IEEE Transactions on Power Apparatus and

Systems, Vol.PAS-98,No.1

Jan/Feb 1979

141

THE THEORY OF NEGLECTING STATOR TRANSIENTS

D. W. Olive
Department of Electrical Engineering
University of Nebraska
Lincoln, Nebraska 68508

T. L. Skvarenina
F. Nozari
P. C. Krause
Energy Systems Simulation Laboratory
School of Electrical Engineering

Purdue University
West Lafayette, Indiana 47907

ABSTRACT

These assumptions have always been considered to be

For more than four decades it has been thought that

neglecting the so-called "ph terms" in Park's equations is equivalent to neglecting the electric transients due to the stator windings of a synchronous
machine. Over the years, trial and error results have
indicated that a more accurate prediction of synchronous machine performance
could be obtained if the
Aw(p6) terms in the stator voltage equations were also
neglected. This paper provides a theoretical explanation of this experimental observation. In particular,
it is established theoretically that in order to
neglect the "stator transients" both the p* and Aw
terms must be set equal to zero. This is accomplished
by proving that the equivalence of neglecting the pq
terms in the synchronous reference frame is to neglect
the p* and Aw terms in all other reference frames.
R-L transmission systems, synchronous and induction
machines are considered.

separate; however, in this paper it is shown that in

order to neglect the electric transient due to the
stator windings of either the synchronous or induction
machine both the p4 and Aw(p6) terms must be neglected

in Park's equations or in any other asynchronous

reference frame. To the authors' knowledge, this provides the first theoretical explanation of the results
previously established by trial and error and reported
in C4-10] and numerous other papers.
SYNCHRONOUS REFERENCE FRAME

In the synchronous reference frame, the well known

direct and quadrature axis voltage equations of a symmetrical three phase transmission line or of the stator of a symmetrical induction machine are expressed
e
qs

INTRODUCTION

In digital dynamic and transient stability studies

of large systems the electric transients due to the
network and the stator windings of the machines are
neglected C1-6] to reduce the order of the system and,
therefore, the computational costs.
For these studies, the low frequency rotor oscillations are of primary interest, and in the case of symmetrical disturbances the electric transients have little effect unless the conditions are particularly severe C2].

Network or transmission
line
transients
are
neglected by using the positive sequence impedances of
the transmission system in the stationary reference
frame (a, a variables) or by neglecting the rate of
change of flux linkage (p*) or current (pi) in the
network differential equations expressed in the synchronously rotating (synchronous) reference frame.
For many years the basic assumption in simplifying the
representation of the synchronous machine has been to
neglect the p terms in Park's stator voltage equations. This assumption is always referred to as
Since the speed of
"neglecting stator transients".
the machine remains essentially constant during a disturbance, most authors make what they consider to be
an additionat assumption that the rotor speed appearing in Park's stator voltage equations can be set
equal to synchronous speed thus neglecting the Aw
It has frequently been shown experimentally
terms.
that the predicted performance obtained by making both
of these assumptions is more accurate than that obtained by making either one alone [4-10.

F78 239-6. A paper recommended and approved by the IEEE Rotating

Machinery Committee of the IEEE Power Engineering Society for
presentation at the IEEE PES Winter Meeting, New York, NY,
January 29-February 3, 1978. Manuscript submitted August 28, 1977;
made available for printing November 11, 1977.

ye

ds

ub

wb

qs

ds

We
ub

we eqs

wb

ds

s qs

+r

ds

(1)

(2)

where * represent flux linkages expressed in the form

of reactance times current, the subscript s represents
the reference frame where the circuits physically exist (the stationary reference frame in this case), the
superscript e denotes the synchronously
rotating
reference frame, p is the operator d/dt, we is the
electrical angular velocity, and
is the base angular velocity (generally chosen equal to we).
wb

For a symmetrical transmission line or induction

machine, the flux linkages are time invariant combinations of the currents (i.e., the reactances are conwhile the reactances of the synchronous
stant),
machine are constant only when expressed in the rotor
reference frame (Park's equations). However, *s and
r
r
expressed in terms of
and qs
d
denotes the rotor reference frame) and the angul ar
displacement between the rotor and synchronous reference frames.
Thus Eqs. 1 and 2 are also the form of
the stator voltage equations of a synchronous machine
expressed in the synchronous reference frame.

