IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 23, NO.

2, JUNE 2008 499

A Voltage-Behind-Reactance Synchronous Machine

Model With Saturation and Arbitrary Rotor
Network Representation
Dionysios C. Aliprantis, Member, IEEE, Oleg Wasynczuk, Senior Member, IEEE,
and Carlos D. Rodrı́guez Valdez, Student Member, IEEE

Abstract—A voltage-behind-reactance formulation of a syn- order harmonics is significant, or when abnormal operating con-
chronous machine model is set forth, which incorporates saturation ditions such as diode failures need to be studied [10]. To this
and cross-saturation, and is general enough to encapsulate a vari- end, previous work has followed the straightforward approach
ety of rotor structures by use of arbitrary linear networks instead of
equivalent circuits. Specifically, the model’s equations—originally of detailed circuit-based models, which, in general, requires
expressed in the qd-axes framework—are rewritten in such a way manually identifying the circuit’s switching state, and deriving
as to allow the actual abc stator windings to be represented by the corresponding differential equations [11]–[14].
inductive branches, which can then be naturally connected in the Recent research in the area of automatic state model gen-
desired circuit topology, e.g., to a rectifier. The model’s predictions eration for power electronics-based applications [15], [16] has
are validated against experimental results.
alleviated the concern of having to manually identify possible
Index Terms—Electric machines, modeling, rotating machine topologies and their respective state equations. With the ad-
transient analysis, simulation, synchronous generator transient vent of these algorithms, it is now possible to connect linear or
analysis, synchronous machines, transfer functions.
nonlinear inductive and capacitive elements in an arbitrary (but
I. INTRODUCTION physically consistent) switched network topology, which can
be subsequently analyzed with relative ease using the available
YNCHRONOUS machines have been finding use in the
S past few decades as generators feeding dc loads through
line- or self-commutated rectifiers in a variety of applications
state-equation solvers such as Matlab/Simulink or Advanced
Continuous Simulation Language (ACSL) [17]. With these tools
in hand, it has also become easier to simulate synchronous ma-
such as aircraft, naval and automobile power systems, or brush-
chine/rectifier configurations by connecting the stator branches
less excitation systems [1]–[3]. However, the task of modeling
appropriately to the converter’s legs and the rest of the power
the synchronous machine/converter configuration poses a sig-
system.
nificant challenge due to the highly nonlinear nature of this
Subsequent research on synchronous machine/converter sys-
switching topology.
tem analysis revealed that reformulating the machine’s equa-
Perhaps the easiest approach to this modeling problem is to
tions in a so-called voltage-behind-reactance (VBR) form—
derive an average-value model, wherein the rectification process
wherein the rotor dynamics are separated from the stator branch
is represented on an average basis. The derivation of average-
equations—can have a significantly positive impact on numeri-
value models involves certain simplifying approximations, and
cal efficiency and simulation speed [18]. The main reasons for
the subsequent calculation of the configuration’s average volt-
this were attributed to the model’s improved eigenstructure, and
age/current output characteristics [4]–[9]. It has the advantage
the reduction in the number of actual circuit branches, compared
of being numerically efficient, and offers the possibility of lin-
to the detailed coupled-circuit approach. Apart from numerical
earization for the purposes of small-signal analysis and con-
reasons, an advantage of VBR models is that they can be straight-
troller design. On the other hand, it precludes a more detailed
forwardly incorporated into circuit-based simulation software,
analysis of the machine/converter system; this kind of analy-
such as the ElectroMagnetic Transients Program (EMTP) [19],
sis would be desirable, for example, when the effect of higher
Piece-wise Linear Electrical Circuit Simulation (PLECS) [20],
or the Virtual Test Bed (VTB) [21], since the machine wind-
Manuscript received January 1, 2007; revised March 31, 2007; This work was ings are represented by branches that can be connected in the
supported by the National Science Foundation (NSF) under Award 0540342 to
Dynamic Data-Driven Applications Systems (DDDAS) for Autonomic Inter- appropriate topology. In the spirit of VBR modeling, later work
connected Systems: The National Energy Infrastructure. Paper no. TEC-00594- provided a means to incorporate magnetic saturation, albeit in
2006. the d-axis only [22]. Additional work determined that the natu-
D. C. Aliprantis is with the Department of Electrical and Computer Engineer-
ing, Iowa State University, Ames, IA 50011 USA (e-mail: [email protected]). rally occurring split between the faster stator states and slower
O. Wasynczuk is with the School of Electrical and Computer Engi- rotor states of a VBR model can be used in a multirate simula-
neering, Purdue University, West Lafayette, IN 47907-1285 USA (e-mail: tion, to further increase the simulation speed [23].
[email protected]).
C. D. Rodrı́guez Valdez is with the School of Electrical and Computer En- The important phenomenon of magnetic saturation (and
gineering, Purdue University, West Lafayette, IN 47907-1285 USA. He is also cross-saturation) has been studied extensively, and has been pre-
with the Standard Drives Division, Rockwell Automation, Mequon, WI 53097 viously incorporated in synchronous machine models in a physi-
USA (e-mail: [email protected]).
Digital Object Identifier 10.1109/TEC.2008.921460 cally and mathematically consistent manner [24]–[30]. A recent

0885-8969/$25.00 © 2008 IEEE

500 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 23, NO. 2, JUNE 2008

Fig. 1. Synchronous machine model with saturation and arbitrary rotor net-
work representation.

contribution to synchronous machine modeling [31] set forth a

synchronous machine model that not only included the effects
of magnetizing path saturation in both axes, but also replaced
the equivalent circuits of the rotor by linear networks, as shown
in Fig. 1. The motivation behind the work in [31] stemmed
from the need to address certain theoretical equivalent circuit
issues; to provide a model that is general enough to encapsulate
a plethora of rotor equivalent circuit structures [32]–[37]; to be
able to capture the actual (experimentally measured) operating
characteristics over a wide frequency band; and to make the ma-
chine parameterization process more compatible with frequency
response testing [38]. However, the model proposed in [31] was
originally expressed in qd-axes, voltage-in, current-out form (as
commonly required for power system stability studies), thus not
being flexible enough for application to a machine/rectifier con- Fig. 2. Simulation structure of the proposed VBR model. [Note: θr , ω r , and
T e are exchanged with the mechanical dynamics model; v fd


figuration. Hence, the main contribution of the present study is r and ifd r are

to couple the synchronous machine model of [31] with the in- exchanged with the excitation subsystem model; the remaining terms (λmqd ,
z q , z d , e a b c s , R, L) are defined in later sections of the paper.]
herent numerical advantages of the VBR modeling philosophy.
That is, the final goal is to reformulate the synchronous ma-
chine model’s equations in the VBR form, as shown in Fig. 2, reference frame is defined by [40]
and thus extend the family of VBR models to the most general
case, which includes saturation (and cross-saturation) as well as fq d0s = Ks (θr )fabcs (1)
arbitrary rotor network representations.
where

fq d0s = [ fq s fds f0s ]T (2)

