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Influence of DC voltage and current of field winding on induced stator

voltages of a salient pole synchronous generator

Article in International Review of Electrical Engineering (IREE) · January 2014

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 International Review of Electrical Engineering (I.R.E.E.), Vol. xx, n. x

Influence of DC voltage and current of field winding on induced stator

voltages of a salient pole synchronous generator

Krzysztof Ludwinek

Abstract – This paper presents a method for determining internal generated voltages induced in
a salient pole synchronous generator in the 3-phase armature winding, both with and without
a rotor skew in the no-load steady state. The induced phase stator voltages are determined using
a linear model in the natural reference frame of the stator and rotor without considering damping
circuits during supplying field winding from DC voltage or DC current source. In the circuital
model, the stator to field mutual inductances and the field winding self-inductance are determined
in the FEMM program. Simulations made in the circuital model and in the program Flux 2D Skew
of the waveforms of the induced phase stator voltages during supplying field winding from DC
voltage, are verified experimentally in a laboratory stand. Copyright © 2013 Praise Worthy Prize
S.r.l. All rights reserved.

Keywords: No-load State, Rotor Skew, Salient Pole Synchronous Generator, Self- and Mutual
Inductances

List of symbols pb number of pole pairs

PN active nominal power, kW
a, b, c indexes of stator windings,
Ra, Rb, Rc resistance of the phase stator windings, 
cosN power factor,
Rf resistance of the field windings, 
dq0 indexes of direct and quadrature axes and zero
SN apparent nominal power, kVA
sequence,
THDu Total Harmonics Distortion coefficient
f index of field winding,
calculated for the voltage, %
ia, ib, ic temporary stator currents, V
ua, ub, uc temporary stator phase voltages, V
if temporary field current, A
uf temporary field voltage, V
If constant field current, A
Uf constant field voltage, V
IN nominal stator current, A
UN nominal voltage, V
k, v indexes of harmonic order,
kq(v) skewing factor for the v-th harmonic, N nominal efficiency, p.u.
La, Lb, Lc self inductances of stator windings, H q factory rotor skew, deg
Lab, Lbc, Lca, Lba, Lcb, Lac mutual inductances of the  electrical angle of the rotor position,
stator to stator windings, H m mechanical angle of the rotor position,
Laf, Lbf, Lcf, Lbf, Lcf, Laf mutual inductances of the  electrical angular velocity.
stator to field windings, H
Lf self-inductance of field winding, H

conditions, the armature currents are equal to zero and

I. Introduction the temporary field current waveform is almost constant
The electromagnetic properties of a synchronous over time [3]. Therefore, damping circuits in the no-load
machine in dynamic states depend on the presence of state of synchronous generators can be omitted.
damping circuits. These allow for the shortening of many The quality of a synchronous generator as a source of
transients’ stages, e.g., the hunting [1]. The influence of power is decided among other things by the content of
damping circuits on higher harmonic contents in the higher harmonic voltages induced in the armature
armature currents in synchronous generators can be windings [4], [5]. Thus, different models of synchronous
determined, for example, by means of the frequency generators may require the determination and comparison
characteristics of a synchronous machine spectral of the wave-shape of the induced voltages in the
impedance [2]. The presence of damping circuits during armature windings [6] in the no-load steady state.
load running of a synchronous generator during co- The problems of deformation of the induced voltage
operation with a power grid has significant influence on in the stator winding of electrical machines have been
the distorted armature currents and distorted field current described extensively over many years [7]. This paper
[2], [3]. In the case of a synchronous generator used as a proposes methods for improving the wave-shape of the
reserved power source running under no-load steady state induced voltage by using a rotor or stator skew, a pitch
and a distribution of armature winding and phase

Manuscript received , revised January 2007 Copyright © 2007 Praise Worthy Prize S.r.l. - All rights reserved
 K. Ludwinek