*e

qs

may be

(r

The synchronous reference frame has the unique property that during balanced steady state operation, the
system variables (voltages, currents, and flux linkages) are constants.
This is the case for a static
network as well as induction and synchronous machines.
Hence, if the p*e terms are set equal to zero, Eqs. 1
and 2 become algebraic and the electric transients are
If these equations describe a transmissuppressed.
sion network and if the p*e terms are set equal to
zero, then the network transients are neglected. If
they describe the stator voltage equations of an induction or synchronous machine and if the pe terms
are set equal to zero, then the electric transients

0018-9510/79/0100-0141$00.75

1979

IEEE

142

due

stator windings or stator transients are

the

to

neglected.

ARBITRARY REFERENCE FRAME

In the arbitrary reference frame C14], the direct

quadrature voltage equations are

1
+wb p qs Wb a ds +

v qs

-L

rsi
sqs

(3)

We

Pr4 ds -z-4s
Wb

where w is the angular velocity of the arbitrary

reference frame which may be chosen without restriction. For example, if w is set equal to wel then Eqs.
3 and 4 become Eqs. 1 and 2 respectively while if, in
the case of synchronous or induction machines, w = wrf
Setting w equal to zero
Park's equations result.
yields the voltage equations in the stationary reference frame (a, a equations).
In the synchronous reference frame the steady state
variables are constants. In all asynchronous reference frames, the steady state variables appear as balanced sinusoids varying at a frequency equal to the
difference between the speed of the reference frame
and the system frequency. In the stationary reference
frame, the steady state variables vary at system frequency, while in the rotor reference frame they vary
at slip frequency except when the rotor is exactly at
synchronous speed whereupon it becomes a synchronous
reference frame. Thus the p4 terms will also be balanced sinusoids in the steady state and neglecting
them would clearly neglect something other than the
For example, in the stationary
electric transients.
reference frame, w is zero in Eqs. 3 and 4 and if the
p*s terms are neglected the voltage equations reduce
to resistance times current.

Since setting p*e equal to zero neglects the network or stator transients (electric transients), it is
of interest to determine the arbitrary reference frame
equivalent of neglecting these terms. The synchronous
and arbitrary reference frame variables may be related
by
qs

qs cos(ee

fe= fd cos (-e)G)

- fds

ee)

(5)

fqs

sin(ee-E)

(6)

where f is a voltage, current, or flux linkage, e is

the angular displacement of the arbitrary reference
frame, and se is the angular displacement of the synchronous reference frame. If Eqs. 5 and 6 are substituted into Eqs. 1 and 2, the voltage equations in the
arbitrary reference frame become

vqs
v

1
%-

*qs

~W
oe o
b
W

ds~w p4' ds + (

ds +

WeW

Wbb

qs

We

sqs

(7)

Wb qs + rsids

(8)

We

vqs=w *ds + rsiqs

(4)

+ r i
s ds
qs

d=wb

and

city or system frequency. Thus, with the equations

written in this form, the aw terms become evident. In
the rotor reference frame, for example, w = wr and
this term is clearly the Aw r or p6 term of Park's
equations. Thus to neglect the electric transients in
any asynchronous reference frame both the p* and the
aw terms must be set to zero, hence

ds +

rsiq

These are identical to Eqs. 3 and 4, but when written

in this form, the identity of the p*e terms is
preserved. In particular, the first two terms on the
right hand side of Eqs. 7 and 8 result from transforming the p*e terms to the arbitrary reference frame.
Note that the second of these is a component of the
speed voltage proportional to the difference of the
reference frame speed and the electrical angular velo-

ds =

We

wb qs

s ds

(9)

