ree rama on Power Systems, Vo 4, No 4 ster 189 [ENERGY FUNCTIONS, TRANSIENT STARTLITY AND VOLTAGE MEMAVEOUR TH POWER SYSTERS WETIE NONLINEAR LOADS Tan A. Wiskens”, Neaber, TEBE David J. HDL, Menber, TERE Departaent of Electrical and Computer Bngineering University of Neveastle NStK 2308, nsrct ‘his paper. presents preliminary results in vogran aimed at energy fwsetion analysis of transient Sout of pover systens vith nppliaear loads. The lel, saith ‘presente the nck. stgcthre, “is of Tifetent ial algebraic type. “Thie introduces sone nev nalytical Tesues, but ‘he concepts enable the establ- Tabneat of a eonncetion betveen transient, (angle) stab- Hlitys multiple stable equilibria and” voltage belay. foul’ {practical nechod Yor devecnining and. classity- jing equillbrive poists of the del is developed. 1 INTROoUCTTON Direct nethods of determining poxer oygten trans sent’ ateiaity osine energy feactions have been evoly Infor ander wee Aocesty however, hey lave Telched ther stage were industry ie starcing to accept ‘Nem as valid alysis tools capable of giving sultie- Tenelyaccurave results for realistic ower systems [a]” “Through this interaction with andustey, proc Leqt! godetting ‘and inplencatation “difficulties are eing Benet fte, A nunber of the major Linitations experienced 0 dace! relate to te relueed network aofel (NH) of the power systen traditionally used as the tasis of energy Ritetion methods. In this nofely all loads are conv ented to ‘constant adsittances. "Then the network 1s Soluced’ tothe generator internal buses” (3]- Some ‘onvonttat,problens are: Network “sparsity. is, lost. By aot _ maintaining sparstyy aoleton sitiieny ig reiucel aid Soltaen fine 13" daeressod, for fa systems, this Jicfeate is augaticae." Te sao beg noted th or very large’ power systens, solution of the redu etwork may not be possible’ at ali, ‘see coments by Taney [4 al iAear toads cannot Ye aodelled, The inportance of correct Toul odelling ts now widely ecogeized at Gtafltless ‘Conotane laptdance foal ncdele atten Lead io optinistle “assessment. of aysten. stability hen Senpoked co cases with significant constant. pover oF aed seh signif ant onbtant current component [5] “bn Leave frou Queensland Electricity Comission, Australia 49 9152-0 PIRSA paper recommended and approved by the teat Foner Syacen Engineering Comittee of the Tine Poser sugineering soctety for Feesentation at the TEEE/fes 1989" Hintor Noting, New Yorky Hew York, “inmuney 29 = February 3, 1903." Hanwretipe svbatcted Migore 25, 1986, made available for printing Snmaaey 18 ustralia. ‘These Linitations ean be overcone by the stracture preserving sodels (SA) of pose systons: seo Tee Te ee he sun sugges these he networt Te eal a Aa Whnee ‘Mlo" Secure. the structre.renias) intact Fespect "to generator odelfing, ‘copetational, exper portant’ to che essential transient stability preblen Folloving the initial iden by Bergen and HII] [6]. york on SMS bas progressee to develoy better ontr Fonceons and. shos” thet sone aatTSar techniques {row Studies with traditional, Ris can bo usel (eanely PEAS ype mechodsy Ta] Moevers i cemias to exploit GRE" potential ‘of Sits for Large realistic. syctens. Fareler there ‘are’ sone intersting network cutset Concepts sic, appeat "woof [O6)> Thao cetes: ‘with the donand in laductey to relate stability eat tp familiar practical notions. of, "veah Goandaries* (Iz). "With these ‘ina in sight it becomes Clear that a deeper understanding is. needed of SPs and their energy fonctions. Tn mathenatical terms, hoy the bullibria°and energy fwtetions are defined on nani {olds associated wilh the model ork the aost_ important side issue in consider- ation of Béus for transfen stability analysis ts volt ge stability. Because explicit. load adele. and