Analysis of self-excited induction generators

S.S. Murthy, Ph.D., O.P. Malik, Ph.D., and A.K. Tandon, M.Tech.

Indexing terms: Generators, Power systems and plant, Mathematical techniques

Abstract: An analytical technique using the 'Newton-Raphson' method is presented to identify the saturated
magnetising reactance and the generated frequency of a self-excited induction generator for a given capaci-
tance, speed and load. The technique is shown to be very efficient in analysing such systems under steady state.
Computed results are compared with the experimentally obtained values on a laboratory machine, and a.
reasonable correlation has been observed. Effects of various system parameters on the steady-state perform-
ance have been studied, and the results presented provide guidelines for optimum design of such systems.

1 Introduction
If an appropriate three-phase capacitor bank is connected
across an externally driven induction machine, an EMF is in-
duced in the machine windings due to the excitation provided
by the capacitor. This phenomenon is termed the 'capacitor
self excitation', which can be exploited to operate the induction
machine as a generator. The induced voltages and currents
would continue to rise, but for magnetic saturation in the
machine which results in an equilibrium state being reached.
A capacitor self-excited induction generator offers certain
advantages over a conventional synchronous generator as a
source of isolated power supply. Reduced unit cost, brushless
rotor (squirrel cage construction), absence of a separate DC
source and ease of maintenance are among the advantages.
Owing to changed emphasis on energy problems, development
of suitable isolated power generators, driven by unconventional
energy sources such as wind, biogas, etc., has recently assumed
greater importance [1]. The development of static power con-
vertors [2, 3] has facilitated the control of self-excited gener-
ators, regarding output voltage and frequency.
Steady-state analysis of such generators is of interest, both
from the design and operational points of view. Knowing the
parameters of the machine, it should be possible to determine
its performance for given capacitance, speed and load con-
ditions. If the terminal voltage and frequency are known, as in
the case of a machine connected to an infinite busbar, the
prediction of performance is straightforward [4, 5 ] . However,
in a capacitor-excited generator used as an isolated power
source, both the terminal voltage and frequency are unknown
and have to be computed for a given speed, capacitance and
load impedance. The analysis is complicated owing to the
magnetic saturation in the machine and the need to choose
suitable parameters corresponding to this saturated condition.
A procedure to identify the saturated parameters and the
generated frequency for a given load using the Newton-
Raphson method is presented in this paper. Using these
identified values the steady-state performance can be easily
calculated from the equivalent circuit. The procedure is shown
to be simple, comprehensive, efficient and well suited for
digital simulation. A computer algorithm is developed to pre-
dict the performance using the proposed method. Simulated
results are compared with the experimental values obtained on
a laboratory machine under similar conditions.
Having confirmed the validity of the analytical technique,
the effect of various system parameters on the steady-state
characteristics is studied. The results are presented graphically
and discussed in order to provide guidelines for the designers.
Paper 2193C(Pi, P9), received 22nd April 1982
Dr. Murthy and Mr. Tandon are with the Department of Electrical
Engineering, Indian Institute of Technology, New Delhi 110016, India.
Dr. Murthy is presently visiting, and Dr. Malik is with, the Department
of Electrical Engineering, University of Calgary, 2500 University Drive
NW, Calgary, Alberta, Canada T2N 1N4
260 0143-7046/82/060260 + 06 $01.50/0
2 Theory
In the analysis presented in this Section, the following
assumptions are made:
(a) Only the magnetising reactance is assumed to be affected
by magnetic saturation, and all other parameters of the equi-
valent circuit are assumed to be constant. Self excitation
results in the saturation of the main flux. As the value of the
magnetising reactance xm reflects the magnitude of the main
flux, it is essential to incorporate in the analysis the variation
of xm with the saturation level of the main flux [4]. Passage
of the leakage fluxes occurs primarily in the air [4], and thus