(10)

Except in the case of variable source frequency, both

We and wb are constants and the voltage equations with
electric transients neglected are algebraic and identical in form in all reference frames. However, the
frequency of the variables in Eqs. 9 and 10 is determined by the reference frame speed and the system or
source frequency.
These equations could not be deduced from the voltage equations written in standard form (Eqs. 3 and 4)
and at first g(ance one might question their validity.
However, for all asynchronous reference frames, the
balanced
steady state variables form orthogonal
sinusoidal sets. Therefore, the * ds(*qs) appearing in
the vqs (vds) equation provides the reactance voltage

drop.
EFFECTS OF NEGLECTING p*e
TERMS IN TRANSMISSION SYSTEMS

When the electric transients of the transmission

are neglected in the synchronous reference
frame, it is usually termed neglecting the pie terms
or occasionally it is called neglecting the pe terms.
Since the terms to be neglected may be considered to
be of the form Lpie or (1/wb)p4e, the names are interchangeable. For a symmetrical, static R-L network

system

xsiqs

(11)

ds = Xsids

(12)

qs

where Xs = wbLs. Substituting Eqs. 11 and 12 into

Eqs. 9 and 10 gives the voltage equations in the arbitrary reference frame for a transmission line with the
electric transients neglected.

vqs

vds

Xsids
Xsi qs

rsiqs

rsi ds

(13)
(14)

In the synchronous reference frame the voltages and

currents are constants in the steady state and Eqs. 13
and 14 become arithmetic equations. For all asynchronous reference frames, vqs and vds are balanced
sinusoids and the voltages and currents may be expressed in phasor form as

Fds

= i qs

(1 5)

Substituting Eq. 15 into Eqs. 13 and 14 yields the two

phase equivalent of the transmission line

Vqs

Vds

(rS+ ixs Iqs

(r + jX5) Ids

(16)
(17)

143

(rs

where

jXs)

is the positive sequence

impedance.

Clearty, negtecting the p*e terms in the transmission

system is equivalent to using the positive sequence
network C1l.
EFFECTS OF NEGLECTING pe
TERMS IN SYNCHRONOUS MACHINES

The stator voltage equations for the synchronous

machine in the rotor reference frame (Park's equations) are
r

qs

1
wb

qs

r
yr ==1 ds
vds
Pb

wr

Wb ds
r

b qs +

s qs
r

rsids

(8

(19)

There are a large number of publications wherein the

neglecting of the p,r and/or the Aw r(p6) terms are
discussed and evaluated. This latter approximation is
to set wr equal to we in Eqs. 18 and 19 which neglects
the change in reference frame (rotor) speed from synchronous. There has been considerable controversy
over the years regarding these approximations E2-133.
Some authors neglect only the p4r terms but most
neglect both the p*r and the Awr terms. Concordia C7)
justifies these assumptions from common sense consideration of the order of magnitude of the quantities
involved and the fact that test results have shown
fairly good agreement with calculations. Ewart and
deMello C4] concluded from trial and error calcutations that it is interesting and significant that
neglecting the p*r terms leads to a slightly pessimistic estimate while neglecting the p6 terms (Awr) leads
to a slightty optimistic estimate, and when they are
5-

both neglected, the results closely correspond to calcutations with both included. Others have arrived at
the same conclusions using a trial and error approach.
Dandeno, et.al., C5) give justification for neglecting
the stator transients (which they say corresponds to
neglecting the P*r d
and p*r terms) and then state that

when neglecting p*r d

and p*r it is also usual to assume
q
the rotor speed is equal to we in the stator voltage
equations as it can be shown that the two assumptions
have counterbalancing effects as far as low frequency
rotor oscillations are concerned. Schultz C63 makes
similar statements.
The purpose is to neglect the "stator transients".
In the synchronous reference frame this is accomplished by neglecting the pe terms and it is now
clear that in all other reference frames, the p* terms
and the difference between the reference frame speed
and the synchronous speed must both be neglected. In
the case of Park's voltage equations this amounts to
neglecting the p r terms and setting w r equal to w e in
the stator vottage equations. Both must be neglected
regardless of their magnitudes in order to neglect the
electric transients due to the stator windings of the
synchronous machine. For example, the free acceleration characteristic of a synchronous machine, where w r
varies from zero to We, are quite well approximated by