connection harmonic reduction factors [7]. The methods synchronous generator, both with and without rotor skew
for the reduction of the harmonic content in induced under no-load steady state conditions. The symmetry of
voltages, for the various constructions of AC electrical the stator windings and field winding and the linearity of
machines proposed in this paper, are still used. the magnetic circuit have been assumed.
Nowadays, in AC electrical machines the methods are Other important subjects not analyzed in this paper
slightly modified [8], [9] especially in salient pole are an air gap eccentricity and the effect of magnetic
synchronous generators [8], [10]. If the construction data saturation that produce higher harmonics in salient pole
of a synchronous generator are known, then calculations synchronous machines both in the armature windings and
of the distribution of the magnetic flux, self- and mutual field winding. The influence of variation of an air gap
inductance distributions, stator and rotor currents and eccentricity on some harmonics changing is discussed in
induced phase voltages can be performed using [19]. The effect of magnetic saturation in the formation
commercially available Finite Element Method (FEM) of the so-called spatial saturated harmonics in induced
softwares, such as Opera, Flux Maxwell and others voltages is discussed in [20]. As shown in [20], the
designed for 2D or 3D models [11] - [13]. Simulations of influence of magnetic saturation in relation to the linear
induced voltages with FEM programs include many circuit is manifested particularly in increasing the value
construction details and they are very similar to the of the third harmonic. These phenomena are visible when
results of experiments [13]. The disadvantage of FEM comparing induced voltages (obtained from simulation
calculations, in relation to those based on circuital studies using a linear circuital or an FEM model) and
models, is the length of time required for the registered at the terminals of the stator winding in the
calculations. In the calculations, there are many details real salient pole synchronous generator under no-load
relating to the construction of the electrical machine steady state conditions.
under test and for a beginner or intermediate level person
it is difficult to determine those electromagnetic
parameters that have direct influence on the final result II. Model of a synchronous generator in the stator
of the calculation. Moreover, commercial programs are and rotor natural reference frame
very expensive. Therefore, simulations for electrical The Park’s transformation of the stator self- and
machines are often carried out by means of circuital mutual inductance distributions, taking into account the
models [14]. In circuital models of synchronous higher harmonics to the dq0-axes means that the
generators in the natural reference frame of the stator and inductance distributions (in the dq0-axes) are dependent
rotor, knowledge is required of the self- and mutual on the angle position of the rotor [14]. Hence, Park’s
inductance distributions. The self- and mutual inductance transformation of the self- and mutual inductance
distributions can be obtained by experiment [2], [15], or distributions to the dq0-axes does nothing and only
analytically [16], by means of the one's own program introduces additional unnecessary calculations.
developed mostly in Matlab [12], using the FEM in Therefore, modelling of the induced phase stator voltages
commercial software [11], [13], or by using the widely ua, ub and uc can be performed with a circuital model of a
available program called Finite Element Method synchronous generator in the stator and rotor coordinates.
Magnetics (FEMM) [17], [18] (in version 4.2, it is The induced voltage in the three-phase armature
possible to perform the calculation in 2D only). windings of a salient pole synchronous generator, taking
Therefore, in this paper, for the circuital model of a 5.5- into account the electrical angle of the rotor position and
kVA salient pole synchronous generator, the stator to omitting damping circuits, can be derived from the
field mutual inductances and the self-inductance of the equations, in stator coordinates, for the stator windings
field winding for a linear model without damping circuits and in rotor coordinates for the field winding [21]. The
are determined using the FEMM program. The end relationship between the electrical and mechanical angle
effects of the distribution windings is calculated using an of the rotor position is determined as  = mpb, where m
analytical technique [8]. This article presents the is the mechanical angle of the rotor position and pb is a
influence of DC voltage and current powering of the field number of pole pairs.
winding on the higher harmonic contents in induced
stator phase voltages in a 5.5-kVA salient pole
u a   La Lab Lac Laf  ia   Ra 0 0 0  ia   La Lab Lac Laf  ia 
         
 b      Lba Lb Lbc Lbf  ib    0 Rb
u 0 0  ib   Lba Lb Lbc Lbf  d ib 
 (1)
uc    Lca Lcb Lc Lcf  ic   0 0 Rc 0  ic   Lca Lcb Lc Lcf  dt ic 
           
u f   L fa L fb L fc L f  i f   0 0 0  R f  i f   L fa L fb L fc L f  i f 

where a, b and c – indexes of stator windings, f – field Lbf, Lcf , Lbf, Lcf, Laf – mutual inductances of the stator to
winding index,  – electrical angle of the rotor position, field windings, Ra, Rb and Rc – resistance of the stator
La, Lb and Lc – self-inductances of stator windings, Lf – windings, Lf – resistance of the field winding, ia, ib and ic
self-inductances of field winding, Lab, Lbc, Lca, Lba, Lcb, – temporary stator currents, if – temporary field current,
Lac – mutual inductances of stator to stator windings, Laf, ua, ub and uc– temporary stator phase voltages, uf –

Copyright © 2007 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering,
Vol. xx, n. x
 K. Ludwinek

temporary field voltage, ω = (1/pb)·d/dt – electrical based on real construction data (non-uniform air gap at
angular velocity. the periphery of the stator and rotor) received from the
Calculation of the ua, ub and uc induced phase stator manufacturer of synchronous generators that are used
voltage waveforms in the armature windings of a salient frequently in generator sets in Poland. The presented
pole synchronous generator in no-load state (ia, ib and ic simulations refer to the salient pole synchronous
equal to zero) are obtained from equation (1), taking into generator both with and without the skew of the rotor.
account the DC excitation uf of the field winding While calculating the inductance distributions (as
Laf 
di f a function of the electrical rotor position angle ), the
ua   if  Laf 
 dt
factory single-layer winding placed in the 24th stator
Lbf .
di f (2) slots is taken into account. The calculation of the self-
ub   if  Lbf  and mutual inductances is carried out for a salient pole
 dt 
Lcf di f  synchronous generator rated: SN = 5.5 kVA, UN = 400 V
uc   if  Lcf  (Y), nN = 3000 rpm, IN = 7.9 A, cosN = 0.8, Qs = 24
 dt 
However, the equation describing the excitation of the (number of stator slots), q = 15 (factory rotor skew),
field winding can be expressed from (1) as pb = 1 (number of pole pairs). The self- and mutual
inductance distributions calculated by means of 2D
programs, such as FEMM, Flux 2D etc. should be
L f di f
u f  Rf if  if  Lf . (3) increased by adding the end winding leakage inductance
 dt connections that are calculated in an analytical way [8].
It results from (2) that the wave-shape of the induced Figure 1 shows the magnetic flux distribution of the
phase stator voltages (in the case of  = const.) are examined 5.5-kVA salient pole synchronous generator
dependent on the mutual inductance distributions (Laf, excited from phase a of the stator winding and from the
Lbf, Lcf) and the derivatives Laf/, Lbf/ and Lcf/. field winding. The magnetic flux distribution is obtained
Moreover, according to (2), the waveform of the if field for the stator current flowing in the phase winding a for
current is required. If it is assumed that If = const. (DC the simplified generator model without a damping circuit
current source), then according to (2) the components both with the factory rotor skew ( q = 15) and without
depending on the product of the derivative of the field the rotor skew. Figure 1 presents the initial position of
current and mutual inductance distributions can be the rotor 0 = 0 and the value of the magnetic field in
neglected. Assuming If = const. in equation (2), then the different parts of the synchronous machine. Figure 2
induced stator phase voltages are simplified to the form shows the magnetic flux distribution lines at the end rotor
Laf  position  = q =15 with the rotor skew (the initial
ua   if  position of the rotor is shown in Figure 1).
  a) b)
Lbf 
ub   if . (4)
 