these fluxes are not affected to any large extent by the satu-
ration of the main flux.
(b) Leakage reactances of stator and rotor, in per unit, are
taken to be equal. This assumption is normally valid in
induction-machine analysis [4].
(c) Core loss in the machine is neglected, although the
analysis can be easily extended to account for core loss.
(d) MMF space harmonics and time harmonics in the induced
voltage and current waveforms are ignored. This assumption is
valid in well designed machines. Further, the experimental
waveforms of generated voltages exhibited negligible time
harmonics.
Fig. 1 Equivalent circuit of the induction generator with load
The steady-state equivalent circuit of a capacitor self-
excited induction generator with a resistive load connected at
its terminals is shown in Fig. 1, where:
Rs, Rr = per phase stator and rotor (referred to stator)
resistance
x
is> xir =
P e r P na se stator and rotor (referred to stator)
leakage reactance
xm = magnetising reactance
xc = per phase capacitive reactance of the terminal
capacitor C
RL = load resistance per phase
(all reactances referred to above relate to the base frequency/)
F,v = p.u. frequency and speed, respectively
h> In II = stator, rotor (referred to stator) and load current
per phase
Vt> vg ~ terminal and airgap voltage, respectively
The process of transient voltage build-up under self excitation,
and ultimately reaching steady state, can be explained through
the operational equivalent circuit [6], which results in a
characteristic polynomial in the time-derivative operator d/dt.
If one of the roots of this polynomial, for a given C, v and RL,
IEEPROC, Vol. 129, Pt. C, No. 6, NOVEMBER 1982
has positive real part, self excitation would occur. As the voltage The Newton-Raphson method requires the initial guess of the
builds up, the resulting airgap flux drives the machine into values of the unknowns, say xmo, Fo. Because F v and xm is
saturation, which gradually decreases the saturated magnetising less than unsaturated, xm, xmo, and Fo can be chosen as
reactance to a value that results in the positive real part of the
root being reduced to zero. This signifies the steady-state xmo = xm (unsaturated), I
(9)
condition being reached, and this saturated value of xm has to Fo = v
be used in the steady-state analysis.
Therefore, in Fig. 1, both the steady-state values of xm and Now/0 =f(xmo, Fo) = 0 and^o = g(xmo,Fo) = 0.
F are unknown and have to be determined for the given capaci- After the first iteration, xm and F will assume the values
tance, speed and load, to calculate the steady-state response xmo + h andF o + k in the process of satisfying eqns. 3 and 4;
using this equivalent circuit. The proposed procedure is ex- the increments h and k are given by [7]:
plained in the following text.
From Fig. 1, the loop equation for the current Is can be -fo
written as (10)
= 0 (1)
where This iteration process can continue till the desired accuracy is
reached, i.e. when \f(xm, F)\ < e and \g(xm, F)\ < e. A
F-v simple computer algorithm can be developed incorporating the
R.JX
RjF-jxjF U F-v
above procedure and steady-state values of xm and F can be
+ j(xm+xlr) computed for any value of C, v and RL.
. Having thus determined F and xm, the next step is to
(2) calculate the airgap voltage Vg and the terminal voltage Vt
Under steady-state self-excitation Is = 0. Therefore, from eqn. (Fig. 1). For this purpose, one can use information regarding
1, Zs = 0, which implies that both the real and imaginary parts the variation of xm with the quantity Vg/F which relates to
of the right-hand side of eqn. 2 would be separately zero. Sub- the airgap flux. The information required can be obtained ex-
stituting x^ =xlr=xl, this simplifies to the following two perimentally by driving the induction machine at synchronous
nonlinear simultaneous equations with xm and F as unknown speed corresponding to the line frequency, i.e. F= 1, and
variables: measuring the magnetising reactance for different input
voltages at line frequency. A curve of Vg/F against xm can be
f{xm, F) = (Clxm + C2)F3 + (C3xm + C,)F2 ^ plotted using the experimental results. From this curve, Vg/F
for the above steady state saturated xm can be obtained.
(CsXm+C6)F+(ClXm+C8) =0 (3) Knowing F, the airgap voltage Vg can be computed.
g(xm,F) = (DlXm+D2)F2+(D3xm+D4)F + With Vg, xm, F, xc, v, RL and machine parameters known,
calculation of the terminal voltage Vt and the load current is
D5 = 0 (4) straightforward using the equivalent circuit of Fig. 1. Expres-
where sions for the respective variables are summarised below:

