ESAC6A

Source: GridKit/Model/PhasorDynamics/Exciter/ESAC6A/README.md

IEEE Type AC6A Excitation System Model (ESAC6A)

ESAC6A is an IEEE Type AC excitation system with sensed terminal-voltage feedback, cascaded regulator lead-lag blocks, voltage-regulator limits, an exciter alternator state, field-current feedback limiting, rectifier loading, saturation, and optional speed multiplier.

Notes:

• Internal voltage and current signals are on model base unless otherwise stated.

• The rectifier loading block \(F_{\mathrm{ex}}=f(I_N)\) is the source AC-exciter loading curve from Fig. 1; it is not a CommonMath helper.

• The source diagram labels the optional multiplier input as Speed; GridKit uses machine speed deviation, so the enabled multiplier is \(1+\omega\).

Block Diagram

Standard model of the ESAC6A Exciter.

Figure 1: Exciter ESAC6A model. Figure courtesy of PowerWorld

Model Parameters

Symbol	Units	JSON	Description	Typical Value	Note
\(T_R\)	[sec]	Tr	Transducer time constant	0.0	Block name: Tr; if zero, \(V_C\) is algebraic
\(K_A\)	[p.u.]	Ka	Voltage-regulator gain	40.0	Block name: Ka
\(T_A\)	[sec]	Ta	Regulator denominator time constant	0.1	Block name: Ta
\(T_K\)	[sec]	Tk	Regulator numerator time constant	0.0	Block name: Tk
\(T_B\)	[sec]	Tb	Lag time constant for second lead-lag block	0.0	Block name: Tb
\(T_C\)	[sec]	Tc	Lead time constant for second lead-lag block	0.0	Block name: Tc
\(V_A^{\max}\)	[p.u.]	VaMax	Maximum first regulator block output	1.0	Block name: VAMAX
\(V_A^{\min}\)	[p.u.]	VaMin	Minimum first regulator block output	-1.0	Block name: VAMIN
\(V_R^{\max}\)	[p.u.]	Vrmax	Maximum voltage-regulator output	1.0	Block name: Vrmax
\(V_R^{\min}\)	[p.u.]	Vrmin	Minimum voltage-regulator output	-1.0	Block name: Vrmin
\(T_E\)	[sec]	Te	Exciter alternator time constant	0.5	Block name: Te
\(V_{\mathrm{fe}}^{\mathrm{lim}}\)	[p.u.]	Vfelim	Feedback-limiter summing-junction reference	0.0	Source label: VFELIM
\(K_H\)	[p.u.]	Kh	Feedback-limiter gain	1.0	Block name: KH
\(V_H^{\max}\)	[p.u.]	Vhmax	Maximum feedback-limiter lead-lag output	1.0	Block name: VHMAX; lower limit is zero
\(T_H\)	[sec]	Th	Feedback-limiter denominator time constant	0.0	Block name: TH
\(T_J\)	[sec]	Tj	Feedback-limiter numerator time constant	0.0	Block name: TJ
\(K_C\)	[p.u.]	Kc	Rectifier loading current coefficient	0.0	Block name: Kc; forms \(I_N\)
\(K_D\)	[p.u.]	Kd	Demagnetizing factor feedback gain	0.0	Block name: Kd
\(K_E\)	[p.u.]	Ke	Exciter field-resistance line-slope margin	0.1	Block name: Ke
\(E_1\)	[p.u.]	E1	First saturation voltage point	2.8	Block name: E1
\(S_E(E_1)\)	[p.u.]	SE1	Saturation value at \(E_1\)	0.08	Block name: Se1
\(E_2\)	[p.u.]	E2	Second saturation voltage point	3.7	Block name: E2
\(S_E(E_2)\)	[p.u.]	SE2	Saturation value at \(E_2\)	0.33	Block name: Se2
\(s_{\mathrm{spd}}\)	[binary]	Spdmlt	Speed multiplier flag	0	Block name: Spdmlt; 1 enables the speed multiplier

Parameter Validation

Invalid ESAC6A parameter sets are rejected by the following checks.

\[\begin{split}\begin{aligned} &K_A > 0 \\ &T_R \ge 0,\quad T_A > 0,\quad T_K \ge 0,\quad T_B \ge 0,\quad T_C \ge 0,\quad T_E > 0 \\ &T_H \ge 0,\quad T_J \ge 0 \\ &T_B > 0\quad\text{or}\quad(T_B = 0\ \text{and}\ T_C = 0) \\ &T_H > 0\quad\text{or}\quad(T_H = 0\ \text{and}\ T_J = 0) \\ &V_A^{\min} \le V_A^{\max},\quad V_R^{\min} \le V_R^{\max},\quad V_H^{\max} \ge 0 \\ &s_{\mathrm{spd}} \in \{0,1\} \end{aligned}\end{split}\]

The saturation points are either disabled together or define a valid positive two-point quadratic fit.

