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10. Machine drive applications

10.1 Small scale system composed of synchronous generator(s) and induction motors
In power systems significantly influenced by rotating machine dynamics, time domain dynamics analysis
is of great concern. Today, typical small scale power systems such as IPP’s ones involve synchronous
generators as the supply and induction motors as the significant part of the load. In this sub-chapter,
such system is taken up.

a) Basic small size system layout b) Induction machine VVVF starting

c) Detail of the VVVF starting circuit layout

Fig. 10.1 Small size system layout with SM and IMs

A simplified such system is shown in Fig. 10.1, where the system involves a synchronous generator and
two induction motors.

Initialisation
Firstly, the initialisation technique in ATP-EMTP for such system is to be established. In Fig. 10.1 a) the
basic simplified system layout is shown where power to two induction machines are supplied by a syn-
chronous generator. Assuming one induction motor is in full loading and the other is in very light loading
conditions, the following mode of initialisation is applied as in the attached data file (Dat10-01.dat). :
- As all universal machines are to be initialised in uniform initialisation mode, slip conditions are given
to the two machines.
- Voltage amplitude and phase angle are given to the synchronous generator terminal.
- No Fix Source nor Cao Load Flow option is specified, as these are not suitably applicable to uni-
versal machine by the author’s experiences.
- In Fig. 10.1 a), AVR is not in service and the switch for IM2 is permanently closed.
Some calculation results are shown in Fig. 10.2, where, for convenient comparison purpose, 2P and 4P
machines’ variables are shown in common graphs in relevant respective scale sizes. In a) each ma-
chine’s velocity is a little by little increasing during the transient calculating time interval. In b) the torques
of two machines is mostly steady especially after 0.2s. A little bit of miss matching in the initialisation
seems to be introduced by the calculation. Especially by the initial stage of the torques (in Fig. 10.2 b))
such phenomenon is expected. Nevertheless, the initialisation method seems to be suitably applicable to
transient calculations, especially, of time interval of up to several seconds.

Induction motor starting

The next trial is the second motor’s (IM2 in Fig. 10.1) starting from the stalled condition. As initialisation,
in order to represent “stalled condition” and to satisfy “uniform initialisation mode” condition, the starting
switch, which is initially open circuited, is shunted by very high ohmic resistors, i.e. very low voltage is
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a) Rotating velocities b) Air gap torques

Fig. 10.2 Rotating velocities and air gap torques

One synchronous generator (2P) & two induction motors (4P)

a) Bus voltage at BUS0 b) Generator & motor velocities

c) Generator & motor torques d) IM1 (MOT2) current

Fig. 10.3 One motor is starting during the other is in full load operation

applied to the motor, and 100% of initial slip value is given to the motor. Then the starting switch is closed.
For details see the attached data file (Dat10-02.dat).
Calculated results are shown in Fig. 10.3. Shortly speaking the results show typical “voltage collapse.” In
a) the bus voltage is being collapsed gradually during starting of MOT2. By the starting current of MOT2,
the generator’s terminal voltage drops, so, for keeping MOT1’s torque constant, MOT1’s current in-
creases as shown in d). The bus voltage furthermore drops. MOT1’s velocity can never been kept as
shown in b), while acceleration of MOT2 is very low. By the voltage drop, the generator supplies less
power, i.e. less air gap torque as shown in c), the generator accelerate gradually as in b) due to the
constant mechanical input torque. As the result, MOT2 can never start appropriately in the system.
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Application of AVR
The most important requirement in the system above is to keep the voltage. AVR is the first priority for
the purpose. So, let us introduce AVR to the generator. In chapter 7 (See Fig. 7.12) AVR was discussed.
In this chapter, the same AVR (but without PSS) is introduced. Chapter 7 relates to very high capacity of
generators, but for simplification, the same one is applied also to relatively low capacity of generator in
this chapter. For details, see the attached data file (Dat10-03.dat).

a) Generator terminal voltage b) Generator field exiting voltage – AVR output

c) Generator field exiting current d) Generator/Induction motor velocities

e) Generator/Induction motor torques. f) Induction motor Act/React/App powers

Fig. 10.4 Induction motor starting in a system supplied by an AVR furnished generator

Calculated results are summarized in Fig. 10.4. a) shows generator terminal voltage, where, though
voltage drop of short time interval appears at the initial time, the voltage is kept approx. constant value.
The generator exiting voltage, which is the output of AVR shows (in b)) the initial steep enhancement
and the following approx. constant value of 250% of the original one during the motor starting time in-
terval. After the start has been established, the value comes back to approx. the original value. The ex-
iting current (in c)) shows the similar variation.
d) shows the motor (MOT 2) started normally. But the system frequency, i.e. the synchronous genera-
tor’s velocity, lowered a little. The generator air gap torque, shown in e), due to the enhancement of the
field exiting voltage, enhanced a lot during the starting, whereas the mechanical input torque is kept
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constant due to non-governor controlling. Therefore, the generator is decelerated.

f) shows that induction motor consumes extremely high inductively reactive power during starting.