Lcf 
uc   if 
 
It is obtained from (3) that the uf field voltage is distorted
if it is assumed that If = const. The distortion is
proportional to the Lf/ field inductance derivative
changes.
L f Fig. 1. Magnetic field distribution of the 5.5-kVA salient pole
u f  Rf if  if (5)
 synchronous generator: a) excited from phase a of the stator winding, b)
excited from the field winding
To obtain the waveform of the if field current (3), the Lf a) b)
inductance distribution and its Lf/ derivative are
required.

III. Determination of the stator to field mutual

inductances and the self-inductance of field
winding
The distributions of the stator to field mutual
inductances and the self-inductance of the field winding
in the circuital model of the salient pole synchronous
Fig. 2. Magnetic field distribution of the 5.5-kVA salient pole
generator (1) were determined using the 2D FEMM
synchronous generator for the 15 rotor skew: a) excited from phase a
program [17], [18]. The inductances were calculated of the stator winding, b) excited from the field winding

Copyright © 2007 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering,
Vol. xx, n. x
 K. Ludwinek

Figure 3 shows the distributed stator to field winding Laf(v) and Lafs(v), it can be concluded that the introduction
mutual inductances Laf (Lfa), Lbf (Lfb), Lcf (Lfc) - without of the rotor skew (q = 15) reduces the magnitudes of
the rotor skew versus the electrical angular rotor position the higher harmonic components significantly but lower
[18]. The Lafs (Lfas), Lbfs (Lfbs), Lcfs (Lfcs) with the rotor harmonic components, lying near the fundamental
skew are very similar to the inductances Laf (Lfa), Lbf (Lfb), component, are affected to a small extent only (Fig. 4).
Lcf (Lfc) without the rotor skew. Detailed analysis of the The constant components Laf(0) and Lafs(0) have the same
stator to field winding mutual inductance distributions value. The skewing factor kq(v) of the rotor for the v-th
for the examined SN = 5.5-kVA salient pole synchronous spatial harmonic can be specified in the following
generator is shown in [18]. expression [17], [18]:
 p 
1 sin  b  q 
k q v    ,
L
2 (6)
af
0.5 p
Laf, Lbf, Lcf (H)

L
bf   b q
L
cf
2
0

where kq(v) is the skew factor for the -th harmonic, q is

-0.5
the skew angle of the rotor and pb is the number of pole
-1
0 60 120 180 240 300 360
pairs.
 (deg) Figure 5 shows the skew factor kq(v) for the -th
Fig. 3. Distribution of the stator to field winding mutual inductances vs.
harmonic calculated for the q = 15 and pb = 1.
the angular position of the rotor without the rotor skew 1

0.8
Figure 4 shows the contents of spatial harmonic kqv - [-]
0.6
magnitudes of the Laf(v) (with no skew) and Lafs(v) (with
0.4
the skew) due to Fourier analysis.
0.2
a)
0.012 0
0.01 -0.2
L 0 12 24 36 48 60 72 84
Laf(v), Lafs(v) (H)

af(v)
0.008 L
harmonics
afs(v)
0.006 Fig. 5. Skew factor kqν for the -th harmonic
0.004

0.002
The significant impact on the calculation of higher
harmonics in the induced phase voltages of the stator
0
3 5 7 9 11
harmonics
13 15 17 19 windings has inclusion a wider spectrum of higher
b) harmonics in the representation of the mutual inductance
-3
2.5
x 10 distributions (as shown in Fig. 4.). The most significant
L
influence of the rotor skew on the higher harmonics is
2
Laf(v), Lafs(v) (H)

af(v)
L
visible by comparing the derivatives of the inductance
Laf/, Lbf/, Lcf/ and Lafs/, Lbfs/, Lcfs/
afs(v)
1.5

1 (Fig. 6).
0.5
a)
1
dLaf/d, dLbf/d, dLcf/d (H/rad)