negtecting both p*r and Awr terms in Park's equations

even though the terms are not always small. This is
illustrated in Figs. 1 and 2. In Fig. 1 the free acceleration characteristics are shown with all terms
included. In Fig. 2 both the p* r terms and the Awe
terms are neglected. All variabtes are in per unit.
If only the p*r terms are neglected, comptetely meaningless acceleration characteristics are obtained except at near synchronous speed.

TORQUE

JJJ
04
-4

A.1s F
O~~~~K
0

10

STATOR CURRENT
lesT

-10O

STATOR CURRENT

10

Figure 1

Free acceleration characteristics of a synchronous machine with

pVr

and Aw r terms included

144

0
4L

+.1 s F

SPEED

STATOR CURREKT

10

-10L
10

0~

GS

STATOR CURREKT
I DS

-10

Figure 2

EFFECTS OF NEGLECTING p*e

TERMS IN INDUCTION MACHINES

Although the performance of the induction machine

with the transients neglected due to the stator windings has been investigated, the literature is not as
extensive as for the synchronous machine. Brereton,
et.al., (15), Dineley and Morris (10), and Murdoch and
Krause (13) consider the induction machine in the synchronous reference frame wherein the. p*e terms were
For stability studies, they show a good
neglected.
comparison between the performance of the induction
machine with and without the p*e terms. Katsi and Adkins (8) chose to use the reference frame fixed in the
rotor (Park's equations), and considered neglecting
both the p,r and the awr terms as well as neglecting
only the p*r terms. As would now be expected, they
found that neglecting p*r alone would result in an error even in the steady state since, unlike the synchronous machine, it operates at some value of slip
which causes pr to be non-zero in the steady state.
Surprisingly, they also concluded that neglecting both
the pr and Awr terms gave unsatisfactory results.
They reasoned that the inaccuracy probably occurred
because the induction machine operates at a much
higher slip during a transient than the synchronous
machine, implying that the A r term becomes too large.
Results of our ongoing research indicate that the accuracy of the approximation depends upon the parameters of the machine and the nature of the disturbance.
As with the synchronous machine, the accuracy of the
approximation depends upon the effect of the stator
transients not upon the magnitude of the neglected
terms.

/\w

Free acceleration characteristics of a synchronous machine with p* r and

terms neglected

In the case of an induction machine, it is interesting to consider the equations in the arbitrary
reference frame which result from neglecting the stator and rotor transients. The voltage equations of
the induction machine in the arbitrary reference frame
are C14]
v

qs

wb

pq

qs

wb

vds =-wb
x1 'ds
1 P* ++ (
-p4
qr

Wb

qr

vdrwb

rsisqs

(20)

ds

(21)

4b'qs

vds

ds

w1b

r dr + r i
dr
rqr

(22)

(23)

-( Xb )qr

dr

rrdr

If atl electric transients are neglected, Eqs. 20 and

21 become Eqs. 9 and 10 respectively and Eqs. 22 and
23 become

vqr = ( eX r)
dr

wb

(24)

+ r i

qr

dr

(25)

Equations 9, 10, 24 and 25 are the machine equations

of an induction motor in the arbitrary reference frame
with the stator and rotor transients neglected. These
equations which are valid for constant or variable
frequency operation should reduce to the standard,
steady state equations of an induction machine. In
the case of an induction machine [14)

145

qs

*ds
*qr

Xssiqs + Xmiqr

(26)

= Xssids + Xmidr

(27)

Xrriqr + Xmiqs
Xrrldr + Xmids

(28)

(29)
'dr =
If Eqs. 26 - 29 are substituted into Eqs. 9, 10, 24
and 25 and if the phasor relationship given in Eq. 15
is used for the stator and rotor voltages and currents
and if vqr and vdr are set equal to zero, either the
quadrature or direct axis steady state voltage equations can be written in the form
qs

(rs

jXss) Iqs

jXmIqr

(30)

= (s5 + jXrr ) I qr + iXmI

(31)
qs
These are the standard, steady state voltage equations
of the induction machine.