Inverter controlled VVVF starting

As shown in Fig. 10.4 f), cage-rotor induction motor’s starting consumes extremely high inductively re-
active power. While, as shown in chapter 8, VVVF starting with linearly rising voltage and frequency
provides highly efficient starting. For such purpose, power electronics technology, i.e. inverter, is suitably
applicable. The next trial is applying such power electronics technology to the case. Fig. 10.1 b) and c)
show the circuit layout applied. In chapter 9, PWM inverter is introduced, where practically any kind of
AC voltage wave can be produced corresponding to the reference voltage signal wave shape. So, in-
troducing linearly rising amplitude and frequency of wave shape as the reference wave, suitable VVVF
source is realised in Fig. 10.1.
Care should be taken that PWM inverter shown in Fig. 10.1 (also in Fig. 9.7) produces relevant correct
voltage for phase-to-phase, but not for phase-to-earth, i.e. zero sequence voltage component exists. On
the other hand, induction machine armature coil is to be solidly earthed for automatic initialisation due to
the restriction in ATP-EMTP. So, un-due current of zero sequence component may flow in the armature
coil, though the current introduces little effect on the rotation of the machine. Nevertheless, the current
may produce undue joule loss. To exclude such zero sequence current component, any of the following
means can be applied. :
- Applying solidly-earthed-neutral type inverter.
- Inserting star-delta connected transformer for infinitive zero sequence impedance in the source side.
- Coupled reactor with very high zero sequence impedance inserted.
In Fig. 10.1, the third method seems to be most simple, so this method is applied, though this is not re-
alistic. Fig. 10.5 shows calculation results without such consideration. Though the rotation phenomenon
seems to be normal, typical un-due armature current with high zero sequence components is resulted.

a) Velocity change b) Motor armature current

Fig. 10.5 Variables in earthed neutral system in both motor and system sides

a) Reference voltage wave --- initial part b) Reference voltage & tri-angler wave
in TACS in TACS
Fig. 10.6 ------ continue to the next page -----

With significantly high value of zero sequence reactance in the reactor between the source and the rec-
tifier bridge in Fig. 10.1, and with, also, high impedance for the capacitor neutral earthing (at CAPN),
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-------- continued from the previous page -----------

c) Motor terminal phase-to-phase voltage d) Same as the left but enlarged time resolution

e) Generator & motor velocities f) Generator & motor torques

g) Direct & VVVF starting currents h) Active / Reactive / Apparent powers

Fig. 10.6 Comparison of VVVF starting with direct starting

some calculation results are shown in Fig. 10.6. For details of the circuit parameters, compare the at-
tached data files (Dat10-04.dat and Dat10-05.dat. Dat10-06.dat is only for fine time resolution output.).
The followings seem to be noted for each figure. :
a) 3-phase reference voltage wave shape is shown for the first 1 second, the amplitude and frequency
of which are linearly rising to the certain specified values.
b) Tri-angular carrier and 3-phase reference voltage wave shapes in TACS are shown for the inter-
mediate time. By the comparison of the waves the gate signals to the inverter valves are produced
in TACS for producing correct phase-to-phase voltage to the motor. For details, see sub-chapter
9.3.
c) Motor terminal phase-to-phase PWM inverter output voltage is shown for the first 2 second.
d) Same as c), but in very fine time resolution representation for the intermediate time interval.
e) Generator and motor velocity changes by VVVF starting are shown in comparison with direct start-
ing ones. By similar starting performances of both cases, VVVF brings far less influence to the
system, i.e. less descending in synchronous machine velocity/frequency.
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f) Time-integration of the starting motor’s torque, i.e. the area below the torque-vs.-time curve is to be
equal for both cases. Nevertheless, generator’s torque curves shown great difference between two.
Significant electrical loss is to be produced, most provably by the winding’s joule loss.
g) Instead of the mostly similar starting characteristics by both, the starting motor currents show great
difference each other. This is the most typical feature of VVVF starting of induction machine, i.e.
highly efficient starting.
h) Active, inductively reactive and apparent powers during starting by both direct and VVVF startings
are compared in the figure. (For the output of VVVF starting, due to non-symmetrical three-phase
variables creating lot of fluctuations, the outputs are smoothed in TACS.) Great energy saving in
VVVF, especially for starting is significant. Also little reactive power is consumed. Within the inverter
circuit, reactive power can be produced.
Fig. 10.7 shows generator’s field exiting
voltages by both direct and VVVF starting,
both are controlled by AVR. By VVVF start-
ing, high response of AVR seems to be al-
most un-necessary.