0 dL /d
23 25 27 29 31 33 35 37 39 41 43 45 47 49 af
harmonics 0.5
dL /d
c) bf
-3 0 dL /d
x 10 cf
1

0.8 L -0.5
Laf(v), Lafs(v) (H)

af(v)
L
afs(v)
0.6
-1
0 60 120 180 240 300 360
0.4  (deg)
b)
0.2 1
dLafs/d, dLbfs/d, dLcfs/d (H/rad)

0
61 63 65 67 69 71 73 75 77 79 0.5
harmonics dL /d
afs
dL /d
bfs
Fig. 4. Comparison of harmonic magnitudes of the mutual inductance 0
dL /d
distribution in Laf without the rotor skew and in Lafs with a rotor skew: cfs

a) from 3rd to the 19th harmonic, b) from 23rd to the 49th harmonic, c) -0.5
from 61st to the 79th harmonic
-1
0 60 120 180 240 300 360
From the comparison of the harmonic magnitudes (Fig.  (deg)
4) it can be seen that in the distributions, constant Fig. 6. Distribution of stator to field winding mutual inductance
components Laf(0) and Lafs(0) dominate with a very small derivatives vs. angular position of the rotor: a) Laf/, Lbf/, Lcf/ -
percentage of the higher odd harmonics. By comparing without the skew, b) Lafs/, Lbfs/, Lcfs/ - with the skew

Copyright © 2007 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering,
Vol. xx, n. x
 K. Ludwinek

In (2), the product of the electrical angular velocity ω and harmonics are the most visible in the derivatives of the
the derivatives Laf/, Lbf/, Lcf/ and Lafs/, mutual inductance of the stator winding and field. For
Lbfs/, Lcfs/ determines the value of the induced a symmetrical arrangement of the stator windings of the
phase voltages of the salient pole synchronous generator synchronous generator, the mutual inductance derivatives
both with and without the rotor skew under no-load Laf/, Lbf/ and Lcf/ take the same maximum
steady state conditions. Figure 7 shows the comparison values but their spatial distributions are shifted as
of the contents of spatial harmonic magnitudes of Laf/ a function of the electrical angle of the rotor position
(with no skew) and Lafs/ (with the skew) due to [18]. In [18], the detailed representation of the mutual
Fourier analysis. stator to field inductance distributions in the circuital
model for the salient pole synchronous generator are
a) shown. The Laf, Lbf, Lcf mutual stator to field inductance
0.04
distributions versus the  electrical angular position of
dLafv/d, dLafsv)/d (H/rad)

dL /d
afv
0.03 dL
afsv)
/d the rotor can be expressed as [18]:

0.02 Laf  Laf 1 cos( )   Laf (k ) cos k  
k  3, 5, 7... 

4 2  
0.01
 (7)
Lbf  Lbf 1 cos(  )   Lbf ( k ) cos k (  ) 
0 3 k  3, 5, 7...  3 
3 5 7 9 11 13 15 17 19

2 4  
harmonics

b) Lcf  Lcf 1 cos(  )   Lcf ( k ) cos k (  )
0.05 3 k  3, 5, 7...  3  
dLafv/d, dLafsv)/d (H/rad)

dL /d
afv
0.04
dL /d
afsv) Whereas the derivatives are expressed as:
0.03
Laf L fa 
0.02    Laf 1 sin( )  
  
0.01 
  kLaf ( k ) sink  
0
23 25 27 29 31 33 35 37 39 41 43 45 47 49 k  3, 5, 7... 
harmonics 
Lbf L fb 4
c)    Lbf 1 sin(  )  (8)
0.08   3 


dLafv/d, dLafsv/d (H/rad)

dL /d
afv
  
  kLbf ( k ) sin k ( 
2 
0.06 dL /d )
afsv
k  3, 5, 7...  3  

0.04
Lcf L fc 2 
   Lcf 1 sin(  ) 
0.02   3 
 4  
0   kLcf ( k ) sin k (  ) 
61 63 65 67 69 71
harmonics
73 75 77 79
k  3, 5, 7...  3  


Fig. 7. Comparison of the harmonic magnitudes in derivative of the In simulations, it is often assumed that the self-
mutual inductance distribution in Laf/ - without the rotor skew and
inductance of the field winding is constant. Figure 8
in Lafs/- with a rotor skew): a) from 3rd to the 19th harmonic , b)
from 23rd to the 49th harmonic, c) from 61st to the 79th harmonic shows the distribution of the Lf and Lfs self-inductance of
the field winding both with and without the rotor skew.
Figure 4 shows the harmonic spectrum of the mutual 5
inductance distribution, from which it can be seen that
for the salient pole synchronous generator without rotor 4.98

skew, the participation of 73rd harmonic is 0.1% (with

Lf, Lfs (H)