II. MODEL DEVELOPMENT
fabcs = [ fas fbs fcs ]T (3)
A. Notation
Throughout this paper, matrix and vector quantities appear     
cos θr cos θr − 2π cos θr + 2π
in bold font; matrices and column vectors are represented by 2  3
  3

uppercase and lowercase symbols, respectively. The primed ro-
Ks (θr ) =  sin θr sin θr − 2π
3 3 
sin θr + 2π . (4)
3 1 1 1
tor quantities denote referral to the stator through the turns 2 2 2
ratio, which is defined as the ratio of field-to-armature turns,
When omitting zero-sequence variables, the vector fq d0s be-
Naf = Nfdr /Ns [39]. The analysis takes place in the rotor ref-
comes
erence frame; the often used “r” superscript [40] is omitted for
convenience. The electrical rotor position θr , and electrical rotor fq ds = [ fq s fds ]T . (5)
speed ωr , are P/2 times the mechanical rotor position θr m , and
mechanical speed ωr m , where P is the number of poles. The In the previous equations, f can represent either voltage, current,
transformation of stationary abc to qd0 variables in the rotor or flux linkage.
ALIPRANTIS et al.: VBR SYNCHRONOUS MACHINE MODEL WITH SATURATION AND ARBITRARY ROTOR NETWORK REPRESENTATION 501

B. Synchronous Machine Model Synopsis the incremental inverse inductance matrix Γmi symmetric. A
This section contains a synopsis of the synchronous machine method for determining the constants α and β is described in
model that was set forth in [31], along with some minor modifi- detail in [38].
The state equations and outputs of the d-axis two-port network
cations that set the stage for the VBR model formulation. In its
original formulation, this model is of the voltage-in, current-out (see Fig. 1) may be expressed by a linear system of order Nd as
type, that is, it accepts the stator and field voltages as inputs, vmd
and returns the stator and field winding currents as outputs. pxd = Ad xd + Bd
vd2
The stator voltage equations may be expressed in abc vari-
ables as 1 vmd
= Ad xd + [ bd1 bd2 ] (15)
vd2
vabcs = rs iabcs + pλabcs (6)
idr cTd1
where vabcs , iabcs , and λabcs denote stator winding (phase-to- i
fdr
= Cd xd = xd (16)
cTd2
neutral) voltages, currents flowing into the machine terminals,
and flux linkages, respectively, and rs is the stator winding where xd ∈ RN d ×1 , Ad ∈ RN d ×N d , Bd ∈ RN d ×2 , and Cd ∈
resistance. Transforming (6) to the rotor reference frame yields R2×N d . The contents of Bd and Cd were written as the column
vectors, bd1 , bd2 , and the row vectors, cTd1 , cTd2 . The internal
vq d0s = rs iq d0s + ωr λdq s + pλq d0s (7)
voltage vd2 may be eliminated from the equations, since it is



where λdq s = [ λds −λq s 0 ] . T related to the field voltage and current by vd2 = vfdr − rfdr i
fdr :
The stator flux linkage is separated into leakage and magne-

vmd
tizing flux terms as pxd = (Ad − rfdr bd2 cTd2 )xd + [ bd1 bd2 ]
. (17)
  vfdr
λq ds = λlq ds + λmqd = Lls iq ds + λmqd (8) d
A

where λlq ds is a linear stator leakage flux component, and λmqd Similarly, the q-axis state and output equations are
is a nonlinear magnetizing flux component. The following rela-
tions are assumed for the magnetizing path [41] pxq = Aq xq + bq vmq (18)

imq = Γmq (λ̂m )λmq (9) iq r = cTq xq (19)

imd = Γmd (λ̂m )λmd . (10) where xq ∈ RN q ×1 , Aq ∈ RN q ×N q , bq ∈ RN q ×1 , cTq ∈ R1×N q ,

and Nq is the order of the q-axis system. A method for experi-
The magnitude of the effective magnetizing flux vector is de- mentally estimating the parameters of the rotor network matri-
fined by ces using standstill frequency response tests has been presented
in [38].
λ̂m = λ2md + αλ2mq (11) Note that the magnetizing branch voltages are equal to the
where α is a saliency-dependent parameter. Differentiating (9) derivatives of the corresponding flux linkages, that is,
and (10) with respect to time yields vmqd = pλmqd . (20)
pimqd = Γmi (λmqd )pλmqd (12) This observation can lead to a modified set of rotor network
where the incremental inverse inductance matrix is given by equations, whereby the rotor state derivatives are dependent on
the magnetizing fluxes themselves rather than their derivatives
Γmi (λmqd ) = [cf. (17) and (18)]. To obtain these, we define the vectors
 
dΓ mq ( λ̂m ) α λmq dΓ mq ( λ̂m ) λmq λmd
2

+ Γmq (λ̂m ), zd = xd − bd1 λmd (21)