VVVF controlled cage-rotor induction motor

seems to be applicable for various variable
speed controlled usage.

Attached data files for the sub-chapter:

- Dat10-01.dat : Initialisation of a system
composed of one synchronous genera-
Fig. 10.7 Field exiting voltage comparison tor and two cage-rotor induction motors
- Dat10-02.dat : Ditto system, but one of
the motor is directly starting, resulting in
voltage collapse
- Dat10-03.dat : Ditto system but the generator is furnished with highly sensitive AVR, resulting in
successful starting
- Dat10-04.dat : Ditto system but the starting motor is driven by VVVF inverter source, the neutral
potential of which is restricted, resulting in un-due zero-sequence motor current.
- Dat10-05.dat : Ditto system but VVVF inverter source side is in neutral floating condition, inserting
high zero-sequence reactance of reactor between the system and the converter-inverter
- Dat10-06.dat : Ditto, but only for very fine time resolution of output usage
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10.2 Cyclo-converter driven synchronous machine

Some rolling machines in iron industry are driven by synchronous motors, the power sources of which up
to today are cyclo-converters. Therefore, as the next example, cyclo-converter driven synchronous
machine is taken up. In addition, comparison with inverter driven system will be shown.

Fig. 10.8 Cyclo-cnverter driven synchronous motor circuit layout

Fig. 10.8 shown circuit layout applied. The followings are to be noted. :
- In sub-chapter 9.4, detail of one-phase cyclo-converter is explained. Three of the same converter
systems are applied for driving 3-phase synchronous machine, the ratings of which are 3.3kV, 15Hz,
1MVA, 6P, etc.
- Transformer secondary side (converter valve side) is to be non-solidly earthed condition in each
phase. Therefore, 2 sets of high-ohmic resistor earthed star windings are applied for each phase as
shown in the figure. The primary side could be a common one set of 3-phase winding. In the case,
for simplification, three sets of star connected windings are applied for 3-phase.
- 3-phase reference voltages are to be given to 3-phase converter controlling (in TACS).
- For initialisation very fine tuning is required, especially between the reference voltage and the initial
machine terminal voltage, regarding the amplitude and phase angle.
The first example is to apply sudden mechanical load to the rotating motor in almost no-load condition.
The initialisation and transient calculation process applied is (as the most simplified one):
- Initially the motor is disconnected from the cyclo-converter.
- Automatic initialisation is highly recommended for synchronous machine. The motor is rotating in
very lightly loaded generator mode, i.e. giving the terminal voltage with the relevant frequency, and
high-ohmic resister is connected to the terminal of the machine for the purpose of easy and proper
initialisation.
- As the next step, the machine is connecter to the cyclo-converter source for motor operation.
- Then afterwards, sudden mechanical load is applied such like in rolling machine by means of TACS.
For details, see the attached data file (Dat10-12.dat).

Some calculation results are shown in Fig. 10.9.

a) As details are shown in chapter 9, cyclo-converter output voltage involves certain amount of
high-frequency components.
b) Synchronous motor current, due to reactance components in the circuit, does not involve significant
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a) Cyclo-converter output voltage b) Synchronous motor current

c) Motor current Fourier spectrum d) Mechanical & air-gap (EL) torques

e) Motor current (total time range) f) Rotor position and velocity

g) Active/Reactive/Apparent powers h) Cyclo-coverter output currents

Fig. 10.9 Cyclo-converter driven synchronous motor ----- continuing to the next page

amount of high-frequency component. The current amplitude changes a lot depending on the load
condition.
c) Fourier spectrum of the current clarifies less high-frequency component.
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-------- continued from the previous page ------

i) Current & voltage --- highly loaded j) Current & voltage --- load ejecting

Fig. 10.9 Cyclo-converter driven synchronous motor

d) Suddenly applied mechanical torque (TACS controlled) and calculated air gap torque are shown.
Due to sudden application and ejection of the torque, significant swing of the air gap torque is pro-
duced.
e) By the swing, the motor current (in total time range) changes a lot.
f) The swing is observed in, also, rotor position angle and velocity.
g) As shown in chapter 9, cyclo-converter driven system consumes a lot of reactive power. In many
cases, compensation facilities (capacitor bank) are required.
h) Positive and negative polarity converter bridge work well at turning over.
i) At highly loaded instant, the power factor seems to be high. Fig. g) clarifies this.
j) At the load eject instant, the current drastically changes, especially, in phase angle. Turning over
between the positive and negative bridges seems to be suitable from the current wave shape.