4.96
respect to the fundamental component) and it is very
L
small. However, in the case of calculating the derivative 4.94 f
L
fs
that occurs in (2) or (4), the value will be enhanced 73 4.92
times by the value of the derivative order. For the 73rd
harmonic, participation of the derivative (with respect to 4.9
0 60 120 180 240 300 360
the fundamental component) increases to 7.3% (the  (deg)

magnitude value of the fundamental component of the Fig. 8. Distribution of self-inductance of field winding Lf without the
inductance distribution and the derivative are the same). rotor skew and Lfs with the rotor skew
Similarly, the participation of the 23rd, 49th and 71st
harmonics, which are the most visible, increases. From As can be seen in Fig. 8, in the distributions of Lf and Lfs,
Figure 7 and (2) or (4), it can be determined that in the the constant components Lf0 and Lf0s have the same value,
waveforms of ua, ub and uc induced phase voltages under 4.97 H. Stator slotting has a very small influence on the
no-load steady state conditions, the most visible are the distribution of the Lf self-inductance of the field winding
influence of 23rd, 49th, 71st and 73rds, i.e., the higher without the rotor skew. In the case with rotor skew, the

Copyright © 2007 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering,
Vol. xx, n. x
 K. Ludwinek

participation of higher harmonics in the distribution of shows the waveforms of the dif/dt derivatives of the field
inductance is practically negligible. In the no-load steady currents without the rotor skew and difs/dt with the rotor
state conditions, the wave-shape of the field current has skew. In Fig. 11, waveforms of the induced stator phase
an influence on the derivative determined from the self- voltages ua, ub, uc without the rotor skew (Fig. 11a) and
inductance distribution (Fig. 8). Figure 9 shows the uas, ubs, ucs with the rotor skew (Fig. 11b) are shown.
Lf/ and Lfs/ derivatives calculated from 60
distributions of inductance Lf without the rotor skew and
40

dif/dt, difs/dt (A/rad)

Lfs with the rotor skew (Fig. 8). di /dt
f
20 di /dt
0.8 fs
0
dLf/d,dLfs/d (H/rad)

0.4 dL /d -20

f
dL /d -40
fs
0
-60
0 0.005 0.01 0.015 0.02
t (s)
-0.4
Fig. 10. Waveforms of numerical simulation of the derivatives of the
-0.8 field currents with and without the rotor skew (Uf = const)
0 60 120 180 240 300 360
 (deg) a)
Fig. 9. Distribution of derivatives of field winding self-inductance 400
Lf/ without the rotor skew and Lfs/ with the rotor skew
200
ua, ub, uc (V)
Presented in Fig. 8, the inductances distribution shows
0 u
that for the tested salient pole synchronous generator a
u
without the rotor skew, the participation of both the 24th -200
b
u
and 72nd harmonic is small and is equal to 0.1% (in c

relation to the fundamental component). However, in (3), -400

0 0.005 0.01 0.015 0.02
the derivative Lf(v)/ is required. For the 24th and 72nd t (s)
higher harmonics, the derivative enhanced the harmonics b)
400
of the self-inductance of field winding by 24 and 72
times, respectively (Fig. 9). In [17], the detailed
uas, ubs, ucs (V)

200
representation of the self-inductance distribution of the
field winding in a circuital model of the 5.5-kVA salient- 0 u
pole synchronous generator is shown. The distributed as
u
field winding of the self-inductance Lf versus the -200
bs
u
electrical angular position of the rotor for the number of cs

stator slots (Qs) can be formulated as [17]: -400

0 0.005 0.01 0.015 0.02
t (s)
L f  Lf  L f 0   L f Qs  cos(Qs )  L f 2Qs  cos( 2Qs ) 
(9) Fig. 11. Waveforms of the numerical simulation of induced phase stator
n
 L f 3Qs  cos(3Qs )   (1) L f k Qs  cos( kQ s )
k voltages (Uf = const.): a) ua, ub, uc without the rotor skew, b) uas, ubs, ucs
k 4
with the rotor skew
Whereas the derivative is expressed as:
From (2) and (3), assuming a constant rotor speed and
L f constant field voltage, the shape of the induced phase
 Qs L fQs sin(Qs )  2Qs L f 2Qs  sin(2Qs ) 
 (10) stator voltage can be determined by two components:
n
 the first component in (2) depends on the product of
 3Qs L f 3Qs  sin(3Qs )   (1) k kQ s L f k Qs  sin(kQ s )
k 4 the derivatives of the mutual inductance stator to field
winding and field current,
IV. Numerical simulations using the circuital  the second component in (2) depends on the product
model of the mutual inductance stator to field winding and
the derivative of the field current.
Simulation studies of the influence of the DC voltage The influence of the first and second components from
and current powering of the field winding of the salient expression (2) on the resultant waveform of induced
pole synchronous generator both with and without the phase voltage under no-load steady state conditions in the
rotor skew on the higher harmonic contents in the case of Uf = const. for the tested salient pole synchronous
induced stator phase voltages under no-load steady state machine both with and without the rotor skew, is shown
conditions were performed using the program in Fig. 12. It can be seen from the waveforms presented
implemented in the Matlab software. The simulations in Fig. 12 that by powering the field winding with a DC
using circuital models (2) and (3), assumed the
L di f
distributions of the self- and mutual inductances (Figs. 3 voltage, the next components  af i f and Laf ,
and 8) and their derivatives (Figs. 6 and 9). Figure 10  dt