 d λ̂m λ̂m d λ̂m λ̂m 
 . zq = xq − bq λmq .
dΓ md ( λ̂m ) α λmq λmd dΓ md ( λ̂m ) λmd (22)
2
, + Γmd (λ̂m )
d λ̂m λ̂m d λ̂m λ̂m Inserting (21) and (22) into (17) and (18) yields
(13)
  λmd
 d zd + A
pzd = A  d bd1 bd2
(23)
In [31], it was shown that the condition of a lossless coupling vfdr
field imposes a restriction on the inverse magnetizing inductance
functions [27], [28]. Specifically, these functions are linearly pzq = Aq zq + Aq bq λmq . (24)
related by At this point, it is useful for the ensuing analysis to derive
Γmq (λ̂m ) = αΓmd (λ̂m ) + β, β ∈ R. (14) expressions for the following rotor network currents and their
derivatives, which are readily obtained from (16)–(24) as
This restriction has to be enforced during the magnetizing char-
acteristics’ curve fitting procedure. Note that it also renders idr = cTd1 (zd + bd1 λmd ) (25)
i
fdr = cTd2 (zd + bd1 λmd ) (26)
1 Throughout this paper, Heaviside’s operator notation is used for representing
the differentiation with respect to time. iq r = cTq (zq + bq λmq ) (27)
502 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 23, NO. 2, JUNE 2008

 d zd + A
 d bd1 λmd + bd1 pλmd + bd2 v
) (28) of (independent) rotor network states must be reduced by one in
pidr = cTd1 (A fdr each axis. To this end, the rotor state vectors can be written as
piq r = cTq (Aq zq + Aq bq λmq + bq pλmq ) . (29) zq 1 zd1
zq = , zd = (32)
Finally, the electromagnetic torque developed by the machine is zq zd
given by [31] where their first element has been separated for simplicity. In
3P this context, the overline denotes that a vector’s contents have
Te = (iq s λmd − ids λmq ) . (30)
22 been reduced by removing its first element. The degrees of
For generator action (and ωr > 0), the torque will be negative. freedom that are thus removed from the rotor networks are
transferred to the stator branches, and are incorporated into the
C. Saturated VBR Model Formulation equations describing the power system topology. Nevertheless,
the machine model remains identical overall.2
The equations that were set forth in the previous section can Furthermore, notice that particular care must be taken to ex-
be manipulated to formulate the same mathematical model in press the model equations in such a way as to avoid the creation
the VBR form. In general, a VBR model can be used to separate of algebraic loops, that is, closed signal paths with direct feed-
the dynamics of the stator and rotor circuits. To achieve this, through of input variables to the output. In general, modern
the stator windings are represented as generalized RL branches simulation software will not be able to handle algebraic loops,
(with mutual resistive and inductive interactions), as shown in or will do so at the expense of a significant decrease in com-
Fig. 2. These branches carry the actual current of the abc ar- putational efficiency. In the analysis that will follow, it will be
mature windings, and are directly connected to other circuit shown that algebraic loops can be eliminated, so that all outputs
elements (e.g., the diodes of a rectifier) in the desirable system from the internal VBR model equations are functions of state
topology. Each branch contains a voltage source that is con- variables, as depicted in Fig. 2. 3
trolled by the internal rotor states; in other words, this voltage Combining (9), (10), (25), (27), (31), and (32), it is possible
source is independent of the instantaneous value of the current to solve for zq 1 , zd1 , and write
flowing in the armature windings. In addition, the RL branches’
resistive and inductive elements are time-varying functions of 1    
zq 1 = iq s − cq T zq − Γmq (λ̂m ) + cTq bq λmq (33)
the machine’s magnetization state, as well as the rotor’s position (cq )1
and speed. 1    
At this stage, it is worthwhile to consider the input/output zd1 = ids − cd1 T zd − Γmd (λ̂m ) + cTd1 bd1 λmd
(cd1 )1
structure as well as the selection of internal (rotor) states for
the VBR model. When a synchronous machine is connected (34)
in a system of arbitrary topology, only a subset of the stator where (cq )1 and (cd1 )1 denote the first elements of their respec-
currents and voltages will act as state variables in the dynamic tive vectors, while cq and cd1 contain the remaining elements.
system equations, while the remaining ones will be algebraically These two equations allow the computation of zq 1 , zd1 (and
related to the states. The selection of states depends on the sys- therefore of the complete vectors zq , zd ), based on the VBR
tem’s topology (e.g., the rectifier’s switching state), and cannot model state variables (λmqd , zq , zd ) and the stator current in-
be established beforehand. Moreover, in a system of a switching puts (iq ds ). The time derivatives of zq and zd can be computed
nature, whose topology is modified after each switching event, from (23) and (24) by ignoring the two equations that correspond
the set of state variables may be subject to change in accor- to their first rows (i.e., to pzd1 , pzq 1 ).
dance with the network’s topology. Algorithms for automati- The next step in the analysis is to determine the time deriva-
cally generating and updating the state equations of switched tives of the magnetizing flux linkages. Differentiating (31) with
power electronics-based networks have been previously dis- respect to time, substituting (12), (28), and (29), and rearranging
cussed in the literature [15], [16]. Hence, the VBR model shall
be formulated in such a way as to accept the currents and volt-
ages of the stator branches as inputs, regardless of which are 2 Note that, equivalently, it is possible to select an arbitrary linear combination

selected as states by the circuit simulation. The VBR internal of rotor states for removal from the network equations. For example, using the
linear transformation z d = T d w d , the rotor state equation (23) could be rewrit-
states will be the magnetizing flux linkages, λmq and λmd , plus ten in terms of w d . The first element of w d , w d 1 , would therefore represent a
the rotor network states. linear combination of the elements of z d . Potentially, an “optimal” combination
However, as a consequence of selecting the stator currents as of states could be found that would lead to increased simulation speeds, e.g.,
by appropriately splitting fast and slow rotor states. However, this research is
inputs, Kirchhoff’s current law given by beyond the scope of the present work.
3 Apart from the stator electrical quantities, the VBR model requires three
iq ds = imqd + iq dr (31) additional inputs, as shown in Fig. 2. As far as speed and angle are concerned,
these are obtained by the equations of motion, e.g., p 2 θr m = pω r m = (T m +
coupled with the fact that the magnetizing currents are functions T e )/J . Hence, both are state variables of the mechanical subsystem, and thus,
of the magnetizing flux state variables [cf. (9) and (10)], causes algebraic loops are not an issue. On the other hand, an algebraic loop could be
the rotor currents to be dependent on the model’s inputs. Since possibly formed via the field winding voltage signal path, which is commonly
obtained by a generator control subsystem. However, since measured quantities
the rotor currents are linearly related to the VBR rotor network are usually low-pass filtered for noise removal in the preprocessing stage, the
state variables by (25) and (27), it becomes clear that the number probability of an algebraic loop being formed is limited.
ALIPRANTIS et al.: VBR SYNCHRONOUS MACHINE MODEL WITH SATURATION AND ARBITRARY ROTOR NETWORK REPRESENTATION 503

the terms yields formation K−1

s (θr ) [the inverse of (4)] to the qd-axes voltage
equations (38) and (39), along with the zero-sequence voltage
  equation
cTq bq 0
Γmi (λmqd ) + pλmqd v0s = rs i0s + Lls pi0s (40)
0 cTd1 bd1
 
