 ft fp1 Tt

Definition Gate opening speed Gate closing speed inside of the buffer zone Gate closing speed outside of the buffer zone Max gate position (RPM>RPM2) Max gate position.(RPM

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Unit p.u. p.u. p.u. p.u. p.u p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u.

ETAP 5.0 User Guide

Dynamic Models


Parameter Tp1 At1 QNL Q2 Wref Href GC Damp RPM1 RPM2 RPM3 GBUFF m B

Definition Travel time constant of penstock Proportionality factor No load flow in first unit Flow rate in second unit Speed reference Head reference Gate conversion factor Damping coefficient Gate limit speed set point 1 Gate limit speed set point 2 Gate limit speed set point 3 Buffer zone gate limit Partial shutdown gate position coefficient Partial shutdown gate position coefficient


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Unit p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine IEEE Gas-Turbine (SGT)

24.5.19 IEEE Gas-Turbine (SGT) This type of governor-turbine system represents the IEEE gas-turbine governing systems.

IEEE Gas-Turbine (SGT)


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Governor-Turbine IEEE Gas-Turbine (SGT)


Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter Pref Pmax Pmin K1 K2 K3 T1 T2 T3 T4 T5 T6 TR

Definition Load reference Maximum power limit Minimum power limit Gain 1 Gain 2 Gain 3 Governor time constant 1 Governor time constant 2 Governor time constant 3 Turbine time constant 1 Turbine time constant 2 Turbine time constant 3 Load setting time constant


Unit p.u. p.u. p.u. p.u. p.u p.u. Sec. Sec Sec. Sec. Sec. Sec. Sec.

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Dynamic Models

Governor-Turbine PowerLogic Model A (PL-A)

24.5.20 PowerLogic Governor-turbine Model A (PL-A) This type of governor-turbine system represents the Siemens Westinghouse PowerLogic model A governing systems.

PowerLogic Turbine/Governor Model A (PL-A)


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Governor-Turbine Governor-Turbine PowerLogic Model A (PL-A)


Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter Model Plimit TP TL TQ TLD TLG TA TC TD TV TPL TPG TC1 TC2 TX1 TX2 TX3

Definition Liquid fuel or Gas fuel Turbine base load Load transducer time constant Filter time constant in sec Speed transducer time constant Lead time constant Leg time constant Speed/load controller time constant Speed/load controller time constant Current to pneumatic pressure transmitter time constant Valve servo time constant Liquid piping time constant Gas piping time constant Combustion time constant Combustion time constant Temperature controller time constant Temperature controller time constant Temperature controller time constant


24-125

Unit

p.u. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Governor-Turbine PowerLogic Model A (PL-A)

Parameter TX4 TX5 KL KI KA KC KT DL JRL1 JRL2 TFLD Tref GovBase

Definition Temperature controller time constant Temperature controller time constant Speed droop Speed/load controller gain Temperature controller gain Temperature controller gain Temperature controller gain Decel limiter Jump rate limiter1 Instantaneous jump rate limiter1 Loading time from no-load to full load Temperature reference Governor base


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Unit Sec. Sec. p.u. p.u. V/F V/V V/BTU/Sec p.u. %/Sec %/Sec min p.u./100 MW

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Governor-Turbine Solar Taurus 60 Solonox Gas Fuel (ST60)

24.5.21 Solar Taurus 60 Solonox Gas Fuel Turbine-Governor (ST60) This type of governor-turbine system represents the Solar Taurus 60 Solonox Gas Fuel systems

Solar Taurus 60 Solonox Gas Fuel Governor-Turbine system


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Governor-Turbine Solar Taurus 60 Solonox Gas Fuel (ST60)



Definition

Unit

Mode T1 T2 T3 T4 T5 T6 T7 T8 Th1 Th2 K S K T K max K min

Controller delay time constant Speed compensator lead time constant Speed compensator lag time constant Governor reset time constant Combustor time constant Controller delay time constant Thermocouple time constant Gas producer time constant Controller recursion time constant Controller recursion time constant Speed control gain Temperature control gain Loader delta maximum fuel gain Loader delta minimum fuel gain

Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. Sec. p.u. p.u. p.u. p.u.


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Parameter

Definition

Unit

MinGOV Pmax Pmin

Governor minimum at no load Maximum mechanical power Minimum mechanical power

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

Gmax1 Gmin1 Gmax2

Maximum gas producer Minimum gas producer Maximum fuel

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

Gmin2 Psolo

Minimum fuel Solonox control threshold

p.u. p.u.

R Tref

Speed droop Temperature reference

p.u. p.u.