act. SSlStactas are iecororated in the $PL, may of he Tporcant clenents of the voltage stability phesonena are sodelled. "Iv is clear that setvork voltage Beha {out in the traeien perio ip ingrtant to snalyeis efLransjene stability [large discurbance angle stabil= Sty)enthere are numerous vievs on the problen of volt. 252 Gollapee. The work which seens sost relevant here FPlates to aaltiple solutions an toed fey 8,10) {hese solutions are the equilibria ia dynante SARS ‘the ain of chia paper a to present ressits in progress ‘towards a toroagh sty cf the above ideas: Woproviute'a Vasls for cevelopest of a direct truss feat stability assesenntalgoritiy based on en! near An! sparsity anf weak cote, Iniplgoritin is 0 Le'dederlbedstparately. Te eapiasis here is or under Mesdiog the concepts tad tots 0 be Used. Throughoyt erpapdrs concepts are illustrated by reference to the {our Me per, syeten of Fig. ove. details Teelading ‘proofs’ of sone ‘UcoreticaT gtatesats ate inGtted aad can bo found in the report (20) | SIRUCTIRE PRESERVING MODELS lel f ‘The classical, machine sodel is ase in the devel opnent of this SPN. Therefore the synchronous machines sPevtepresented by a constant voltage [byl in series With, transient reactance. Uther generatorfesciver folels could be sbatitaced if necessary using escabl SShed ceckatques. [10¢13,21].lovever, in the present paper, hig machine model sinplifies the details of the (68 5950/89/00 1528501.00 © 199 TEEE6 SIM and energy function vithoat detracting fron tbe pain concepts Consider nov a network consisting of ng buses coms ected hy transnlstion Lines: At 4 of thes buses there fie generators, The bases shich have ‘loa! but‘ ao gen revlon are, Tibelled,"I-totagens The eter fa fugnestod vith n —fictitiocs buses reprecert sng: the fenerator internal buses, in accordance task the clase Yeat'machine noiel, "They are: labelled tea sere fois tHe bos tusbor of the corvesponding generator base “The tptal/aatier. of “eee inthe aapnetedaystin is och otOhOCe i, ssi tonslss, 50 all tinge Fenetances) are noel as teri teatances "The bas lnttaace natrix -Y is therefoce purely: inaginarys Sith elements Yj, peels Session Teference frame. Define IWI-[Iy[,.--5 I, II% where The SPH of interet is tased on machige reference aagleay Sith the teh Das tates nd he weleee wee acesodal “eagles “5,855 beri ae et Py and Q denote the total real and reactive fate] and ug over leaving the ith bes via transpission Lines. Thea Fyil@slLD = WSLIVj 1B, sintay-ay (1a) i Ailes WD) = 2 My, c0s(a-43) (1b) fi In those equations, ve assune the substitution IV Tey yg lhienerty 1 has beer made. Also ve take a, coe at, i ara at det ae it ad Wy functions of voltage ad frequency stoned" to soba Fay eFC) betyecee (2) as = Mas D ) to, {15,20 it is shown hat conining (1), (2) ond the toatl gent Slag eyt oss pineal cael We BT ta respectively. In general these poxers are The Loads shall be 0 B= Meaty Telly ag ILE) (aa) 4, = Tye (0) © = Bylogesy IL-2 (IN) Ly (ay tq I8D) (4a) 2 = CMT NOytagseys Loy WED) :=C@ysape ILD) (4b) ps By ae dlgonal sates of inrtin, damping cons ast The gle sect a pation a faa Setserpts sill te esol t> denote Tons, fevorators respectively. 2 is the. (w!}-vector af Neclapcal powers excluding reference machine. (Sone {fanstoraatlon of powers 16. often required to. acktore the precise form (3) (22].) T, is a specially survetred matrix of a1 entrice® and (a) denotes Gata Steet ovations (3), (4) describe the mel denoted $Phq. wich ft feof scene are based tae Mares: Consists of set of differeatial algebraic. equal ious The syoten variables are clearly ay ¢8%, ay ex !, ay eRe and Mente Cie area meee fei Tan ant Mera Mey Sal oh Hite a? at gu etme rena son To or TEL AS SRE eae a al Bo algebraic, equations (4). In fact, (4) defines