Copyright © 2007 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering,
Vol. xx, n. x
 K. Ludwinek

Lbf di f Lcf di f have greater higher harmonic contents than in case when
 i f and Lbf ,  i f and Lcf are in powering the field winding by Uf = const.
 dt  dt
couterphase.
a) V. Numerical simulations using circuit-FEM
400 model

200
A transient simulation study of the influence of the
DC voltage and of the current powering the field winding
ua (V)

0 on higher harmonic contents in induced stator phase

i dL /dt
f af
voltages under no-load steady state conditions for the
-200 L di /dt
af f
5.5-kVA salient pole synchronous generator both with
u
a
and without the rotor skew in the program was performed
-400 using Flux 2D Skew. Figure 13 shows the employed
0 0.005 0.01 0.015 0.02
t (s)
b
triangular mesh (with unskewed rotor) and electrical
400 circuit as the element of the Flux 2D Skew field-circuit
model with the DC voltage powering the field winding of
200 the 5.5-kVA salient pole synchronous generator.
uas (V)

0 a)
i dL /dt
fs afs
-200 L di /dt
afs fs
u
as
-400
0 0.005 0.01 0.015 0.02
t (s)

Fig. 12. Influence of two components in (2) on the shape of the

waveform of induced phase voltage in the case of Uf = const.:
a) without the rotor skew, b) with the rotor skew

100
U 2k  b)
k 2
The THDu a  total harmonic distortions
U1
counted up to the 100th harmonic in the presented
waveforms (Fig. 11) for the ua and uas induced phase
voltages under no-load for the case Uf = const. (if = var)
are:
 without rotor skew THDua = 6.12 %,
 with rotor skew THDuas = 4.75 %.
The simulations of waveforms of induced stator
voltages when using the DC current source have the
same shapes as the derivatives shown in Fig. 6. The
temporary values of induced voltages, according to (4),
should be multiplied by the electrical angular velocity ω. Fig. 13. Elements of Flux 2D Skew circuit- field model of the examined
The THDua total harmonic distortions counted up to the salient pole synchronous generator a) employed triangular mesh (with
100th harmonic in the presented waveforms (in Fig. 6) unskewed rotor), b) the circuit model with the Uf = const
for the ua and uas induced phase voltages under the no-
load state for the case If = const. (DC source current) are: Figure 14 shows the waveforms of the numerical
 without the rotor skew THDua = 10.93 %, simulation by Flux 2D Skew of the induced phase stator
voltages ua, ub and uc without the rotor skew and of uas,
 with the rotor skew THDuas = 5.49 %.
ubs and ucs with the rotor skew.
It can be seen from the presented waveforms (in Fig. 6)
that by supplying the field winding with a DC field a)
400
L di f
current, the next components  af i f and Laf ,
 dt 200
u
a
ua, ub, uc (V)

u
L di f L di f b
 bf i f and Lbf ,  cf i f and Lcf are not in u
 
0 c
dt dt
di f di f di f -200
couterphase because Laf , Lbf and Lcf are
dt dt dt
equal to zero. This means that the induced stator voltages -400
0 0.005 0.01 0.015 0.02
t (s)

Copyright © 2007 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering,
Vol. xx, n. x
 K. Ludwinek

b) a)
400 400

u
uas, ubs, ucs (V)

as u
200 200 a

ua, ub, uc (V)

u u
bs
b
u u
cs
0 0 c

-200 -200

-400 -400
0 0.005 0.01 0.015 0.02 0 0.005 0.01 0.015 0.02
t (s) t (s)
b)
Fig. 14. Numerical simulation waveforms of induced phase stator 400
voltages in Flux 2D Skew: a) ua, ub and uc without the rotor skew, b)
uas, ubs and ucs with the rotor skew (Uf = const.) u
200 a

ua, ub, uc (V)

u
b
Figure 15 shows the contents of spatial harmonic 0
u
c
amplitudes (in relation to the fundamental component) of
the induced phase voltages shown in Fig. 14 due to -200
Fourier analysis for the case Uf = const.
-400
0 0.005 0.01 0.015 0.02
a) t (s)
4
IHDu Fig. 16. Induced phase stator voltages for the case of supplying the field
a
IHDua, IHDuas (%)

3
IHDu
as
winding by field currents If = const: a) ua, ub, uc without the rotor skew,
b) uas, ubs, ucs with the rotor skew (If = const.)
2
The THDua total harmonic distortion counted up to the
1
100th harmonic in the presented waveforms (in Fig. 16)
of the ua and uas induced phase voltages under no-load
0 conditions for the case of If = const. (DC source current)
3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39
hamonics are:
b)  without the rotor skew THDua = 13.73%,
2
IHDu
a  with the rotor skew THDuas = 6.14%.
IHDu
IHDua, IHDuas (%)

1.5 as

VI. Experimental verification

1
Figure 17 shows the laboratory stand used for the
0.5 investigations of the three-phase salient pole
synchronous generator both with and without rotor skew.
0
43 45 47 49 51 53 55 57 59 61 63 65 67 69 71 73 75 77 79
hamonics