In the next example, quick starting of cyclo-converter driven synchronous motor is taken up.
In chapter 6 --- Appendix 6.2, synchronous machine starting as induction machine is demonstrated,
where, to represent short-circuited field coil, very low voltage is generated while initialisation. Now, in this
case, properly exited synchronous machine is to be driven by cyclo-converter. Then, the following
initialisation process is to be applied. :
- The machine’s initial velocity is to be as low as possible within restriction of ATP-EMTP synchronous
machine initialisation menu. In this case, 0.5 Hz is applied.
- The motor-internally generation voltage is to be proportional to the velocity, i.e. 0.5 / 15 = 0.033 times
of the rated voltage where the rated frequency of the motor is 15Hz.
- The applied voltage is to correspond to the machine induced voltage. So, cyclo-converter output
voltage is to be linearly rising frequency and amplitude one, corresponding to linearly rising velocity.
For details of the input data file, see attached data file (Dat10-13.dat)

Some calculation results are shown in Fig. 10.10.

a) The command (reference) velocity, which is the base of the frequency and the voltage amplitude,
and the resultant calculated motor velocity (represented in electrical angular velocity) are shown.
Certain mitigation to the velocity change, for smooth mechanical response, is applied applying
s-block function in TACS. See the attached data file (Dat10-13.dat). A little bit of un-stability in the
motor velocity, especially in higher velocity region, is observed.
b) 3-phase reference voltage wave shapes. As shown in chapter 9, cyclo-converter output voltages
correspond to these wave shapes. Linearly rising amplitude and frequency of waves are repre-
sented.
c) Cyclo-converter created applied voltage and motor current of 1-phase is shown for total time range.
The current amplitude is not constant.
d) Detail of the initial part of figure c) is shown, where, mainly reactive current flows.
e) Detail of figure c) when higher torque outputting. The power factor seems to be higher, at least
around the motor part. For the total driving system circuit, detail will be shown later.
f) Ditto, but for after started and rotating by no-load. The power factor seems to be low and the current
amplitude, also, is low.
g) The motor air gap torque is shown in contrasted with the velocity. Un-stability is clearly shown, most
probably due to mechanical and/or electrical parameters. For more smooth response, farther more
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a) Command (reference) & resultant velocities b) Reference voltage wave shapes

c) Output voltage & motor current d) Initial part of c)

e) High torque output time interval of c) f) Steadily rotating time of c)

g) Torque & velocity h) Active/reactive/apparent power & p-factor

Fig. 10.10 Quick starting of cyclo-converter driven synchronous motor

stability study seems to be necessary. Powerful feed back control system may be effective.
h) Active power, reactive power, apparent power and power factor measured at the power frequency
inputting point are shown. At t = 0.9s, when the motor torque is highest, the power factor is still not
so high, i.e. around 0.3p.u. For such reason, compensation facilities (capacitor bank) are installed
by some cyclo-converter systems.
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Comparison with inverter driven system will be shown in the following cases.
Firstly, “sudden mechanical load application” is introduced to inverter driven system. In the inverter
driven system, mostly equal to one in the previous sub-chapter is applied, i.e. the inverter circuit layout in
Fig. 10.1 c) is applied. As for the detail, see attached data file (Dat10-15.dat). The reference voltage to
control inverter output is identical to one in the cyclo-converter.

a) Inverter output voltage & current b) Mechanical & air gap torques

c) Rotor position angle & velocity changes d) Active/reactive/apparent powers

Fig. 10.11 Comparison of inverter with cycle-converter

Typical comparisons between two are shown in Fig. 10.11.

a) Inverter output voltage and motor current for mainly heavy mechanical loading time interval is
shown. The power factor seems to be very high. By no-loading time interval (not shown), on the
other hand, the power factor at the motor input is very low.
b) By sudden mechanical load torque, air gap torques by both case are compared. Both are mostly
identical, i.e. the responses are almost equal by both source circuits.
c) Small difference is observed as for the rotor position angle between by two sources. Though the
reference voltage wave is identical each other, small difference may be introduced between two
created voltage wave shapes. The cause might be the finite time step length of controlling.
d) Great difference is shown in the power frequency source supplying inductively reactive power be-
tween two source circuits. By inverter, power frequency side reactive power is negligibly small. As
written in a), for no mechanical load time interval (especially after 1.5s) the motor consumes some
reactive power, nevertheless, the power frequency side reactive power is negligible. Inverter itself
supplies reactive power from the capacitor in the circuit.
Note:
Calculated power outputs by inverter are smoothed by s-block function in TACS. As the calculation
principle is based on balanced three-phase variables, such mitigation is to be applied for variables
with high frequency components.