L −1
mi
and appropriately grouping the arising voltage drops.
  First, note that the vector ξ contains terms that depend on
cTq Aq (zq + bq λmq )
= piq ds −   . the stator currents through zd1 and zq 1 ; these terms need to be
 d (zd + bd1 λmd ) + bd2 v

cTd1 A separated before applying the transformation. To this end, it will
fdr
  be now shown that ξ can be expressed as
ξ
ξq aq iq s ξq aq iq s
(35) ξ= = + = +ξ (41)
ξd ad ids ξd ad ids

where aq and ad represent constants, while ξq and ξd are de-

Note that the incremental inductance matrix that multiplies pendent only on internal VBR state variables. Recall that ξ was
pλmqd in the left-hand side is symmetric, since Γmi (λmqd ) defined in (35) as
is symmetric (due to the lossless coupling field restrictions de-  
cTq Aq (zq + bq λmq )
scribed in the previous section), and because only diagonal terms
ξ=
ξq
=   . (42)
are added to it. Hence, its inverse (assuming it exists) will also ξd cTd1 A d (zd + bd1 λmd ) + bd2 v

fdr
be a symmetric matrix. This matrix will be denoted by Lmi , and
will have the form Substituting the elements zq 1 , zd1 of zq , zd in (42) by (33) and
(34) yields

Lm q q Lmqd 1 T 1
Lmi (λmqd ) = . (36) ξq = c aq 1 iq s + cq T
Aq − aq 1 c q T z q
Lmqd Lm dd (cq )1 q (cq )1
  
Γmq (λ̂m ) + cTq bq
+ Aq bq − aq 1 λmq (43)
Moreover, for notational convenience, the right-hand side 2 × 1 (cq )1


column vector that is a function of zq , zd , λmqd , and vfdr , will
be denoted by ξ(·). Solving (35) for pλmqd yields 1
ξd = cT ad1 ids
(cd1 )1 d1

pλmqd = Lmi (λmqd )piq ds − Lmi (λmqd )ξ(·) . (37) T
+ cd1 A d − 1 a

d1 cd1 T zd + bd2 vfdr
(cd1 )1
  
If this result is now substituted in the qd-axes voltage equations  Γmd (λ̂m ) + cTd1 bd1
+ Ad bd1 − d1 λmd . (44)
a
(7), also taking into account (8), the following set of equations (cd1 )1
is obtained:
To obtain these expressions, the original rotor network matrices
 d and Aq were split as
A
vq s = rs iq s + ωr Lls ids + (Lls + Lm q q )piq s + Lmqd pids  
d = a
A d1 A d , Aq = [ a q 1 A q ] (45)
+ {−[Lmi (λmqd )ξ(·)]1 + ωr λmd } (38)
that is, by separating their first columns from the remaining
vds = rs ids − ωr Lls iq s + (Lls + Lm dd )pids + Lmqd piq s ones. By defining
+ {−[Lmi (λmqd )ξ(·)]2 − ωr λmq } . (39) 1 T
aq = c aq 1 (46)
(cq )1 q
1
By rearranging the terms, a linear two-by-two system can be ad = d1
cTd1 a (47)
formulated with the stator current derivatives as unknowns. The (cd1 )1
result can be then inserted into (37) to obtain the derivatives of the vector ξ has been decomposed as in (41). Now the voltage
the magnetizing flux linkages. As was the case with pzq and equations (38) and (39) may be rewritten as
pzd , the derivatives of λmqd are computed based exclusively on
VBR model states and inputs. vq s = rs iq s + Lls (piq s + ωr ids )
The last step in the VBR model formulation is the determina- + (Lm q q piq s + Lmqd pids ) − (Lm q q aq iq s + Lmqd ad ids )
tion of the stator branches’ parameters (resistances, inductances,  
and voltages), which will be output to the circuit simulator. + −Lm q q ξq − Lmqd ξd + ωr λmd (48)
 
This is achieved by applying the inverse reference frame trans- eq s
504 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 23, NO. 2, JUNE 2008

 
vds = rs ids + Lls (pids − ωr iq s ) L1 (θr ) L1 (θr − π3 ) L1 (θr + π3 )
 
+ (Lm dd pids + Lmqd piq s ) − (Lmqd aq iq s + Lm dd ad ids ) + ωr  L1 (θr − π3 ) L1 (θr + π3 ) L1 (θr )  (55)
  L1 (θr + π3 ) L1 (θr ) L1 (θr − π3 )
+ −Lm dd ξd − Lmqd ξq − ωr λmq . (49)
 
ed s and

According to reference frame theory [40], the inverse transform Lm = K−1

s (θr )Lmi Ks (θr )
 
of the resistive and leakage inductance terms (speed voltages 1 − 12 − 12
plus time derivatives) is straightforward to carry out. Moreover,  
= La  − 12 1 − 12  +
the terms that have been designated as eq s and eds will lead
to a set of abc voltages, which are dependent on rotor and − 12 − 12 1
magnetizing flux linkage state variables through  
L2 (θr ) L2 (θr − π3 ) L2 (θr + π3 )
   