6.

R.P. Schulz, "Synchronous Machine Modeling,"

Symposium on Adequacy and Philosophy of Modeling: Dynamic System Performance, 1975 Winter
Power Meeting, 75 CHO 970-4-PWR, pp. 24-28.

7.

C. Concordia, "Steady-State Stability of Synchronous Machines

as Affected by VoltageRegulator Characteristics," AIEE Trans., Vol.
63, pp. 215-220, May 1944.

8.

S.S. Kalsi and 8. Adkins, "Transient Stability

of Power Systems Containing Both Synchronous and
Induction Machines," Proc. IEE, Vol. 118, No.
10, pp. 1467-1474, October 1971.

9.

T.J. Hammons and D.J. Winning, "Comparisons of

Synchronous-Machine Models in the Study of the
Transient Behaviour of Electrical Power SysIEE Vol. 118, No. 10, pp.
tems," Proc.
1442-1458.

10.

J.L. Dineley and A.J. Morris, "Synchronous Generator Transient Control: Part I - Theory and
Evaluation of Alternative Mathematical Models,"
IEEE Conf. Paper 71 C 26-PWR-V-D, 1971 PICA

CONCLUSIONS
It has been shown that neglecting the po terms in
synchronous reference frame is equivalent to
neglecting both the p4 and aw terms in all other
reference frames (asynchronous reference frames).
This approximation is, of course, neglecting the network transients in case of transmission systems and
the electric transients due to the stator windings in
the case of synchronous and induction machine. Thus,
observation
that
the long standing experimental
neglecting both the p* and Aw terms in Park's stator
voltage equations gives a better approximation than
neglecting only the p4 terms has been verified

the

theoretically.

Conference.
11.

K.G. Corless and A.S. Aldred, "An Experimental

Electronic Power-System Simulator," Proc. IEE,
Paper No. 2673 S, Vol. 105A, pp. 50331T, October 1958.

12.

R.G. Harley and B. Adkins, "Calculation of the

Angular Back Swing Following a Short Circuit of
a Loaded Alternator," Proc. IEE, Vol. 117, No.
2, pp. 377-386, February 1971J

13.

A. Murdoch and P.C. Krause, "Comparison of Detailed and Simplified Power System Representations for Predicting Transient and Dynamic Stability," IEEE Conference Paper, A 76 143-8, IEEE
Winter Power Meeting, January 1976.

14.

P.C. Krause and C.H. Thomas, "Simulation of Symmetrical Induction Machinery," IEEE Trans. Power
Apparatus and Systems, Vol. 84, pp. 1038-1053,
Novem ber 1965.

15.

D.S. Brereton, D.G. Lewis and C.C.

Young,
"Representation of Induction-Motor Loads During
Power-System Stability Studies," AIEE Trans.,
Vol. 76, pp. 451-461, August 1957.

ACKNOWLEDGEMENTS

This work was a consequence and extension

done on an ERDA Contract #E(49-18)-2064.

of

work

REFERENCES

1.

2.

C. Concordia and R.P. Schulz, "Appropriate Component Representation for the Simulation of
Power System Dynamics," Symposium on Adequacy
and Philosophy of Modeling: Dynamic System Performance, 1975 Winter Power Meeting, 75 CHO
970-4-PWR, pp. 16-23.
W. Janischewskyj and P. Kundur, "Simulation of
the Non-Linear Dynamic Response of Interconnected Synchronous Machines:
Part I - Machine
and Machine-Network Interconnection
Modeling
Equations," IEEE Trans. Power Apparatus and
Systems,
Vol.
91,
pp.
2064-2069,
September/October 1972.