In the next, quick starting by inverter driven is taken up. The reference velocity/voltage condition to
control the inverter is identical to cyclo-converter case. Great care should be taken that, by inverter,
especially for very low velocity of condition, the total system tends to be unstable. The phenomenon is
observed in Fig. 10.12 d). The cause of the un-stable seems to be mechanical and / or electric circuit
condition of the system. Detail has not been clarified by the author. In the following exercise, the resis-
tance value in the reactor between the inverter and the motor is doubled compared to the case by
cyclo-converter. For detail, see attached data file (Dat10-15.dat). Otherwise, the motor performs
un-stableness. The reader should try the case by “Dat10-1X.dat”, where the resistance value is equal to
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the original one.

Some calculation results (with the increased resistance) are shown in Fig. 10.12:

a) Rotor velocity in El. angle b) Motor currents by both kind of source

c) Inverter voltage and motor current d) Air gap torques by both kind of source

e) Active/reactive/apparent power f) Power factors

Fig. 10.12 Inverter driven synchronous motor ---- quick starting

a) Mostly identical starting characteristics are obtained by both (inverter and cyclo-converter) source
driven systems, though in inverter, the connection reactor’s resistance value is doubled.
b) Motor input currents are compared between both cases. By identical reference voltage conditions
by both, the actual and effective output voltage may more or less differ each other, as details of the
voltage wave shapes, including high frequency components, are different by each other.
c) When the maximum torque is created, the motor current is of very high power factor such like in
cyclo-converter driven case. After establishing the velocity (not shown), however, the motor current
power factor is low. Still the power factor of the power from the power frequency source system is
high as shown later.
d) From the air gap torque characteristics, the following is clear.
Inverter driven tends to be unstable in very low velocity region but stable in higher velocity region.
Cyclo-converter driven tends to be opposite, i.e. stable in low velocity and un-stable in higher ve-
locity. As the countermeasure for mitigation, powerful feed back system could be applied.
e) Active, (inductively) reactive and apparent powers are compared between both systems. Inverter
system’s high power factor feature is remarkable.
f) In power factor graph, also, the tendency is clearly shown. By inverter, power frequency source side
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power factor is always approx. 100%. While, by cyclo-converter, the power factor is only more or
less than 20%. By inverter, though the motor current power factor is not always high, the power fre-
quency side one can always be high. This means inverter can provide reactive power by itself. On
the other hand, by cyclo-converter, even though the load current power factor is high, power fre-
quency side power factor can never be high enough due to the frequency converting principle.

As for cyclo-converter system with relatively low const, low power factor in consuming power, necessity
of capacitor bank, limitation in output frequency, and as for inverter system with higher cost, high power
factor, non-necessity of compensation, possibly higher output frequency, not only qualitative but also
quantitative comparison could be exercised by ATP-EMTP simulation, such as shown above.

Data files attached:

- Dat10-11.dat: Cyclo-converter driven synchronous motor is initialised. Firstly it is in service as a
no-load generator, and then cyclo-converter source is connected so as to motor operation.
- Dat10-12.dat: Ditto, but sudden mechanical torque is applied. The torque is suddenly dropped a little
later time.
- Dat10-13.dat: The synchronous motor very quickly starts from stalled condition by VVVF output of
the cyclo-converter.
- Dat10-15.dat: The same synchronous machine operating condition as Dat10-12.dat case, but in-
stead of cyclo-converter, diode-bridge rectifier and PWM inverter are applied. The reference voltage
to control the inverter is identical to in Dat10-12.dat case.
- Dat10-16.dat: The machine’s quick start, same condition as in Dat10-13.dat, but via PWM inverter.
In the case, for the mitigation of violence in the low velocity region, synchronous motor side resis-
tance in the reactor is doubled compared to Dat10-13.dat case.
- Dat10-1x.dat: Ditto, but the resistance is in the original value. Some instability occurs in the low ve-
locity region.
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10.3 Fly-wheel generator ---- Doubly fed machine application for transient stability enhancement
As shown in chapter 8 (in the final part), doubly fed machine can produce, though for relatively short time
interval, both active and reactive powers. In chapter 7 transient stability phenomena is explained with
relation to energy balance in the relevant power system. From these combined, applying doubly fed
machine as fly-wheel generator to power system, transient stability enhancement effect is expected.
In Fig. 10.13 shows power system layout for analysing such effect in single line diagram.