I Xin-L,L,2 XIKL, C3 JLXII^L,

C4 Xl IV^ ,{,$ XC\I\.L T A j il\.r),

F+fXls F2RL-jFxc
C6 = xcXi(RL+R8 + Rr) + RsRLRr (5)
-VJF
C7 = -xc(Rs+RL); C8 = -X,JC C (/2,+/J L )
Rr
and + jxlr
F-v
Di = I x ^ + ^ i ^ + i ? , ) ; D2 = RLXI(RS -fxcls
2
IT = (11)
x xc RLF-jxc
D3 = (RSRL = -Xl(RsRL + xtxc) (6) Vt =
D5 = -xcRr(RL+Rs) -q\I2r\RrF
input power Pin =
As eqns. 3 and 4 are not easily solvable, some numerical tech- F-v
nique has to be adopted to find the values of saturated mag- iq = number of phases)
netising reactance xm and the output p.u. frequency F for the
given values of machine parameters RL, xc and v. output powerPout = q \I2L\RL
Here, the Newton-Raphson method [7] has been found to
be very appropriate in solving eqns. 3 and 4. In this method, The above analysis can be extended for reactive loads, by re-
the Jacobian matrix [/] is given by placing RL with an appropriate per-phase load impedance ZL.
Based on the analytical technique explained above, a general
[J] = \J'n (7) computer program has been developed which calculates the
steady-state performance of the unit for given values of speed,
22
terminal capacitance and load resistance. The program may be
where used to determine the steady-state operating characteristics of
the generator. The flow chart of the computer program is
dg
K r -V J27 - df
given in Fig. 2. This program is used to determine the load
J \1 TH characteristics by computing Vt, F, Pout, etc. as the load con-
IEEPROC, Vol. 129, Pt. C, No. 6, NOVEMBER 1982 261
ductance bL = 1/RL is varied in regular steps (say AbL) from magnetic saturation. To simplify the analysis, the variation
under the saturated region can be linearised using the approxi-
mate curve drawn in Fig. 3. The function may be expressed as
3 Experimental setup and machine parameters
To be able to judge the validity of the theoretical results ob- -*= 1.714-0.4 JC, (12)
tained by the procedures and calculations outlined in the
preceding text number of experiments were conducted using a This relation can be incorporated in the computer program.
Mawdsley's generalised machine. The machine was connected
as an induction machine with a 4-pole 50 Hz delta-connected 1.5
stator winding rated 230 V, 8.2 A and 2.9 hp. The machine was
coupled to a separately excited DC drive motor to provide dif-
ferent constant speeds. A three-phase variable capacitor bank
was connected to the machine terminals to obtain self-excited
generator action. A variable three-phase resistance bank was
used to load the induction generator. Theoretical computations
are carried out in per unit, using the following particulars of
the machine:
Vbase = rated phase voltage = 230 V
Ibase = rated phase current = 4.74 A
ry 'base
'base = 48.52 ft
'base
1
base = 0.0206 S
base power Pbase = VbaseIbase = 1.09kW
base speed Nbase = 1500 rev/min
base frequency fbase = 50 Hz
The measured machine parameters were:
R8 = 0.062 p.u., Rr = 0.07 p.u.,
x
is = xir = xi~ 0.093 p.u. (at rated current) Fig. 3 Variation of Vg/F with xm from synchronous speed test
To determine the magnetising reactance at different airgap XXX experimental points