eq s +  L2 (θr − π3 ) L2 (θr + π3 ) L2 (θr )  (56)
eabcs = K−1 
s (θr ) eds
. (50) L2 (θr + π3 ) L2 (θr ) L2 (θr − π3 )
0
with
Therefore, what remains is to carry out the following two inverse L1 (φ) = Lb sin(2φ) + Lc cos(2φ) (57)
transformations:
  L2 (φ) = −Lb cos(2φ) + Lc sin(2φ) (58)
−aq Lm q q −ad Lmqd 0
K−1 
s (θr ) −aq Lmqd −ad Lm dd 0  iq d0s (51) La =
Lm q q + Lm dd
(59)
0 0 0 3
  Lm dd − Lm q q
R
mi Lb = (60)
3
and 2Lmqd
  Lc = (61)
Lm q q Lmqd 0 3
K−1 
s (θr ) Lmqd Lm dd 0  piq d0s (52) R1 (φ) = Rb cos(2φ) + Rc sin(2φ) (62)
0 0 0 aq Lm q q + ad Lm dd
  Ra = (63)
L
mi 3
aq Lm q q − ad Lm dd
where R
mi and L
mi denote zero-sequence-augmented matrices, Rb =
3
(64)
and aq + ad
Rc = Lmqd (65)
iq d0s = Ks (θr )iabcs (53) 3
aq − ad
piq d0s = p [Ks (θr )iabcs ] Rd = Lmqd . (66)
3
d Although the expressions for La and Lb are similar to the ones
= ωr [Ks (θr )] iabcs + Ks (θr )piabcs . (54)
dθr derived in [18] and [22] for a linear and a saturated VBR model
Carrying out these matrix multiplications and grouping the re- (with d-axis saturation only), respectively, they are now de-
sultant resistive and inductive terms, after trigonometric manip- pendent on the qd-axes magnetizing fluxes, since the proposed
ulations, yields model incorporates saturation effects in both axes. Moreover,
Lc is a new term that reflects the effects of cross-saturation. 4
 
d With these calculations in place, the equations of a VBR
Rm = K−1 s (θ r ) R

mi K s (θ r ) + ω r L

mi [K s (θ r )] model are readily obtained. Specifically, the voltage equations
dθr
  of the stator branches have the form
1 −2 −2
1 1
 1  vabcs = Riabcs + Lpiabcs + eabcs . (67)
= (−Ra )  − 2 1 − 21 
− 12 − 12 1
  4 It is interesting to note that R and L are separated into constant and time-
√ 0 1 −1
m m
varying (sinusoidal) components, assuming that ω r and the magnetization state
3
+ (ωr La − Rd )  −1 0 1  remain constant. In the case of linear magnetics, it can be readily observed that
2 the time-varying inductive components can be completely eliminated when the
1 −1 0 subtransient inductances are equal, i.e., when L m q q = L m d d . Moreover, the
  resistive time-varying terms can also be eliminated by an appropriate selection of
R1 (θr ) R1 (θr − π3 ) R1 (θr + π3 ) internal rotor states, as previously discussed, which would result in a q L m q q =
 
−  R1 (θr − π3 ) R1 (θr + π3 ) R1 (θr )  a d L m d d . The elimination of time-varying terms has been reported to provide
significant gains in simulation speed [42], [43]. However, these techniques
R1 (θr + π3 ) R1 (θr ) R1 (θr − π3 ) cannot be applied in the most general case of nonlinear magnetics.
ALIPRANTIS et al.: VBR SYNCHRONOUS MACHINE MODEL WITH SATURATION AND ARBITRARY ROTOR NETWORK REPRESENTATION 505

The resistance and inductance matrices contain terms that mul-

tiply the abc phase currents and their derivatives, respectively,
and are given by

R = rs I3 + Rm (68)
L = Lls I3 + Lm (69)
Fig. 3. Generic test configuration for the two case studies.
with Rm and Lm defined in (55) and (56). The matrices R and
L are independent of phase currents, and depend only on mag- TABLE I
ELECTRICAL PARAMETERS OF A 3.7 KW SYNCHRONOUS GENERATOR
netizing fluxes, angular position, and speed. In (67), there is no
explicit dependence on pL, since these incremental inductance
terms have been appropriately incorporated in R. The voltages
eabcs are dependent on magnetizing fluxes as well as on internal
rotor network states, and are computed by (50).

D. VBR Model Summary

In this section, the sequence of computational steps and the
corresponding equations that are required to implement the VBR
model are outlined as follows.
1) Transform iabcs and vabcs to the rotor reference frame rates saturation in the d-axis only, while the q-axis is considered
using (1). to be magnetically linear (thus leading to zero cross-saturation
2) Compute λ̂m using (11), and the inverse magnetizing func- terms). This case will help to highlight the usage of the proposed
tions Γmq (λ̂m ), Γmd (λ̂m ) from their mathematical ex- model when a more traditional equivalent circuit-based model is
pressions. available and needs to be transformed to the formulation herein.
3) Compute Γmi from (13). In the second case, a machine model that includes saturation in
4) Compute Lmi from its definition in (35). both axes is used. The machine model in this case was origi-
5) Use (55)–(66) and (68), (69) to compute the stator branch nally characterized in [38], wherein the arbitrary linear network
resistance and inductance matrices, R and L. structure was a key component of the parameterization process,
6) Compute ξ and ξ from (41), (43), and (44). and saturation in both axes was considered.
7) Compute eq ds by (48) and (49), and then apply the inverse The studies consist of a synchronous generator feeding a re-
transformation (50) to obtain the branch voltages eabcs . sistive load through an uncontrolled diode rectifier, as shown in
8) Compute zq 1 , zd1 with (33), (34), and form the complete Fig. 3. The equations of the model proposed herein were coded
rotor state vectors zq , zd by way of (32). in Matlab/Simulink. The rectifier and load circuit topology was
9) Compute the field winding current i
fdr from (26). programmed in the Automated State Model Generator [17], a
10) Extract the rotor state derivative vectors pzd and pzq from software package that automatically identifies switching events
(23) and (24). and reconstructs the system’s state equations after changes in
11) Solve the linear system of (38) and (39) for piq ds . topology occur. As was previously explained, the generator’s
12) Calculate pλmqd using (37). stator windings are represented by generalized voltage branches
13) Compute Te from (30). (Y-connected) that are appropriately connected to the legs of the
The earlier sequence of computational steps is slightly sim- rectifier bridge (see Fig. 2).
plified when it is desirable to obtain a model with saturation
neglected. In a nonsaturable model, the magnetizing branch A. Case Study I
inductances are no longer functions of flux linkage, so that
the saturation functions Γmq and Γmd in (9) and (10) are In this study, it is assumed that the field winding is connected