Fig. 10.13 Single line diagram of fly-wheel generator equipped one generator vs. infinitive
bus system for analising transient stability enhancement

In the figure, one generator vs. infinitive bus power system is identical with one in chapter 7 (Fig. 7.1).
The doubly fed machine as a fly-wheel generator is identical with one in chapter 8. The current regulated
inverter to energise the doubly fed machine rotor is identical with one in chapter 9.
In the figure, infinitive DC voltage source is applied for the power source of the current regulated inverter.
In actual cases, the DC source energy is to be supplied from the main power system. So, the actual ef-
fect of the fly-wheel generator may be increased/decreased depending on the velocity of the doubly fed
machine. Please refer Fig. 8.9 and Appendix 8.1 in chapter 8. It should be noted that the DC supplying
system for the inverter is to be bi-directional, i.e. rectifying/re-generation system, as in certain operating
state the doubly fed machine rotor supplies energy towards the inverter side.
For controlling the fly-wheel generator to absorb/exhaust energy, usage of the information from the as-
sociated bus voltage is thought to be realistic. So in the case, frequency change of the bus voltage is
pick up and applied to control the inverter, i.e. the primary side absorbing power (both active and ca-
pacitively reactive) is set to be proportional to delta F. The detailed controlling algorism is shown in Fig.
8.11. This output is applied as the reference current of the current regulated inverter.

Initialising
Though each component in Fig. 10.13 could be appropriately initialised in each respective mode, com-
bining plural components, an unified mode of initialisation is to be applied according to the restriction of
ATP-EMTP. In the case, “step by step” and/or “try and error” procedures seem to be convenient.

Synchronous generator: In chapter 7 where only synchronous generators are applied, CAO LOAD
FLOW option is quite appropriately applied for each case initialisation. However, in the case with also
universal machine(s), the option has not been successfully applied. Therefore, in this case, another
mode, which is compatible with also universal machine, is to be applied to the synchronous generator
initialisation. As shown in sub-chapter 10.1, where synchronous machine and cage rotor induction ma-
chine (universal machine) exist in a common system, inputting terminal voltage amplitude and phase
angle for the synchronous machine, and slip value for the cage-rotor machine produces appropriate ini-
tialisation result. So, in principle, let’s try the same mode of initialisation.

In the first step, the one generator vs. infinitive bus system (without fly-wheel generator) is automatically
initialised applying CAO LOAD FLOW option. For details, see Dat10-21.dat attached. The precise initial
generator terminal voltage amplitude and phase angle can be obtained.
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In the next step, excluding CAO LOAD FLOW

option and applying the above obtained volt-
age amplitude and phase angle to the gen-
erator terminal, calculation is to be done. Very
fine and precise tuning may be necessary,
especially for the phase angle. For details,
see Dat10-22.dat. By the calculation, the
identical result with the former automatic ini-
tialisation case is obtained. Please compare
both calculation results. Fig. 10.14 shows
some examples. Small amplitude of ripple in
the air gap torque is due to the asymmetry of
the transmission line (non-transposed).
Fig. 10.14 Precisely tuned generator’s current and
air gap torque compared to Automatic In the third step, the fly-wheel generator is to
be initialised. As shown in Chapter 8 (final
part before Appendix), doubly-fed machine is
well initialised by introducing the primary side
terminal voltage condition, slip value and
secondary side current condition. The primary
side voltage condition is obtained from the
bus voltage via the step up transformer (Fig.
10.13). Initial slip value is selected to 5% as,
due to the primary stage of excess energy in
the power system source part in transient
stability phenomena, lower velocity seems to
be appropriate to absorb the excess energy.
Setting the fly-wheel initial condition as ca-
pacitor mode, by very fine tuning of the sec-
Fig. 10.15 Initial stage of the fly-wheel generator ondary current condition, the machine is well
--- Currents are in generator direction --- initialised, see attached data file
(Dat10-23.dat). Some results are shown in
Fig. 10.15. The main flux magnetising current
is supplied from the secondary side, so the
amplitude of the secondary side current is
higher. 2.5 Hz (corresponding to 5% of slip) of
secondary side current appears. In the case,
the secondary side is supplied by a fixed
current source (2.5Hz).

The forth step is to investigate the UM con-

trolling reference current calculation algorism
shown in Fig. 8.9 and 8.11. For details, see
Dat10-24.dat attached. Typical result is
shown in Fig. 10.16, comparison of the actual
Fig. 10.16 Check of the secondary current calcula- (from out side source) and the calculated ref-
tion algorism by comparing the actual and the cal- erence current which is to be applied to con-
culated reference current trol the current regulated inverter. The input-
ting active/reactive power for the calculation
basis is equal to the actual one. The differ-
ence between two is negligible though, due to mitigating the fluctuation in the calculated reference cur-
rent, small delay-time is introduced. Anyhow, the calculation algorism seems to be quite agreeable for
the purpose.
Then, activating the inverter, the fly-wheel generator’s rotor is energised by the output current of the in-
verter. As shown in Sub-chapter 9.5, the current regulated inverter output current is to be close to the
input reference current. Therefore, applying the calculated reference current by the above shown cal-
culation algorism, the fly-wheel produces the target output power, the rotor being energised by the cur-
rent of the inverter.
For checking the basic fly-wheel generator output power is controlled to be: (For details, see
Dat10-25.dat)
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- Initially low inductively reactive output