3.

C. Concordia, "Representation of Loads," Symposium on Adequacy and Philosophy of Modeling:

Dynamic System Performance, 1975 Winter Power
Meeting, 75 CHO 970-4-PWR, pp. 41-45.

4.

D.N. Ewart and F.P. def1ello, "A Digital Computer

Program
for the Automatic Determination of
Dynamic Stability Limits," IEEE Trans. Power
Apparatus and Systems, Vol. 86, pp. 86I'_75

July 1967.

5.

P.L. Dandeno, P. Kundur, and R.P. Schulz, "Recent Trends and Progress in Synchronous Machine
Modeling in the Electric Utility Industry,"
Proc. IEEE, Vol. 62, No. 7, pp. 941-950, July

1974.

Paul C. Krause (M'64-SM'65) was born in

Reynolds, Nebr., on January 27, 1932. He
received the B.S.E.E., B.S.M.E., and M.S.E.E
degrees from the University of Kansas,
Lawrence, in 1961.
He was an Instructor at the University of
Kansas from 1958 to 1961. He worked as a
Research Engineer for Allis-Chalmers Manufacturing Company, Milwaukee, Wis., from 1961
to 1962 and continued as a Consultant from
1963 to 1966. In 1962 he became Assistant Professor at the University of Wisconsin, Milwaukee. In 1965 he joined the
Department of Electrical Engineering, University of Wisconsin,
Madison, as Associate Professor. From 1967 to 1969 he served as
Visiting Professor at the University of Kansas. Since 1970 he has been
with the School of Electrical Engineering, Purdue University,
Lafayette, Ind., as a Professor. Also, he is a Consultant for the General
Motors Research Laboratories.
Dr. Krause is a member of the American Society for Engineering
Education.

146

Farhad Nozari (S'74) was born in Arak, Iran on

February 4, 1945. He received the BSEE degree
from the University of Teheran, Iran in 1967 and
MSEE from the University of Southern California in 1972.
From 1967 to 1970 he worked for the Na-i*1 S
tional Iranian Steel Corporation engaged in
designing the power distribution and control of
the various steel plant stations. Presently he is
working towards the Ph.D. degree at Purdue
University in the area of HVDC transmission.
His fields of interest include power system transients and the optimal
control of HVDC systems.

L. Skvarenina (S'69, M'74) was born in

>.Timothy
Chicago, Illinois on December 27, 1947. He

received the B.S.E.E. and M.S.E.E. degrees

from the Illinois Institute of Technology in 1969
and 1970 respectively.
In 1970 he entered active duty in the U.S.
Air Force and has held several positions concerned with electrical distribution design, construction inspection, and construction supervision in the United States and Southeast Asia.
Currently, he holds the rank of Captain and is
enrolled in a Ph.D. program at Purdue University under the auspices of
the Air Force Institute of Technology.
A recipient of the Air Force Commendation and Meritorious Service Medals, Captain Skvarenina is a Registered Professional Engineer
in the state of Colorado, and is a member of Tau Beta Pi, and Eta
Kappa Nu.
David W. Olive, for photograph and biography please see page 1636 of
the September/October 1978 issue of this TRANSACTIONS.

Discussion
C. Concordia (Consulting Engineer, Venice, Florida): We feel that the
authors may be claiming too much by implying that they have obtained
for the first time a theoretical explanation of why the Au,/(pd) terms
should be neglected if the pip' are neglected. In fact, their explanation
depends upon the assumption that their so-called "synchronous"
reference frame is rotating at constant speed. (While later, following
eqs. 9 and 10, they allow for the case of variable "source" frequency,
without stating exactly what they would do about it.)
We do not believe that previous writers have lacked a theoretical
understanding of what they were doing. If one expects the rotor speed
deviations to be small and about some constant speed, there is no
reason for having to change to a reference frame rotating at constant
speed if it is simpler to merely neglect the variations in speed in the
voltage equations. The effects of the rate of change of speed have to be
gotten rid of somehow if stator "transients" are to be neglected.
All this is easier to swallow if there is an infinite bus somewhere
about, which can be regarded as a "source". However, in the general
case this is not so. Instead, there may be a hundred generators all having
more or less equal claim on being the source. Then the simplest thing to
do is to disregard them all and use a reference frame rotating at rated
speed, hoping that this will be the "average" speed. (In the case of
studies of loss of generation this is obviously not exact.)
It is further obvious that this is not what should be done if one
takes literally the statements that network transients are being
neglected. The theoretically proper thing to do would be to calculate
separately at each time step the component of current caused by the
rotor flux of each generator rotating at its individual speed at that time.
Then the total current is the sum of a hundred components, each at its
own frequency. This kind of calculation has indeed been made many
times in connection with studies of out-of-step relaying.