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24.5.22 Solar Taurus 70 Solonox Gas Fuel Turbine-Governor (ST70) This type of governor-turbine system represents the Solar Taurus 70 Solonox Gas Fuel systems

Solar Taurus 70 Solonox Gas Fuel Governor-Turbine system


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Dynamic Models



Definition

Unit

Mode T1

Controller delay time constant

Sec.

T2 T3

Speed compensator lead time constant Speed compensator lag time constant

Sec. Sec.

T4 T5 T6 T7 T8 G p Th1

Governor reset time constant Combustor time constant Controller delay time constant Thermocouple time constant Gas producer time constant Gas producer constant Controller recursion time constant

Sec. Sec. Sec. Sec. Sec. Sec. Sec.

Th2 K S

Controller recursion time constant Speed control gain

Sec. p.u.

K T Pmax Pmin Gmax1 Gmin1 R Tref

Temperature control gain Maximum mechanical power Minimum mechanical power Maximum gas producer Minimum gas producer Speed droop Temperature reference

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


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Dynamic Models

Governor-Turbine Gas-Turbine (GT-2)

24.5.23 Gas-Turbine and Governor (GT-2) This type of governor-turbine system represents gas turbine with windup limits.

Gas-Turbine and Governor system (GT-2)



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Governor-Turbine Gas-Turbine (GT-2)

Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter Pref Plimt Vmax Vmin Base R TR T1 T2 T3 KT

Definition Load reference Ambient temperature load limit Maximum fuel valve opening Minimum fuel valve opening Governor base Speed droop Load sensing time constant Governor time constant Combustion-chamber time constant Turbine thermal time constant Load limit thermal sensitivity gain


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Unit p.u. p.u. p.u. p.u. MW p.u. sec sec sec sec p.u.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Gas-Turbine (GT3)

24.5.24 Gas-Turbine and Governor (GT3) This type of governor-turbine system represents gas turbine with non-windup limits.

Gas-Turbine and Governor-Turbine system (GT3)



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Governor-Turbine Gas-Turbine (GT3)

Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter Pref Plimt Vmax Vmin Base R TR T1 T2 T3 KT

Description Load reference Ambient temperature load limit Maximum fuel valve opening Minimum fuel valve opening Governor base Speed droop Load sensing time constant Governor time constant Combustion-chamber time constant Turbine thermal time constant Load limit thermal sensitivity gain


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Unit p.u. p.u. p.u. p.u. MW p.u. sec sec sec sec p.u.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine Combustion Turbine (CT251)

24.5.25 Combustion Turbine-Governor (CT251) This type of governor-turbine system represents a combustion turbine-governor.

Combustion Turbine and Governor system (CT251)



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Governor-Turbine Combustion Turbine (CT251)

Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter R TR T1 TV TE K1 K2 KP

Definition Speed droop Load sensing time constant PID Integral time constant Throttle valve time constant Piping combustion time constant PID input scaling factor PID output scaling factor PID proportional gain


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Unit p.u. sec sec sec sec sec p.u. p.u.

ETAP 5.0 User Guide

Dynamic Models

Governor-Turbine User –Defined Dynamic Model (UDM)

24.5.26 User-Defined Dynamic Model (UDM) From the governor type list, user can access UDM models that have been created and save.

Details on how to use UDM model are described in User-define Dynamic Models chapter.


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Power System Stabilizer (PSS)

24.6 Power System Stabilizer (PSS) Power system stabilizer (PSS) is an auxiliary device installed on synchronous generator and tuned to help with system stability. ETAP provides two standard IEEE type models:

• •

IEEE Type 1 PSS (PSS1A) IEEE Type 2 PSS (PSS2A)

Reference for these two types of PSS is from:

•

IEEE Std. 412.5-1992, “IEEE Recommended Practice for Excitation System Models for Power System Stability Studies”, IEEE Power Engineering Society, 1992


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24.6.1 IEEE Type 1 PSS (PSS1A)

IEEE Type 1 PSS (PSS1A)


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Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter VSI KS VSTmax VSTmin Vtmin TDR A1 A2 T1 T2 T3 T4 T5 T6

Definition PSS input (speed, power or frequency) in pu PSS gain Maximum PSS output Minimum PSS output Terminal undervoltage comparison level Reset time delay for discontinuous controller PSS signal conditioning frequency filter constant PSS signal conditioning frequency filter constant PSS lead compensation time constant PSS leg compensation time constant PSS lead compensation time constant PSS leg compensation time constant PSS washout time constant PSS washout time constant