power
- At 0.2s, the rotor input current is
switched over from fixed source to the
inverter.
- At 0.4s, the fly-wheel output is increased
to -150MW (active power absorbing, i.e.
motor mode).
- Up to 2s the calculation is continued.
Fig. 10.17a shows the reference current to
control the inverter and the machine rotor
actual current (inverter output). Well working
of the inverter and well driving control of the
machine are expected. At around 1.2s, the
rotation of the current is reversed, i.e. the
a) Inverter activated, reference & actual fly-wheel
velocity crosses the synchronous speed
currents
(52.36 rad/s, see Fig. 10.17c below).
Fig. 10.17b shows machine generating
powers which are calculated from the ter-
minal voltage and outgoing current. The ac-
tive power is kept constant to be –150MW,
though some fluctuations exist due to the
inverter switching. The reactive power is
negligibly small accordingly. Both powers are
kept to the input condition. (See PP and QQ
values in TACS of the data file.)
By absorbing active power at 0.44s, the
machine begins to accelerate from 49.74
rad/s (corresponding to +5% of slip) up to
b) Calculated active, reactive and apparent powers approx. 55 rad/s (approx. -5% of slip) at 2s.
Very precisely speaking, the acceleration
rate is to be inverse proportion to the velocity
due to constant active power value applied.
The air gap torque is to be the same rela-
tionship. In Fig. 10.17c, the air gap torque
shows gradual decrease in the value by the
increase of the velocity.
Some fluctuation also exists due to the in-
verter switching.

Summing up the above, the fly-wheel gen-

erator connected to the source side of the
one generator vs. infinitive bus system
c) Velocity & air gap torque seems to be well appropriately systematised
and initialised. Introducing active and/or re-
Fig. 10.17 Activating inverter to drive fly-wheel gen- active power value to the inverter control
erator terminal, the fly-wheel outputs/absorbs
power with changing the velocity.
Then, the next subject is fly-wheel’s proper power controlling energised by the output current of the in-
verter. The synchronous generator’s AVR/PSS, which is the most powerful mean to enhance the tran-
sient stability, is generally controlled applying the generator’s state, i.e. the terminal voltage, output
power, etc. Fly-wheel generator may not be installed close to the synchronous generator. Moreover,
plural synchronous generators may be covered by fly-wheel generator(s). Therefore, applying informa-
tion directly regarding the synchronous generator may not be convenient. As mentioned at the top of this
sub-chapter, information regarding the voltage at the relevant bus close to the fly-wheel generator seems
to be mostly applicable and realistic for the purpose.
As the most direct relevance between the synchronous generator’s disturbance and the bus voltage, the
voltage frequency change seems to be applicable for the input of the inverter controlling. Fortunately, we
can use FREQUENCY METER in TACS of ATP-EMTP. So, at first the frequency meter should be
checked during disturbance regarding transient stability (during 3LG & 1 circuit of the transmission line
 17

opening).
Applying FREQUENCY METER to the bus
voltage where the fly-wheel generator is
connected to, and after some mitigating
processes in the calculation, Fig. 10.18’s
result is obtained. For details of the calcula-
tion, see Dat10-26.dat attached.
Due to the sudden change in the voltage
during 0.3s --- 0.4s (3LG, Fault clearing and
1 circuit opening), the rapid frequency
change in this time interval may be better to
be excluded. However, rather steady fre-
quency change output is obtained and suit-
able application to control the flywheel gen-
Fig. 10.18 Bus voltage frequency change erator is expected.
during 1LG --- 1cct opening
Fly-wheel activity in transient stability