A less obvious but more pertinent question is whether the conclusion that "neglecting both the pip and Aco terms in Park's stator voltage
euqations gives a better approximation than neglecting only the pip
terms" is really always correct. Our answer is that it can be depended
upon to be true only in the special case where there is an infinite bus,
which then becomes the dominant generator. This opinion was recently
(1975) reinforced by a Cigre Working Group report (WG32-03, 1975)
by C. Barbier of Electricite de France. She studied a multimachine case,
one machine and an infinite bus, and one machine with isolated load,
and concluded that:

"In some cases of multimachine network or single machine providing

an isolated load, the speed-voltage of synchronous machine can have
an effect on the damping of oscillations. The customary neglect of
+ d0f/dt terms in Park's equations can alter the calculation of
damping of electromechanical oscillations. It seems that this
phenomenon does not appear when an infinite bus is represented in
the network."
Others have also noted errors in damping in multi-machine network studies, and certainly in the case of the machine with isolated
load, it would seem pointless to search for some "synchronous" speed
with respect to which to neglect Aco.

Manuscript received February 23, 1978.

V. Brandwajn and W. A. Mittelstadt (Bonneville Power Administration, Portland, OR): We wish to congratulate the authors on this very
interesting paper which provides a theoretical basis for some approximations used in transient stability studies.
We have recently been comparing simulation results from the
standard Transient Stability Program (TSP) with those from the Electromagnetic Transients Program (EMTP) with full representation of
machine and network transients. These comparisons were based on a
benchmark model intended for simulation of subsynchronous
resonance [1]. The six masses of the shaft model were combined into a
single mass for our studies. The two programs compared very well for a
5-cycle three-phase fault applied at bus B when the series compensated
line was represented by a single inductance equivalent to the net 60 Hz
reactance XL - X,. For this case no significant information was lost
in the transient stability case as seen by Figure I although machine
and network transients are neglected. When the capacitive element
was independently represented in the Electromagnetic Transients
Program the result was quite different as shown in Figure 2. The cause
of the difference is apparent in the phase current plot of Figure 3 which
shows the presence of a strong lightly damped transient mode resulting
from the series compensated R-L-C network. The degree to which this
mode is excited depends both on the fault location and the switching
times involved.
In most cases involving series compensated lines the modal damping should be rapid enough to prevent excessive error due to transient
effects.
Generally the modal damping is known from line switching surge
studies. Users.should be aware, however, of this potential source of
error and may with to take it into consideration on critical studies.
Have the authors considered any systems with series compensated transmission lines?

REFERENCE
1.

IEEE SSR Task Force, "First benchmark model for computer

simulation of subsynchronous resonance," IEEE Trans. paper
No. F 77 102-7, September/October 1977, pp. 1565-1572.

Manuscript received February 28, 1978.

147
0.8

I
0

a
z

Fig. 3. Comparison of simulated phase currents (Phase A) for

the R-L-C and R-L representations in the Electromagnetic Transients
Program.