Fig. 15. Spectrum of the higher harmonic content in ua and uas the
induced phase voltages for the case Uf = const. for the salient pole
synchronous machine both with and without the rotor skew: a) from 3rd
to the 39th harmonic, b) from 43rd to the 99th harmonic

The THDua total harmonic distortion counted up to the

100th harmonic in the presented waveforms (Fig. 14) for
the ua and uas induced phase voltages under no-load
conditions for the case Uf = const. (if = var) are:
 without rotor skew THDua = 6.01%,
 with rotor skew THDuas = 4.63%.
The simulations of the waveforms of induced
armature voltages using the DC current source for
powering the field winding were performed using the
circuit model shown in Fig. 13b, after first replacing the
DC voltage source with the DC current one. Figure 16
shows the waveforms of the numerical simulation by
Flux 2D Skew of the induced phase stator voltages ua, ub
and uc without the rotor skew and of uas, ubs and ucs with
the rotor skew for the case of powering the field winding Fig. 17. Laboratory stand for investigations of the three-phase salient
by the DC field current. pole synchronous generator with and without the rotor skew

Copyright © 2007 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering,
Vol. xx, n. x
 K. Ludwinek

Experimental verification of the effect of the rotor b)

2
skew on the wave-shapes of the induced stator phase
Measurement
voltages were performed under no-load of the three-

IHDua, IHDuas (%)

1.5
phase salient pole synchronous generators with the
following rated data: SN = 5.5 kVA, UN = 400 V (Y), IN = IHDu
1
7.9 A, cosN = 0.8, nN = 3000 rpm, Qs = 24, pb = 1, q = IHDu
a

0 and q = 15. During the investigations, the field

as
0.5
winding was powered by a DC voltage source. The
induced phase stator voltages were registered using a 0
45 47 49 51 53 55 57 59 61 63 65 67 69 71 73 75 77 79
four-channel digital oscilloscope MSO 3014 (Tektronix). harmonics order
In Figure 18, the registered ua, ub and uc induced
Fig. 19. Spectrum of the higher harmonic content in the induced phase
stator phase voltages under no-load conditions of the voltages for the case of IHDua without the rotor skew and IHDuas with
investigated salient pole synchronous generator both with the rotor skew registered in the laboratory stand (Uf = const.): a) from
and without the rotor skew, are presented. 3rd to the 29th harmonic, b) from 45th to the 79th harmonic

b) As shown in Figure 19 for the case of Uf = const., the

400
total harmonic content of THDua and THDuas counted to
the 100th harmonic is:
ua, ub, uc, (V)

200
u  without the rotor skew THDua = 8.60% (THDua =
a
0 u 7.74% if assuming 3.3% of the 3rd harmonic, as in the
b
u simulation),
c
-200  with the rotor skew THDuas = 6.10% (THDuas =
4.81%, if assuming 3.25% of the 3rd harmonic, as in the
-400
0 0.005 0.01 0.015 0.02
simulation).
t (s)
b)
400
VII. Conclusion
The proposed method allows for a linear model of
uas, ubs, ucs, (V)

200
a three-phase salient pole synchronous generator, both
with and without a rotor skew, to determine the internal
0 u
as generated wave-shapes of induced voltages in the
u
-200
bs armature windings. As shown in this paper, omitting the
u
cs damping circuits simplifies the process for determining
-400
0 0.005 0.01 0.015 0.02
the influence of both the DC voltage and the DC current
t (s) powering the field winding on the induced stator phase
voltages.
Fig. 18. Registered waveforms of the induced stator phase voltages
under no-load conditions of the salient pole synchronous generator: a) Based on the simulation studies, it can be concluded
without the rotor skew, b) with the rotor skew that for the tested salient pole synchronous generator
when powering the excitation winding from a DC
Figure 19 shows a comparison of the contents of the voltage source the THDua in the induced stator voltages
higher harmonic content of the registered ua and uas (Fig. are equal to:
18) for the case of powering the field winding by Uf =  4.63 % and 6.01 % with and without the rotor skew
const. As mentioned in the introduction, in the induced respectively, using a field-circuit model,
stator voltage of the examined salient pole synchronous  4.01 % and 7.75 % with and without the rotor skew
generator, there is a significant increase the third respectively, using a circuital model,
harmonic due to saturation [20]. The influence of  4.81 % and 7.74 % with and without the rotor skew
magnetic saturation on the increased value of the respectively, registered in the laboratory stand if
saturated 3rd spatial harmonic in the induced stator assuming 3.3% and 3.25 % of the 3rd harmonic
voltages is described in detail in [20]. respectively, as in the simulation.
a) When powering the excitation winding from a DC
6 current source the THDua in the induced stator voltages
Measurement
are equal to:
5
 6.14 % and 13.73 % with and without the rotor skew
IHDua, IHDuas (%)

IHDu
4 a
IHDu
respectively, using a field-circuit model,
3
as
 5.49 % and 10.93 % with and without the rotor skew
2 respectively, using a circuital model.
From the simulations, it can be concluded, that forcing a
1
constant value of the current powering the field winding
0
3 5 7 9 11 13 15 17 19 21 23 25 27 29
significantly increases the harmonic content in induced
harmonic order