voltages Vg, the machine was driven at synchronous speed by fitted curve
linear approximation
the DC motor; and the input impedance per phase was
measured at different input voltages. As we need the variation
of xm with the airgap flux, proportional to Vg/F, it is necessary 4 Results and discussion
to calculate the airgap voltage by subtracting the voltage drop Using the parameters and parameter variations listed in Section
in the stator leakage impedance from the input voltage. xm at 4, the performance of the induction generator was examined
each voltage is obtained by subtracting the stator leakage im- using the analytical technique and the computer program pre-
pedance from the measured input impedance. Fig. 3 shows the sented earlier. Experiments were conducted under similar
experimental results relating Vg/F with xm. Because we need conditions to compare the predicted results with experimental
to know the values of Vg/F for a particular xm (as explained
values. As p.u. values have been used in the calculations, the
in Section 2), xm has been taken as the independent variable.
connected capacitance is represented by the capacitive suscep-
The variation of VJF with xm will be nonlinear due to
tance (in p.u.),gc = C J C = l/xc.
The analytical procedure using the Newton-Raphson method
was found to be very efficient. The technique is fast converging,
with the solutions to the nonlinear equations obtained in three
read R s ,Rr .* or four iterations for all the chosen values of C andR, taking
e = 10" 4 . The CPU time required for each computation (i.e.
[take b L = b L m i n |
for a given v, RL, gc) was found to be approximately 0.043 s
|interation number i=1|-
on a Honeywell Multics system computer. Therefore, the com-
take XTTF unsoturated x m . F = V
putational requirement is very small.
compute constants. C1.C2.--1
D1.D2 from eqns 5 and 6 respectively Fig. 4 shows the load characteristics of the induction
compute j , , , j 1 2 ^ J 22 ,f O w F T generator, indicating the variation of terminal voltage and
g(x m ,F)from eqns.3, A and 8 frequency with output power for fixed gc at constant speed
v = 1.0. Terminal voltage variation is shown for three values of
gc. As expected, the terminal voltage drops with load. The
agreement between predicted and observed terminal voltage
with load is best for the highest value of C or gc. At lower
values of gc, observed maximum output power is considerably
compute \fa/F for lower than the predicted levels. However, the general pattern
oompute increments this Xf^from eqn. 12
hand k from eqnJO of the observed load characteristics is as predicted. Fig. 4 also
compute performance indicates the variation of output frequency with load for c =
using eqn. 11
F=F*K print results 0.747. Frequency drops to about 4% from no load to a load of
about 1.7 p.u. A close agreement between calculated and
yes measured values can be seen. (It may be remembered that the
base power chosen here is the per phase apparent power, and
Fig. 2 Flow chart of the computer algorithm hence the three-phase base power will be 3.0p.u.)