-0.8

Fig. 1. Comparison of rotor frequency deviation

equivalent R-L model.

curves

using

an

Go

TSP
EMTP

P. C. Krause, F. Nozari, T. L. Skvarenina, and D. W. Olive: We thank

the discussors for their interest in our paper. We did not intend to
deprecate the efforts or insights of anyone. On the contrary, the paper
recognizes the efforts of many past investigators and their observations
concerning the neglect of the ppr and ACIor terms on their solutions. We
have attempted to mathematically show that the observation is true.
The theory set forth in this paper does not require that the synchronous machine be represented in the synchronous reference frame or
that the speed of the synchronous reference frame be constant (infinite
bus). The synchronous reference frame rotates at the speed corresponding to the frequency of the system voltages. When an infinite bus is present it is customary to consider synchronous speed as constant.

It is shown in this paper that the equivalent of neglecting the ptpe

terms (synchronous reference frame) is to neglect the pip terms and to
set the speed in the speed voltage terms in the voltage equations of the
asynchronous reference frame equal to synchronous speed. This has
nothing whatsoever to do with the relative magnitude of the difference
in rotor speed from synchronous, in the case of a synchronous machine,

suggested by Mr. Concordia [7] and in his discussion.

To neglect the electrical transients in variable frequency operation,
(J) in Eqs. 5-10 is a function of time regardless of the frame of reference
being used. In a variable frequency drive system corresponds to the
frequency established by the converter [A]. In the case of isolated
operation of one synchronous machine, the speed in the speed voltage
terms of the stator, transmission line, and load voltage equations must
be set equal to the speed of the machine. C. Barbier's observation is
therefore expected, in this case.
A detailed representation of the power system, wherein the electrical transients are included with the machine represented by Park's
equations and the transmission line in three phases, may be implemented on either a digital or hybrid computer. This type of representation does not in any way require the presence of an infinite bus. In
standard transient stability programs, the network and stator electric
transients are neglected. This is accomplished by using the positive sequence impedance representation for the transmission network and
neglecting the popr and Acor terms in the stator voltage equations of the
synchronous machines. This implies a fixed frequency throughout the
system. This approximation has been shown to be quite accurate for
symmetrical disturbances. If an infinite bus is not present, then the
question of what is the synchronous reference frame arises. Clearly, as
suggested by Mr. Concordia, there would be many different frequencies
as the machines all swing at their own rate. This appears to be an appropriate area for research.
as

Zil

oL

ll

'I

TlEcce)/E

ITIME(cycles)/
I~~~~~~~~~A

Fig. 2. Comparison of rotor frequency deviation curves using full

representation in the Electromagnetic Transients Program.

R-L- C

148

During the last four decades numerous authors have compared the
accuracy of calculating synchronous machine performance obtained
when p1pr, ALCtr, and both pspr and LCWr terms are neglected in Park's
equations. It has been held-that neglecting the pWpr terms was to neglect
the stator transients but it was found that neglecting both pWtr and ACr
terms gave more accurate results and that it seemed permissible to
neglect the ACOr terms due to the relative small change in speed from
synchronous speed. One wonders if each would have been considered
individually if the authors had known that it is necessary to neglect both
in order to neglect stator transients.
Brandwajn and Middelstadt have presented very interesting results
regarding the neglection of the electrical transients in series compensated lines. This information should be of major importance to those
concerned with calculations of series compensated lines. We have not
considered this aspect, however we have looked at the importance of including the electrical transients when calculating instantaneous shaft tor-

ques [B]. Even though the generator frequency deviation is accurately

predicted when the electrical transients are neglected (Fig. 1 of discussion), the pulsating shaft torques are not accurately portrayed.

REFERENCES

[A] P. C. Krause and T. A. Lipo, "Analysis and Simplified Representations of a Rectifier-Inverter Induction Motor Drive," IEEE
Trans. Power Apparatus and Systems, Vol. 88, pp. 588-596, May
1969.

[B] T. L. Skvarenina, D. M. Triezenberg and P. C. Krause, "Effects

of Neglecting Electrical Transients on Shaft Torques," A 78
233-9, Presented at the 1978 Winter Power Meeting.
Manuscript received May 22, 1978.