Copyright © 2007 Praise Worthy Prize S.r.l. - All rights reserved International Review of Electrical Engineering,
Vol. xx, n. x
 K. Ludwinek

voltages in the armature winding of the synchronous [8] M. Dąbrowski, Design of alternating current electrical machines
(in Polish) (WNT, Warszawa 1994).
generator without a rotor skew. The simulation studies
[9] T. J. Sobczyk, Methodology of Mathematical Modeling of
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harmonic reduction has an influence both the derivative [10] I. Boldea, Synchronous generators (CRC Press Taylor &Francis
of the field current and the stator to field mutual Group, 2006).
[11] V. Fireteanu, P. Taras, Finite element analysis of dynamic
inductances, e.g., in phase a they are (difs/dt)·Lafs and
behavior of salient poles synchronous motor. Annals of the
(dif /dt)·Laf (with and without a rotor skew respectively). University of Craiova, Electrical Engineering series, No. 32,
In the case of the simulation using the field model or 2008, pp. 90-95.
field-circuit model, it is difficult to determine which of [12] Z. Danhong, Finite element analysis of synchronous machines.
Doctor's Thesis, Pennsylvania State University, 2009.
the electromagnetic parameters of the salient pole
[13] J. Bernatt, S. A. Gawron, M. Glinka, Experimental Validation of
synchronous generator has a direct impact on the Hybrid Excited Permanent Magnet Synchronous Generator.
reduction of harmonics in the induced stator voltages. In Przegląd elektrotechniczny, No 12a, 2012, pp. 66-70.
the circuital model in the natural reference frame of the [14] T. J. Sobczyk, Extreme Possibilities of Circuital Models of
Electric Machines, Electrical Power Quality and Utilisation,
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Vol. 7, n. 2, 2006, pp. 103 – 110.
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is reinforced by a row of the v-th harmonic derivative and of synchronous generator parameters using PRBS perturbations.
electrical angular velocity  (for frequency 50 Hz, the  IEEE Transactions on Power Systems Vol. 17, n. 3, 2002, pp.
674-700.
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In the experimental verification of the induced stator phase inductance of the salient pole machines”, IEEE
voltage, the harmonic contents and THDu is different International Electric Machines & Drives Conference (IEMDC
than in the simulation using the circuital model and field- 2007), May 3-5, 2007, Antalya, Turkey.
[17] K. Ludwinek, Representation of the self inductances in
circuit model. The difference results from the a circuital model of a salient-pole synchronous machine (in
nonlinearity of the real model and the assumed Polish). Elektro.Info, No 7/8, 2013, pp. 36 - 41.
simplification of the circuital and circuital-field models. [18] K. Ludwinek, Representation of the mutual inductances in
In the real synchronous generator because of the a circuital model of a salient-pole synchronous machine (in
Polish). Elektro.Info, No 9, 2013, pp. 103 - 111.
saturation effect, the 3rd harmonic is greater than the 3rd [19] S. M. Raziee, H. M. Kelk, H.R. R. Alikhani, A. Omati, Air-Gap
harmonic in the linear model. Moreover, in the real Eccentricity Effects on Harmonic Contents of Field Current in
salient pole synchronous generator, there are a number of Synchronous Generators, International Review of Electrical
factors that have an additional slight influence on the Engineering (IREE) Vol. 5. n. 1, 2010, pp. 83-89.
[20] Y. Liao, T. A. Lipo, Effect of saturation third harmonic on the
harmonic contents and the THDu, such as the non- performance of squirrel-cage induction machines. Reseach
uniform of the air gap on the stator and rotor side (along Report 92-8, Madison, Wisconsion, 1992.
the length of the rotor and stator), shaft eccentricity and [21] R. Zajczyk, Mathematical models of power system for
the presence of damping circuits. examination of electro-mechanical unsteady states and control
processes (in Polish) (Gdańsk University of Technology
Publications 2003).
References

[1] R. Nadolski, J. Staszak, L. Harbaoui, Consideration of solid rotor Author’s information

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Electrical Engineering PAS, Vol. 47, n 2, 1998, pp. 233-243.
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the Synchronous Cylindrical Machine Damping Cage on Content 25–314 Kielce, Poland, [email protected],
of Higher Harmonics in Armature Currents During Co-Operation
with the Distorted and Asymmetrical Electric Power System. Krzysztof Ludwinek received the Ph.D.
Computer Engineering in Applied Electromagnetism, (IOS Press, in electrical engineering from Kielce
2006, 520 – 527). University of Technology in Poland
[3] K. Ludwinek, R. Nadolski, J. Staszak, Nonsinusoidal and (2002). He works at the Department of
asymmetrical influence of electric power system on field Electrical Machines and Mechatronic
voltages and currents waveforms of synchronous machine (in Systems at the Kielce University of
Polish). 39th International Symphosium on Electrical Machines, Technology. He is the author/co-author of
SME'2003, June 11-13, 2003, Gdańsk-Jurata, Poland. more than 50 refereed scientific works.
[4] Z. Eleschova, A. Belan, M. Mucha, Harmonic Distortion The main area of his scientific interests is
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Power Systems, September 22-24, 2006, Lisbon, Portugal. electrical machines.
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