24-142

Unit p.u. p.u. p.u. p.u. p.u. sec p.u. p.u. sec sec sec sec sec sec

ETAP 5.0 User Guide

Dynamic Models


24.6.2 IEEE Type 2 PSS (PSS2A)

IEEE Type 2 PSS (PSS2A)


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Parameter Definitions and Units Parameter definitions and their units are given in the following table: Parameter VSI1 VSI2 KS1 KS2 KS3 VSTmax VSTmin VTmin TDR Tw1 Tw2 Tw3 Tw4 N M T1 T2 T3 T4 T5 T6 T7 T8

Definition PSS first input (speed, power or frequency) PSS second input (speed, power or frequency) PSS gain PSS gain PSS gain Maximum PSS output Minimum PSS output Terminal undervoltage comparison level Reset time delay for discontinuous controller PSS washout time constant PSS washout time constant PSS washout time constant PSS washout time constant Integer filter constant Integer filter constant PSS lead compensation time constant PSS leg compensation time constant PSS lead compensation time constant PSS leg compensation time constant PSS transducer time constant PSS transducer time constant PSS filter time constant PSS filter time constant


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Unit p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. sec sec sec sec sec

sec sec sec sec sec sec sec sec

ETAP 5.0 User Guide

Dynamic Models

Mechanical Load

24.7 Mechanical Load For accelerating motors in motor starting studies and dynamically modeled motors in transient stability studies, the connecting mechanical loads should be modeled for the calculation to determine the motor’s acceleration and deceleration characteristics. Mechanical loads are modeled based on load torque curves either curves based or point based as shown in the following screen capture:

When Polynomial type of load toque curve is selected, the following editor is available to select the mechanical load model.

A load curve is expressed by a third order generic polynomial equation: 2 2 3 T=A0+A1 ω+Α ω +Α3 ω

where


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ETAP 5.0 User Guide

Dynamic Models

T ω A0, A1, A2, A3

Mechanical Load

= Load torque in percent of the rated torque of the driving motor = Per unit speed of the load ( = ω m/ω s) = Coefficients

When Curve type of load toque curve is selected, the following editor is available to select the mechanical load model. Curve type can be used to create any custom shaped load torque curve that cannot be expressed in the form of a polynomial equation.

ETAP provides a number of the most common load models for you to choose from. Load torque curves can be added to the ETAP Motor Load Library and are then accessible from the Load Model pages in the Induction Machine and Synchronous Motor Editors.


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Dynamic Models

Static Var Compensator Type 1

24.8 Static Var Compensator Models The Static Var Compesator Control model can be accessed from the SVC Editor, Model Page. It is imperative to model this control when performing transient stability studies to determine the dynamic response of the SVC under different conditions. ETAP contains the following SVC control models:

• • •

Type1 Type2 Type3

The SVC control types are in accordance to the following references:


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24.8.1 SVC Control Model – Type1



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Definition

Unit

K A1 A2 T Tm Tb Td T1 T2 TBmax TBmin

Voltage regulator gain Additional control signal gain Additional control signal gain Voltage regulator time constatnt Measurement time constant Thyristor phase control time constant Thyristor phase control delay Voltage regulator time constant Voltage regulator time constant Maximum susceptance limit Minimum susceptance limit

p.u. p.u. p.u. Sec Sec Sec Sec Sec Sec p.u. p.u.


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Definition

Unit

K Ks A1 A2 T Tm Tb Td Ts T1 T2 Xsl TBmax TBmin

Voltage regulator gain Synchronizing control gain Additional control signal gain Additional control signal gain Voltage regulator time constatnt Measurement time constant Thyristor phase control time constant Thyristor phase control delay Synchronizing control time constant Voltage regulator time constant Voltage regulator time constant Slope Maximum susceptance limit Minimum susceptance limit

p.u. p.u. p.u p.u. Sec Sec Sec Sec Sec Sec Sec p.u. p.u. p.u.


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Definition

Unit

K Ks Ksr A1 A2 VSRmax VSRmin Bset T Tm Tb Td Ts T1 T2 Xsl TBmax TBmin

Voltage regulator gain Synchronizing control gain Susceptance regulator gain Additional control signal gain Additional control signal gain Maximum voltage limit Minimum voltage limit Susceptance set point Voltage regulator time constatnt Measurement time constant Thyristor phase control time constant Thyristor phase control delay Synchronizing control time constant Voltage regulator time constant Voltage regulator time constant Slope Maximum susceptance limit Minimum susceptance limit

p.u. p.u. p.u. p.u. p.u. p.u. p.u. p.u. Sec Sec Sec Sec Sec Sec Sec p.u. p.u. p.u.


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DynModels ETAP.pdf

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