constants. In this case, the matrices Γmi and Lmi become to a constant voltage source (vfdr = 2.84 V), and that the gen-
diagonal with constant elements, and so steps 2)–4) are no erator is rotating at constant rated speed (1800 r/min). At time
longer necessary. In addition, the resistive and inductive terms t = 0.05 s, the resistive load is changed by closing the switch S.
La , Lb , Lc , Ra , Rb , Rc , and Rd , which appear in Rm and Lm , The component values are L = 1.19 mH, R1 = 67.03 Ω, and
are now constant as well (however, the dependence on θr R2 = 57.9 Ω; also, the dc-link inductor has a series resistance
remains). of Rdc = 0.32 Ω. Note that there is no capacitance connected
for this study. The synchronous generator parameters are listed
in Table I. The parameters denoted therein by Ma , Md , λT , and
III. EXPERIMENTAL VALIDATION τT are related to a mathematic representation of saturation that
The proposed model is validated versus experimental results uses an arctangent function [44]; Lmd is the slope of the d-axis
for two distinct case studies. First, the model’s predictions are λ–i characteristic at the origin, and is only used during the sim-
compared with experimental results published in a previous pa- ulation of an unsaturated machine, for comparison purposes.
per by Pekarek et al. [22], wherein the machine model incorpo- Finally, the rectifier diodes are modeled as ideal switches.
506 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 23, NO. 2, JUNE 2008

The synchronous machine is described by a traditional equiv-

alent circuit model with two damper windings per axis, without
any differential leakage inductance terms [37], [40]. An equiv-
alent circuit structure such as this one can be translated to the
linear network format used in this paper by defining the rotor
matrices as
 r

− L
f d r 0 0 ···
 lfd r 
 r

 0 − L
k d 1 0 ···
Ad =  lk d1  (70)
 r

 0 0 − L
k d 2 · · · 
 lk d2 
.. .. .. ..
. . . .
 
1 −1  1 
1 0  L
l f d r
1
L
l k d 1
1
L
l k d 2 ···
Bd =  
 1 0  , Cd = −
1
Llfd r 0 0 ···
.. ..
. .
(71)
 r k
q 1 
− L
l k q 1 0 ···
 
 r k
q 2 
Aq =  0 − L
l k q 2 ··· (72)
 
.. .. ..
. . .
 
1  

bq = 1  , ···
1 1
cTq = L
l k q 1 L
l k q 2 . (73)
..
.
Moreover, it is straightforward to implement the effect of
magnetic saturation in the d-axis only by setting α = 0 and
β = 1/Lmq .
The plotted waveforms in Fig. 4 correspond to the field wind-
ing current, dc-link current, and voltage. Two simulation results
(unsaturated and saturated model) along with the experimen-
tally measured waveforms are provided for each quantity. As
can be observed, the saturated model provides significantly bet-
ter predictions compared to the unsaturated model, especially
in terms of dc-link current and voltage. The results obtained by
using the proposed VBR model are essentially identical to the
ones presented in [22].

B. Case Study II
The topology of Fig. 3 is valid for the second study as well.
The alternator is a Leroy–Somer brushless synchronous gener-
ator, model LSA 432L7. This is a salient four-pole machine, Fig. 4. Case study I: response to a load step.
rated 59 kW, 600 V, at 1800 r/min. Due to space considera-
tions, the machine’s parameters are not included herein; how-
ever, they can be found—along with the machine’s character- The waveforms shown in Figs. 5 and 6 correspond to the two
ization procedure—in [38]. The remaining component values different loading conditions, before and after the switch S was
are: L = 2.5 mH, C = 1400 µF, R1 = 34.4 Ω, and R2 = 16.4 closed, respectively. They depict simulated and experimental
Ω. In this setup, the machine is controlled (through its brushless voltages and currents at the machine terminals, illustrated for
exciter) in such a way as to obtain a voltage of 560 V line– two electric periods (T = 16.67 ms). The experimental quan-
line, fundamental rms at the machine terminals. For modeling tities have been low-pass filtered (with time constant τf = 50
purposes, the exciter machine is represented by a controlled dc µs) to remove high-frequency measurement noise. The exper-
voltage source that provides the appropriate amount of volt- imental waveforms are plotted in gray, and with a small shift
age to the main alternator field winding, in order to obtain the relative to the simulated ones, to illustrate that there is acceptable
commanded terminal voltage value. agreement.
ALIPRANTIS et al.: VBR SYNCHRONOUS MACHINE MODEL WITH SATURATION AND ARBITRARY ROTOR NETWORK REPRESENTATION 507

over, the instances of diode switching, which are determined by

the generator’s abc branch voltage sources (see Fig. 2), are also
predicted with high accuracy.

IV. CONCLUSION
A VBR formulation of a detailed synchronous machine model
is set forth, general enough to include saturation effects and ar-
bitrary linear rotor networks. The model combines the numer-
ical advantages of the VBR models with the increased fidelity
of the proposed synchronous machine representation. Detailed
voltage and current waveforms can be predicted with high ac-
curacy and computational efficiency, as seen by validation with
experimental results. The model’s VBR formulation makes it
ideal for studying cases where asymmetric stator conditions are
present. For example, using circuit-based simulation algorithms,
the model can be readily applied to switched power electronics-
based systems (e.g., machine/converter topologies as found in
naval, aircraft, and automobile power systems) under normal
Fig. 5. Case study II: low-load waveforms. [Note: black = simulation; gray = operation or under fault (e.g., during a single-phase fault to
experiment]
ground or a converter valve failure), or for automatic identifica-
tion of the operating modes. In addition, the model can be used
for power system stability analyses (e.g., involving unbalanced
faults in three-phase power system networks), and controller de-
sign optimization. With minor modifications, the model could
be extended to represent other machine types as well, such as
permanent-magnet synchronous machines or induction motors.

ACKNOWLEDGMENT
The authors would like to thank Prof. S. Pekarek for supplying
the set of experimental data used in the first validation study.