262 IEEPROC, Vol. 129, Pt. C, No. 6, NOVEMBER 1982

4.1 Effects of various system parameters where Rs is the actual stator resistance of the machine. Results
Having established the validity of the analytical procedure in are provided for K = 0.7, 1.0 and 1.2. Increased stator resist-
the preceding text, the technique was used to study the effect ance causes more drooping characteristics and decreases the
of various system parameters on the steady-state performance. maximum output power. Frequency regulation was not very
Families of load characteristics are presented by varying one much affected by Rs; thus, it is desirable to choose a minimum
parameter at a time and keeping all other parameters constant. possible value of Rs, even though its effect is not very
These results may provide guidelines for the appropriate design appreciable.
of the generator system (i.e. the capacitor range and the
machine) for the required operation. As results are given in per
unit terms using the realistic p.u. values of the machine, they
could be relevant for a range of machines of comparable
ratings.

Fig. 5 Effect of terminal capacitance

agc = 0.523, bgc - 0.598, c gc = 0.672,
dgc = 0.747, egc = 0.822, fgc = 0.896

0.0 0.5 1.0 1.5 2.0 2.5 1.5

output power f= u t ,p.u.

Fig. 4 Load characteristics (v = 1.0)

v= l.o
a Terminal voltage Vf for gc = 0.61
** experimental points
b Terminal voltage Vf for gc = 0.67
1.0
XX experimental points
c Terminal voltage Vf for gc = 0.747
experimental points
d Output frequency F for gc = 0.747 =0.7
oo experimental points 3 0.75
d K=1X)

4.1.1 Effect of terminal capacitors: Fig. 5 shows the family of 0.5

load characteristics of the machine for different values of gc at
v = 1.0. It can be seen that the characteristics are almost
parallel, indicating the proportional increase of Vt withg c . The 0.25
frequency drop with load was not very much affected by the
capacitance. This data would be useful in providing suitable
voltage regulators. At 1.0 p.u. speed, gc has to be varied from 0.5 1.0 1.5 2.0 2.5 3.0
approximately 0.5 p.u. to 0.9 p.u., to provide constant terminal
voltage of 1.0p.u. for output power varying from zero to
about 2.6 p.u. Fig. 6 Effect of stator resistance
Rs = K XRX (nominal)
4.1.2 Effect of machine parameters: If an induction machine
is used exclusively as a self-excited generator, it can be designed (b) Effect of leakage reactance: Fig. 7 shows the family of
using criteria different from those of motor design. In this load characteristics for different values of leakage reactance
Section families of load characteristics are presented by varying (xj = x^ = Xir) equal to Kxh where xt is the actual leakage
one machine parameter at a time and keeping the other para- reactance of the machine. Results are provided for K = 0.7,
meters constant. gc and v are taken as 0.747 and 1.0 p.u., 1.0 and 1.2. For a given gc and v there is one value of Pout for
respectively. These results may provide guidelines to the design which Vt is independent of JCJ. Leakage reactance is also not a
of the machine and for identifying the sensitive parameters. very sensitive parameter.
(a) Effect of stator resistance: Fig. 6 shows the load charac- (c) Effect of rotor resistance: Fig. 8 shows the family of
teristics for different values of stator resistance equal to KRSf load characteristics for different values of rotor resistance
IEEPROC, Vol. 129, Pt. C, No. 6, NOVEMBER 1982 263
equal to KRr, where Rr is the actual rotor resistance of the
machine. Results are provided for K = 0.7, 1.0 and 1.2.
Increase in Rr decreases Vt and the maximum output power.
However, the effect of R, is more pronounced in frequency
regulation, as indicated in Fig. 8. Decreased Rr considerably
reduces the drop in frequency with load. Therefore, in
designing the generator, minimum possible Rr can be chosen, a
criterion that cannot always be used in motor design owing to
starting requirements.
1 .3
/K=12
//K=1.0
/AK=0.7
125
eqn. 12 can be rewritten as
Vg = 1.714AT 0.4 xm (13)
such that the load characteristics can be computed for dif-
ferent values of K. Fig. 9 shows the family of these charac-
teristics for different values of K. For the same airgap flux, xm
can be varied by changing the frame, number of turns, etc. By
the parallel load characteristics of Fig. 9, one may conclude
that increased K and consequent xm causes increased terminal
voltage and maximum power output. These variations are
quite pronounced. Voltage almost doubles for Pout = 1.0, if AT
is changed from 0.7 to 1.2. Frequency regulation was not very
1.75r

1.0
\

dO.75 - <
<^---K=1.0
>"

0.5

Q25

0.0 0.5 1.0 1.5 2.0 2.5 3.0

Fig. 7 Effect of leakage reactance

x\ = K X x\ (nominal)

1.5
OJO 0.5 1.0 1.5 2.0 2.5

1.25
Fig. 9 Effect of magnetising reactance
xm = K X xm (nominal) for the same Vg/F
1.0
1.75r

0.75 1.5

0.5 0.95 d 1.25

u."