Model Derived Parameters

The saturation curve is fitted from the two supplied saturation points. If both saturation factors are zero, use \(S_A=0\) and \(S_B=0\). Otherwise:

\[\begin{split}\begin{aligned} C &= \sqrt{\dfrac{S_E(E_2)}{S_E(E_1)}} \\ S_A &= \dfrac{C E_1 - E_2}{C - 1} \\ S_B &= \dfrac{S_E(E_1)}{(E_1 - S_A)^2} \end{aligned}\end{split}\]

Model Variables

Internal Variables

Differential

Symbol	Units	Description	Note
\(V_E\)	[p.u.]	Exciter alternator voltage state before output multipliers	State 1 in Fig. 1; source label: VE
\(V_C\)	[p.u.]	Sensed compensated voltage	State 2 in Fig. 1; source label: Sensed Vt; algebraic when \(T_R=0\)
\(x_A\)	[p.u.]	First regulator lead-lag denominator state	State 3 in Fig. 1; source label: TA Block
\(x_{\mathrm{ll}}\)	[p.u.]	Second lead-lag denominator state	State 4 in Fig. 1; source label: VLL
\(V_F\)	[p.u.]	Stabilizing feedback signal	State 5 in Fig. 1; source label: VF

Algebraic

Symbol	Units	Description	Note
\(e_V\)	[p.u.]	Voltage-regulator input error before first lead-lag	Summing junction after sensed voltage
\(V_A\)	[p.u.]	Limited first regulator lead-lag output	Limited by \(V_A^{\min}\) and \(V_A^{\max}\)
\(V_{\mathrm{ll}}\)	[p.u.]	Second lead-lag output	Input to \(V_R\) summing junction
\(V_H\)	[p.u.]	Feedback-limiter lead-lag output before \(K_H\)	Limited by 0 and \(V_H^{\max}\)
\(V_H^{\mathrm{pre}}\)	[p.u.]	Feedback-limiter lead-lag output before limits	Bypasses to \(V_F\) when \(T_H=T_J=0\)
\(V_R\)	[p.u.]	Voltage-regulator output	Limited by \(V_R^{\min}\) and \(V_R^{\max}\)
\(S_E\)	[p.u.]	Saturation coefficient evaluated at \(V_E\)	Uses derived saturation curve
\(I_N\)	[p.u.]	Normalized exciter loading current	Source label: IN; satisfies \(V_E I_N=K_C I_{\mathrm{fd}}\)
\(F_{\mathrm{ex}}\)	[p.u.]	Rectifier loading factor	Source label: FEX; source curve \(F_{\mathrm{ex}}=f(I_N)\)
\(V_{\mathrm{fe}}\)	[p.u.]	Exciter feedback signal	Sum of saturation/resistance, \(K_D I_{\mathrm{fd}}\), and feedback-limiter paths
\(E_{\mathrm{fd}}\)	[p.u.]	Field-voltage output	Output after rectifier loading and optional speed multiplier

External Variables

Differential

None.

Algebraic

Symbol	Units	Description	Note
\(E_C\)	[p.u.]	Compensated terminal voltage magnitude	Source label: EC
\(V_{\mathrm{ref}}\)	[p.u.]	Voltage-control reference	Source label: VREF
\(V_{\mathrm{uel}}\)	[p.u.]	Under-excitation limiter input	Source label: VUEL; optional, defaults to zero
\(V_S\)	[p.u.]	Stabilizer input signal	Source label: VS; optional, defaults to zero
\(I_{\mathrm{fd}}\)	[p.u.]	Machine field current	Source label: IFD
\(\omega\)	[p.u.]	Machine speed deviation	Source label: Speed; optional when \(s_{\mathrm{spd}}=0\)

Model Equations

Differential Equations

\[\begin{split}\begin{aligned} 0 &= -T_R\dot V_C - V_C + E_C \\ 0 &= -T_A\dot x_A - x_A + K_A e_V \\ 0 &= -T_B\dot x_{\mathrm{ll}} - x_{\mathrm{ll}} + V_A \\ 0 &= -T_E\dot V_E + V_R - V_{\mathrm{fe}} \\ 0 &= -T_H\dot V_F - V_F + V_{\mathrm{fe}} \end{aligned}\end{split}\]

