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After decades of routine operation, the hydropower industry faces new challenges. Large-scale integration of other renewable sources of generation in the power system accentuates the role of hydropower as a regulating resource. At the same time, an extensive reinvestment programme has commenced where many old components and apparatus are being refurbished or replaced. Introduction of new technical solutions in existing power plants requires good systems knowledge and careful consideration. Important tools for research, development and analysis are suitable mathematical models, numerical simulation methods and laboratory equipment. This doctoral thesis is devoted to studies of the electromechanical interaction between hydropower units and the power system. The work encompasses development of mathematical models, empirical methods for system identification, as well as numerical and experimental studies of hydropower generator and power system interaction. Two generator modelling approaches are explored: one based on electromagnetic field theory and the finite element method, and one based on equivalent electric circuits. The finite element model is adapted for single-machine infinite-bus simulations by the addition of a network equivalent, a mechanical equation and a voltage regulator. Transient simulations using both finite element and equivalent circuit models indicate that the finite element model typically overestimates the synchronising and damping properties of the machine. Identification of model parameters is performed both numerically and experimentally. A complete set of equivalent circuit parameters is identified through finite element simulation of standard empirical test methods. Another machine model is identified experimentally through frequency response analysis. An extension to the well-known standstill frequency response (SSFR) test is explored, which involves measurement and analysis of damper winding quantities. The test is found to produce models that are suitable for transient power system analysis. Both experimental and numerical studies show that low resistance of the damper winding interpole connections are vital to achieve high attenuation of rotor angle oscillations. Hydropower generator and power system interaction is also studied experimentally during a full-scale startup test of the Nordic power system, where multiple synchronised data acquisition devices are used for measurement of both electrical and mechanical quantities. Observation of a subsynchronous power oscillation leads to an investigation of the torsional stability of hydropower units. In accordance with previous studies, hydropower units are found to be mechanically resilient to subsynchronous power oscillations. However, like any other generating unit, they are dependent on sufficient electrical and mechanical damping. Two experimentally obtained hydraulic damping coefficients for a large Francis turbine runner are presented in the thesis.

Hydropower research is often perceived to be an old and exhausted field of study but with ageing equipment and the need for more intermittent operation caused by an increased share of other renewable energy sources new challenges lie ahead.

The main focus of this dissertation are the electromagnetic forces resulting from nonuniform air gap flux, whether it be caused by rotor eccentricity or a faulty field winding. Results are predominantly obtained from measurements on an experimental generator and numerical simulations.

With the computational capacity available today it is possible to numerically analyse physical phenomena that previously could only be studied with analytical tools. Numerical models can also be expanded to encompass more than one aspect of generator operation in coupled field-circuit models without model complexity surpassing computer capability.

Three studies of unbalanced magnetic pull, UMP, in synchronous salient pole generators constitute the main part of this thesis.

The first is a study of how parallel stator circuits affect the unbalanced magnetic pull caused by rotor eccentricity. Depending on the relationship between the geometry of the separate circuits and the direction of the eccentricity it was found that parallel circuits could reduce the UMP substantially.

Secondly, an investigation of the effect of damper winding configuration on UMP was performed. The results showed that damper winding resistivity and the distance between the damper bars in a pole determine the effectiveness of the damper winding in reducing the UMP. Simulations of a production machine indicate that the reduction can be substantial from damper windings with low resistivity.

The third study analyses the consequences of field winding interturn short circuits. Apart from a resulting rotating unbalanced magnetic pull it is found that the unaffected poles with the same polarity as the affected pole experience an increase in flux density.

In a fourth article a new stand still frequency response, SSFR, test method including measurements of damper winding voltage and current is presented. It is found that the identified models are capable of predicting the stator to damper transfer function both with and without the damper winding measurements included.

Variations in the electricity consumption and production connected to the power system have to be balanced by active control. Hydropower is the most important balancing resource in the Nordic system, and will become even more important as the share of variable renewable energy sources increases. This thesis concerns balancing of active power, especially the real-time balancing called frequency control. The thesis starts in a description of the situation today, setting up models for the behaviour of hydropower units and the power system relevant to frequency control, and comparing the models with experiments on several hydropower units and on the response of the Nordic grid. It is found that backlash in the regulating mechanisms in hydropower units have a strong impact on the quality of the delivered frequency control. Then, an analysis of what can be done right now to improve frequency control and decrease its costs is made, discussing governor tuning, filters and strategies for allocation of frequency control reserves. The results show that grid frequency quality could be improved considerably by retuning of hydropower governors. However, clear technical requirements and incentives for good frequency control performance are needed. The last part of the thesis concerns the impact from increased electricity production from variable renewable energy sources. The induced balancing need in terms of energy storage volume and balancing power is quantified, and it is found that with large shares of wind power in the system, the energy storage need over the intra-week time horizon is drastically increased. Reduced system inertia due to higher shares of inverter connected production is identified as a problem for the frequency control of the system. A new, linear synthetic inertia concept is suggested to replace the lost inertia and damping. It is shown that continuously active, linear synthetic inertia can improve the frequency quality in normal operation and decrease wear and tear of hydropower units delivering frequency control.