0.25 -0.9 1.0

0.0 0.5 1.0 1.5 2.0 2.5 3.0 0.75 1.5

F i g. 8 Effect of ro tor resistan ce

0.5 1.0
Rr K X Rr (nominal)
V t, F \Jz\.O

-U=0.7
02 5 -0.5
id) Effect of magnetising reactance: From the preceding
Sections, it is apparent that the magnetisation characteristic,
indicated by the variation of xm with airgap flux, has an im-
portant bearing on the load characteristics. Both the saturated o.O 0.5 1.0 1.5 2.0 2.5 30
and unsaturated magnetising reactance can be changed by
appropriate alteration in design. The variation of saturated
Fig. 10 Effect of speed
xm can be approximately represented by a linearised equation
similar to eqn. 12. To study the variation of saturated xm, gc/v2 = constant = 0.747
V t, F
264 IEEPROC, Vol. 129, Pt. C, No. 6, NOVEMBER 1982
much affected by xm. Using increased xm, the connected
capacitance can be decreased for the same Vt. A designer has
to compare the economy of choosing a larger frame or a higher
valued capacitor for the desired output voltage.
4.1.3 Effect of speed: Self-excited induction generators have
been suggested as suitable for power generation using wind
energy [1]. However, in such a situation the prime mover
speed changes over a wide range. To provide suitable regulators,
the effect of speed on the output voltage and frequency should
be determined. Further, the minimum capacitance to cause
self excitation at any speed is approximately proportional to
the inverse of the square of the speed. At decreased speed, the
capacitance has to be increased. Fig. 10 shows the family of
load characteristics for speeds v = 0.7, 0.8, 0.9, 1.0, 1.1 and
1.2 p.u., by keeping the value ofgc/v2 constant equal to 0.747.
The terminal voltage increases almost linearly with speed for
the same power output; e.g. at Pout = 1.0, Vt almost doubles
if the speed is changed from 0.7 to 1.2 p.u. Output frequency
is directly proportional to speed. By the parallel family of
curves, it is apparent that both the voltage and frequency
regulation are almost the same at all speeds.
5 Conclusion
An analytical technique using the N&wton-Raphson method
has been described to predict the steady-state behaviour of
capacitor self-excited induction generators. A computer
algorithm using this technique has been developed. It identifies
the values of saturated magnetising reactance and the output
frequency for the given capacitance, speed and load. The
steady-state equivalent circuit can then be used to compute
the performance. The procedure is shown to be well suited for
IEE PROC, Vol. 129, Pt. C, No. 6, NOVEMBER 1982
such an analysis, as the solution can be obtained in three or
four iterations, requiring very little computational time, to an
accuracy of 10~ 4 . Simulated results on a laboratory machine
compare quite favourably with the experimentally measured
values. The operating characteristics are governed by the
magnetic saturation, which has been incorporated by the use
of experimental data relating the variation of magnetising
reactance with the airgap flux.
Families of characteristics showing the effect of various
system parameters are presented. As these curves are presented
in per unit values, they may provide guidelines for appropriate
design of the system. Whereas small changes in stator resistance
and leakage reactance do not affect their performance, the
rotor resistance, magnetising reactance, speed and terminal
capacitors are found to be very sensitive parameters in deter-
mining the terminal voltage and frequency, in addition to their
variation with load.
6 References
1 WATSON, D.B., ARRILLAGA, J., and DENSEM, T,: 'Controllable
d.c. power supply from wind-driven self-excited induction machines'.
Proc. IEE, 1979, 126, (12), pp. 1245-1248
2 ARRILLAGA, J., and WATSON, D.B.: 'Static power conversion
from self-excited induction generator', ibid., 1978, 125, (8), pp.
743_746
3 NOVTONY, D.W.,% GRITTER, D.J., and STUDTMAN, G.H, 'Self
excitation in inverter driven induction machines', IEEE Trans. 1977,
PAS-96, pp. 1117-1125
4 ALGER, P.L.: 'Induction machines (Gordon and Breach, 1970)
5 SAY, M.G.: 'Alternating current machines' (Wiley, 1976)
6 MURTHY, S.S., BHIM SINGH and TANDON, A.K.: 'Dynamic
models for the transient analysis of induction machines with asym-
metrical connections, Electr. Mach. and Electromech., 1981, 6, pp.
479-492
7 GROVE, W.E.: 'Brief numerical methods (Prentice Hall, 1966)
265