Algebraic Equations

\[\begin{split}\begin{aligned} 0 &= -e_V + V_{\mathrm{ref}} + V_{\mathrm{uel}} + V_S - V_C - V_F \\ 0 &= -V_A + \text{clamp}\!\left( x_A + \dfrac{T_K}{T_A}(K_A e_V - x_A), V_A^{\min}, V_A^{\max} \right) \\ 0 &= -T_B(V_{\mathrm{ll}} - x_{\mathrm{ll}}) + T_C(V_A - x_{\mathrm{ll}}) \\ 0 &= -V_H^{\mathrm{pre}} + \begin{cases} V_F, & T_H = T_J = 0 \\ V_F + \dfrac{T_J}{T_H}(V_{\mathrm{fe}} - V_F), & T_H > 0 \end{cases} \\ 0 &= -V_H + \text{clamp}\!\left(V_H^{\mathrm{pre}}, 0, V_H^{\max}\right) \\ 0 &= -V_R + \text{clamp}(V_{\mathrm{ll}} - K_H V_H, V_R^{\min}, V_R^{\max}) \\ 0 &= -S_E + S_B\,q(V_E - S_A) \\ 0 &= -V_E I_N + K_C I_{\mathrm{fd}} \\ 0 &= -F_{\mathrm{ex}} + f(I_N) \\ 0 &= -V_{\mathrm{fe}} + (K_E + S_E)V_E + K_D I_{\mathrm{fd}} + V_{\mathrm{fe}}^{\mathrm{lim}} \\ 0 &= -E_{\mathrm{fd}} + \left(1+s_{\mathrm{spd}}\omega\right)F_{\mathrm{ex}}V_E \end{aligned}\end{split}\]

CommonMath defines helper targets for clamp and the primitive quadratic ramp \(q\). The rectifier loading function \(f(I_N)\) is the source curve shown in Fig. 1. When \(T_B=T_C=0\), the second lead-lag block is bypassed. When \(T_H=T_J=0\), the feedback-limiter lead-lag block is bypassed before the 0-to-\(V_H^{\max}\) clamp.

Initialization

The machine initializes \(E_{\mathrm{fd}}\) and \(I_{\mathrm{fd}}\) first. For a standard unsaturated start, ESAC6A reads those values and sets all internal derivatives to zero. First solve the coupled rectifier-loading equations:

\[\begin{split}\begin{aligned} 0 &= -V_{E,0}I_{N,0} + K_C I_{\mathrm{fd},0} \\ 0 &= -F_{\mathrm{ex},0} + f(I_{N,0}) \\ 0 &= -E_{\mathrm{fd},0} + \left(1+s_{\mathrm{spd}}\omega_0\right)F_{\mathrm{ex},0}V_{E,0} \end{aligned}\end{split}\]

Then evaluate:

\[\begin{split}\begin{aligned} S_{E,0} &= S_B\,q(V_{E,0} - S_A) \\ V_{\mathrm{fe},0} &= (K_E + S_{E,0})V_{E,0} + K_D I_{\mathrm{fd},0} + V_{\mathrm{fe}}^{\mathrm{lim}} \\ V_{F,0} &= V_{\mathrm{fe},0} \\ V_{H,0}^{\mathrm{pre}} &= V_{F,0} \\ V_{H,0} &= \text{clamp}(V_{H,0}^{\mathrm{pre}}, 0, V_H^{\max}) \\ V_{R,0} &= V_{\mathrm{fe},0} \\ V_{\mathrm{ll},0} &= V_{R,0} + K_H V_{H,0} \\ V_{A,0} &= V_{\mathrm{ll},0} \\ x_{A,0} &= V_{A,0} \\ x_{\mathrm{ll},0} &= V_{\mathrm{ll},0} \\ V_{C,0} &= E_{C,0} \\ e_{V,0} &= \dfrac{x_{A,0}}{K_A} \\ V_{\mathrm{ref},0} &= e_{V,0} + V_{C,0} + V_{F,0} - V_{\mathrm{uel},0} - V_{S,0} \end{aligned}\end{split}\]

This standard start requires \(1+s_{\mathrm{spd}}\omega_0\ne 0\), \(V_{E,0}\ne 0\), inactive \(V_A\), \(V_R\), and \(V_H\) limits, and nonsingular regulator gains/time constants. Starts that bind those limits are outside these closed-form equations.

Model Outputs

Output	Units	Description	Note
efd	[p.u.]	Field-voltage output	\(E_{\mathrm{fd}}\)
ve	[p.u.]	Exciter alternator voltage state	\(V_E\)
vc	[p.u.]	Sensed compensated voltage	\(V_C\)
va	[p.u.]	First regulator output	\(V_A\)
vll	[p.u.]	Second lead-lag output	\(V_{\mathrm{ll}}\)
vf	[p.u.]	Feedback-limiter state	\(V_F\)
vh	[p.u.]	Feedback-limiter output	\(V_H\)
vr	[p.u.]	Voltage-regulator output	\(V_R\)
in	[p.u.]	Normalized exciter loading current	\(I_N\)
fex	[p.u.]	Rectifier loading factor	\(F_{\mathrm{ex}}\)
se	[p.u.]	Saturation coefficient	\(S_E\)