REFERENCES
[1] J. G. Kettleborough, I. R. Smith, and B. A. Fanthome, “Simulation of a
dedicated aircraft generator supplying a heavy rectified load,” in Proc.
Inst. Elect. Eng., B, vol. 130, no. 6, pp. 431–435, Nov. 1983.
[2] J. G. Ciezki and R. W. Ashton, “Selection and stability issues associated
with a navy shipboard dc zonal electric distribution system,” IEEE Trans.
Power Del., vol. 15, no. 2, pp. 665–669, Apr. 2000.
[3] Recommended Practice for Excitation System Models for Power System
Fig. 6. Case Study II: high-load waveforms. [Note: black = simulation; gray Stability Studies, IEEE Standard 421.5, 2005.
= experiment] [4] H. W. Gayek, “Behavior of brushless aircraft generating systems,” IEEE
Trans. Aerosp.–Support Conf. Proced., vol. 1, no. 2, pp. 594–621, Aug.
1963.
Notably, there is an excellent match during the current com- [5] S. D. Sudhoff and O. Wasynczuk, “Analysis and average-value model-
ing of line-commutated converter–synchronous machine systems,” IEEE
mutation periods. During these time periods, a short circuit is Trans. Energy Convers., vol. 8, no. 1, pp. 92–99, Mar. 1993.
imposed between two machine phases, as can be readily iden- [6] S. D. Sudhoff, K. A. Corzine, H. J. Hegner, and D. E. Delisle, “Transient
tified by an observation of the voltage and current waveforms. and dynamic average-value modeling of synchronous machine fed load-
commutated converters,” IEEE Trans. Energy Convers., vol. 11, no. 3,
For example, during commutation of current from phase a to pp. 508–514, Sep. 1996.
phase b, vab = 0. Since commutation current is circulating in [7] I. Jadrić, D. Borojević, and M. Jadrić, “Modeling and control of a syn-
the a–b phase loop, its rate of change is dependent only upon in- chronous generator with an active dc load,” IEEE Trans. Energy Convers.,
vol. 15, no. 2, pp. 303–311, Mar. 2000.
ternal machine parameters. Therefore, the fact that the proposed [8] J. Jatskevich, S. D. Pekarek, and A. Davoudi, “Parametric average-value
model is able to predict this variation with sufficient accuracy model of synchronous machine–rectifier systems,” IEEE Trans. Energy
provides strong testimony to the model’s validity. Convers., vol. 21, no. 1, pp. 9–18, Mar. 2006.
[9] D. C. Aliprantis, S. D. Sudhoff, and B. T. Kuhn, “A brushless exciter
In addition, the model is able to predict the switching na- model incorporating multiple rectifier modes and Preisach’s hysteresis
ture of the voltage and current waveforms with high fidelity in theory,” IEEE Trans. Energy Convers., vol. 21, no. 1, pp. 136–147, Mar.
both loading cases. Note that the shape of the voltage waveform 2006.
[10] T. Zouaghi and M. Poloujadoff, “Modeling of polyphase brushless exciter
changes with increasing load, with steps becoming more pro- behavior for failing diode operation,” IEEE Trans. Energy Convers.,
nounced due to the current’s longer commutation times. More- vol. 13, no. 3, pp. 214–220, Sep. 1998.
508 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 23, NO. 2, JUNE 2008