a) Rotor energising current by inverter b) Fly-wheel velocity & air-gap torque

c) Fly-wheel output powers d) Synchronous generator d-axis angle

e) Top & bottom valve switch-over current f) HV bus voltage

Fig. 10.19 Fly-wheel generator activity in transient stability enhancement

 18

enhancement
In the first trial, both active and reactive power outputs of the fly-wheel generator are set to be equal and
proportional to the frequency change of the HV bus voltage, i.e. by increase of the frequency, the ab-
sorption of the active power and capacitively reactive power increase. Thus, the synchronous genera-
tor’s acceleration is expected to be damped. The maximum power of the fly-wheel generator is set to be
approx. 200MVA, i.e. 200% loading due to short time interval. Some results are shown in Fig. 10.19.
a) Except the violent transient interval (3LG & clearing), fly-wheel rotor (secondary coil) current is well
appropriately supplied from the inverter.
b) According to the bus voltage frequency change (Fig. 10.18) and along the vector control algorism,
the fly-wheel is driven to absorb power, enhancing the velocity, which is shown in Fig. 10.19b.
c) The figure shows the powers are well controlled. The same value of active and reactive powers is
shown.
d) The synchronous generator’s d-axis angle (swing) during the transient is damped by the function of
the fly-wheel. Due to the relatively low power output of the fly-wheel generator (as for active power,
approx. 13% of the synchronous generator’s), the damping rate is limited.
e) The figure shows top (plus side) and bottom (minus side) valve currents in a certain phase of the
inverter. For certain time interval only one side valve is ON. This means the DC source voltage is
critical and can never be lower.
f) The HV bus voltage is lower during the swing. Therefore, according to equation 7.1 in chapter 7, the
transmitting power is lower, resulting in excess source side energy. Absorbing higher capacitively
reactive power to enhance the voltage, further damping of the swing may be expected.

Active/reactive power effect

In the next case, mainly active power only is absorbed by the fly-wheel with approx. equal value of the
maximum apparent power to the previous case. In TACS of the data file, changing the coefficients of the

a) Rotor currents in both cases b) Active, reactive & apparent powers

c) Synchronous generator swing comparison d) Velocity and air gap torque comparison

Fig. 10.20 Effects by solo-active power and jointing with reactive power
active and reactive powers, the condition is easily introduced. For details, see Dat10-28.dat attached.
Comparing to the previous case, some results are shown in Fig. 10.20.
a) Rotor currents from the inverter are compared between two cases, where due to approx. equal
apparent powers, the maximum crest values are approx. equal by two. On the other hand the phase
angle is shifted relevantly. These can be explained by Fig. 8.9, Fig. 8.11 and Appendix 8.1.
b) Active, reactive and apparent powers of the fly-wheel are shown. Due to the almost zero reactive
 19

power, the value of the apparent power is equal to the active one, which is approx. equal to the
previous case’s apparent one (Fig. 10.19c).
c) Effects on the synchronous generator’s swing (d-axis angle, which is the representative of the
transient stability) are compared. In spite of by approx. equal apparent powers, solo-active power
control is not so effective compared to by both active and reactive power control. Discussion will be
shown later.
d) By solo-active power, velocity change and air gap torque are higher, though the effect is less.

Discussion
In chapter 7, transient stability in the identical one
generator vs. infinitive bus system is explained.
Also significant effect of AVR/PSS to enhance
stability is shown. In Fig. 10.21a the effects by
fly-wheel generator and AVR/PSS are compared
under similar initial load flow conditions. The ef-
fect by AVR/PSS is apparently superior. By
AVR/PSS the synchronous machine’s exciting is
controlled, yielding enhancement of the trans-
mission voltage. Therefore, by the increase of the
transmission power according to equation 7.1,
the air gap torque rises as shown in Fig. 10.21b.
a) Synchronous generator’s swing The maximum torque is 135% of the initial, and
the difference from the initial one, due to the
constant mechanical input torque, acts to damp
the swing. By the fly-wheel, the maximum torque
is 118% which is limited by the fly-wheel rating
(over loading included). Moreover, the rise by
AVR/PSS is fur more quick. As the result,
AVR/PSS is more effective in this case.
Nevertheless, depending on the system layout,
synchronous generator’s and fly-wheel genera-
tor’s ratings, fault conditions, etc., various results
are obtained, with possible superiority in
b) Synchronous generator’s air-gap torque fly-wheel.

Data file attached

- Dat10-21.dat : One synchronous generator
vs. infinitive bus system automatically initial-
ised by CAO LOAD FLOW.
- Dat10-22.dat : Manually initialised identically
to the above condition.
- Dat10-23.dat : Above system plus fly-wheel
generator, the rotor of which is energised by
a fixed AC source outside.
- Dat10-24.dat : Ditto, but inverter control pro-
gram is implemented and checked under the
c) HV bus voltage ditto condition. (Inverter non-activated)
- Dat10-25.dat : Current regulated inverter ac-
Fig. 10.21 Comparison of fly-wheel with AVR / tivity is checked energiseing the fly-wheel
PSS as for transient stability enhancement rotor to create the same condition as
Dat10-23.dat.
- Dat10-26.dat : Total system in Fig. 10.13 is
checked where the fly-wheel is controlled by
ΔF of the HV bus voltage under “3LG --- 1CCT opening” condition.
- Dat10-27.dat : Active & reactive power output control (of the fly-wheel) case, where the apparent
power output is approx. 200MVA (200%) at maximum.
- Dat10-28.dat : Active power only control case, where the output is approx. 200MW at maximum.