[11] P. W. Franklin, “Theory of the three phase salient pole type generator with response test),” IEEE Trans. Energy Convers., vol. 8, no. 2, pp. 272–279,
bridge rectified output–Parts I and II,” IEEE Trans. Power Appl. Syst., Jun. 1993.
vol. 91, no. 5, pp. 1960–1975, Sep./Oct. 1972. [36] A. Keyhani and H. Tsai, “Identification of high-order synchronous gener-
[12] W. J. Bonwick and V. H. Jones, “Rectifier-loaded synchronous generators ator models from SSFR test data,” IEEE Trans. Energy Convers., vol. 9,
with damper windings,” in Proc. Inst. Elect. Eng., vol. 120, no. 6, pp. 659– no. 3, pp. 593–603, Sep. 1994.
666, Jun. 1973. [37] Guide for Synchronous Generator Modeling Practices and Applications in
[13] I. Iglesias, L. Garcı́a-Tabarés, and J. Tamarit, “A d-q model for the self- Power System Stability Analyses, IEEE Standard 1110–2002, Nov., 2003.
commutated synchronous machine considering the effects of magnetic [38] D. C. Aliprantis, S. D. Sudhoff, and B. T. Kuhn, “Experimental character-
saturation,” IEEE Trans. Energy Convers., vol. 7, no. 4, pp. 768–776, ization procedure for a synchronous machine model with saturation and
Dec. 1992. arbitrary rotor network representation,” IEEE Trans. Energy Convers.,
[14] M. A. Abdel-Halim and C. D. Manning, “Modelling a laminated brushless vol. 20, no. 3, pp. 595–603, Sep. 2005.
exciter–alternator unit in all modes of operation,” in Proc. Inst. Elect. Eng., [39] Test Procedures for Synchronous Machines, IEEE Standard 115, Dec.,
B, vol. 138, no. 2, pp. 87–94, Mar. 1991. 1995.
[15] O. Wasynczuk and S. D. Sudhoff, “Automated state model generation [40] P. C. Krause, O. Wasynczuk, and S. D. Sudhoff, Analysis of Electric
algorithm for power circuits and systems,” IEEE Trans. Power Syst., Machinery and Drive Systems. New York: IEEE Press—Wiley Inter-
vol. 11, no. 4, pp. 1951–1956, Nov. 1996. science, 2002.
[16] J. V. Jatskevich, “A state selection algorithm for the automated state model [41] S.-A. Tahan and I. Kamwa, “A two-factor saturation model for syn-
generator” Ph.D. dissertation, Purdue Univ., West Lafayette, IN, Aug. chronous machines with multiple rotor circuits,” IEEE Trans. Energy
1999. Convers., vol. 10, no. 4, pp. 609–616, Dec. 1995.
[17] Automated State Model Generator (ASMG) Reference Manual, P. C. [42] S. D. Pekarek and E. A. Walters, “An accurate method of neglecting
Krause and Associates, Inc., West Lafayette, IN, 2002. dynamic saliency of synchronous machines in power electronic based
[18] S. D. Pekarek, O. Wasynczuk, and H. J. Hegner, “An efficient and accurate systems,” IEEE Trans. Energy Convers., vol. 14, no. 4, pp. 1177–1183,
model for the simulation and analysis of synchronous machine/converter Dec. 1999.
systems,” IEEE Trans. Energy Convers., vol. 13, no. 1, pp. 42–48, Mar. [43] S. D. Pekarek, M. T. Lemanski, and E. A. Walters, “On the use of singular
1998. perturbations to neglect the dynamic saliency of synchronous machines,”
[19] EMTP-RV—Electromagnetic transients program. CEA Technologies, IEEE Trans. Energy Convers., vol. 17, no. 3, pp. 385–391, Sep. 2002.
Inc., Montréal (Québec), Canada, [Online]. Available: http://www. [44] K. A. Corzine, B. T. Kuhn, S. D. Sudhoff, and H. J. Hegner, “An improved
emtp.com/. method for incorporating magnetic saturation in the q-d synchronous ma-
[20] PLECS—Power electronics in Simulink. Plexim GmbH. Zurich. Switzer- chine model,” IEEE Trans. Energy Convers., vol. 13, no. 3, pp. 270–275,
land, [Online]. Available: http://www.plexim.com/. Sep. 1998.
[21] VTB—Virtual test bed, University of South Carolina, [Online]. Available:
http://vtb.engr.sc.edu/.
[22] S. D. Pekarek, E. A. Walters, and B. T. Kuhn, “An efficient and accurate Dionysios C. Aliprantis (M’04) was born in Athens,
model of representing magnetic saturation in physical-variable models of Greece, on July 15, 1976. He received the Diploma
synchronous machines,” IEEE Trans. Energy Convers., vol. 14, no. 1, degree in 1999 from the National Technical Univer-
pp. 72–79, Mar. 1999. sity of Athens, Greece, and the Ph.D. degree in 2003
[23] S. D. Pekarek, O. Wasynczuk, E. A. Walters, J. V. Jatskevich, C. E. Lucas, from Purdue University, West Lafayette, IN, both in
N. Wu, and P. T. Lamm, “An efficient multirate simulation technique for electrical and computer engineering.
power-electronic-based systems,” IEEE Trans. Power Syst., vol. 19, no. 1, He is currently an Assistant Professor of electrical
pp. 399–409, Feb. 2004. and computer engineering at Iowa State University,
[24] R. G. Harley, D. J. N. Limebeer, and E. Chirricozzi, “Comparative study Ames, IA. His current research interests include mod-
of saturation methods in synchronous machine models,” in Proc. Inst. eling and simulation of electric machines and power
Elect. Eng., B, vol. 127, no. 1, pp. 1–7, Jan. 1980. systems, power electronics and controls, and evolu-
[25] P. Vas, K. E. Hallenius, and J. E. Brown, “Cross-saturation in smooth- tionary optimization methods.
air-gap electrical machines,” IEEE Trans. Energy Convers., vol. 1, no. 1,
pp. 103–112, Mar. 1986.
[26] I. Boldea and S. A. Nasar, “A general equivalent circuit (GEC) of electric
machines including crosscoupling saturation and frequency effects,” IEEE Oleg Wasynczuk (M’76–SM’88) was born in
Trans. Energy Convers., vol. 3, no. 3, pp. 689–695, Sep. 1988. Chicago, IL, on June 26, 1954. He received the
[27] J. A. Melkebeek and J. L. Willems, “Reciprocity relations for the mutual B.S.E.E. degree in electrical engineering from
inductances between orthogonal axis windings in saturated salient-pole Bradley University, Peoria, IL, in 1976, and the
machines,” IEEE Trans. Ind. Appl., vol. 26, no. 1, pp. 107–114, Jan./Feb. M.S.E.E. and Ph.D. degrees in electrical engineer-
1990. ing from Purdue University, West Lafayette, IN, in
[28] P. W. Sauer, “Constraints on saturation modeling in ac machines,” IEEE 1977 and 1979, respectively.
Trans. Energy Convers., vol. 7, no. 1, pp. 161–167, Mar. 1992. He is currently a Professor in the School of Elec-
[29] E. Levi, “Saturation modelling in D-Q axis models of salient pole syn- trical and Computer Engineering, Purdue University.
chronous machines,” IEEE Trans. Energy Convers., vol. 14, no. 1, pp. 44– He is the author or coauthor of more than 60 technical
50, Mar. 1999. papers, and the coauthor of two books entitled Anal-
[30] E. Levi and V. A. Levi, “Impact of dynamic cross-saturation on accuracy of ysis of Electric Machinery published by IEEE press, and the Electromechani-
saturated synchronous machine models,” IEEE Trans. Energy Convers., cal Motion Devices published by McGraw-Hill. His current research interests
vol. 15, no. 2, pp. 224–230, Jun. 2000. include power system dynamics and control, and the analysis and design of
[31] D. C. Aliprantis, S. D. Sudhoff, and B. T. Kuhn, “A synchronous machine electromechanical devices.
model with saturation and arbitrary rotor network representation,” IEEE Prof. Wasynczuk was the Chair of the Generator Subcommittee of the Elec-
Trans. Energy Convers., vol. 20, no. 3, pp. 584–594, Sep. 2005. tric Machinery Committee of the IEEE.
[32] I. M. Canay, “Causes of discrepancies on calculation of rotor quantities
and exact equivalent diagrams of the synchronous machine,” IEEE Trans.
Power Appl. Syst., vol. 88, no. 7, pp. 1114–1120, Jul. 1969. Carlos D. Rodrı́guez Valdez (S’07) received the
[33] R. P. Schulz, W. D. Jones, and D. N. Ewart, “Dynamic models of turbine B.S., Professional Engineer, and M.S. degrees in elec-
generators derived from solid rotor equivalent circuits,” IEEE Trans. trical engineering from the Universidad Nacional de
Power App. Syst., vol. 92, no. 3, pp. 926–933, May./Jun. 1973. Ingenierı́a (UNI), Lima, Perú, in 2001, 2002, and
[34] H. Bissig, K. Reichert, and T. S. Kulig, “Modelling and identification 2004, respectively. Since 2004, he has been working
of synchronous machines, a new approach with an extended frequency toward the Ph.D. degree in electrical and computer
range,” IEEE Trans. Energy Convers., vol. 8, no. 2, pp. 263–271, Jun. engineering at Purdue University, West Lafayette, IN.
1993. In May 2006, he joined the Standard Drives Divi-
[35] I. M. Canay, “Determination of the model parameters of machines from sion at Rockwell Automation, Mequon, WI.
the reactance operators xd (p), xq (p) (evaluation of standstill frequency