an Coa) tinotd ow nich "a, "ean Hi petine ake Jacobian lt, at fe aT] as iO] bey TT Ther, by the fnplicit. function theoren [24], if Wee Igy, Teall SS sea Meta; written explicitly in terns of the generator angles as =a). WI «Hlo,) © fu equivalent differential equation form of the SP can ‘therefore be obtained Locally by substituting. (0) Ino (a) Setting Fla) Eyey Ay a) eee es Be mee I eg Bh 4, ~ Tse Ugatone define ordi difteetia. pte farang ate ania, iene. a) ~ Tis idea of local solvability can be exteuled to sgleabilicy over disjoint regiond ‘via the folloving ‘Theorem 1. Suppose that for the nos-enpry compact Bee Talacae il ett ad eelagng It € 6, MS € argcive cigenates tet Flag tayapsTtl) © 6}. Then there exist nique continuoas fonctions tyity aS, gy:Aypal® such that over Cy SIM aa he written in the form a 1 AS Ugg has dinension lor & can take the values©,.-.42%4- Therefore the maximum umber of sets hich can exist for SMMp is 2notl 2. “The sizes of sets €, depend of course ox the Yond ‘del parancters. Conditions are given in Appendix A Yor eaburing Cy, ¢#%, are empty. ‘ovover, these are ‘ot alvays satisfied in practice [25] g e shri eis an seas tan rte mh. Ta P pie eee doseage a eget ae See Pe Beata Me forth, wo refer to sets Cy as voltage causal regions Os the surface det Jyy-0, ay and [YI are no longer dependent on The wodel breaks dovn and voltage behaviour can no, longer be predicted, This. surface Shall be referred to-as the Miapasse’ surface, “using terminology fron ciresit theory (29) (Lack of voltage augality. can sonetines be observed’ when a trajectory (of Sim, ts being obtained by nunerical integration. AS fhe trajectory. encounters” the. inpasse sirface,, the Integration technique vill fail to eoaverge-) ‘This 18 the requireneat that the se Ts terinolog certainly dona rot im to coer the ‘lenonenon of long-eern’ voltage collapse where ther aspects of the svaten shotld’ be. aolelied and ttided to Sha. “Ve are nly concerned with the short: term behavion IL DETeRMENATION OF SYSTEM PQUILIBRIA 2.1 Conceptnal Background a Setstive approach to finding ts 5 fa view the cequillorien equations of Shy a8 defining he (1) fenifold wile would reule$ B vreallved to vary. A BPs for a gives ff mst Lie on the musifold. If 0 one elenent of Ef is then constrained to its actual fag eiceiftten trong hee t-tele Se at cta Ae MB ea a Te ae Saddle SPIRE SA ian enation sh etd Fesnlt if alleles of Hf except one were allved to tary. Again, al1 Bs mst fie on thle esifole This process of sli ing through the manifold by successively enforcing 12 constraints is continued il a manifold or carve temine.. Following the Bane arguaert, all BPs most Lie. on this. I-naaito ne tast slice through this Tenanifold by constraining the tant etme of fives all the Mo. This Tat slice is simply the intersections of a curve and a Straight’ Lines Clearly, this curvo can be preseated on {plane as a rlation between the last Fh, ald any ater variable of intrest. te TBII the concpe.eblad the algriea Is to start free Le cant ae a a Meath SESE Ce a, ee Staring frou a loom Ht, one slewat of BO is feleel, h eaaifoldreuls, Points onthe cxve bithiaed SITU ee eigrdt dente FAS is [25], Sucessive points on the curve are caleulated Anthi_the pover at the generator us corresponding £0 the released constraint agais eguale ite initial value, An @ of the system has been found. COMUL can find alt BPs by continuing to track arouad the I-manifold. The I-nanifold ie observed to be closed, 20 the proced ture Is halted vhen the starting point 18 encountered. Soanents 1, The complete description of each, HP obtained in this vay 4s part of ‘the GUNTUR output [26]. 'In-general real pover loads are voltage dependent. Aromnd {he Trmanifolé, voltages are varying, 30. loads rast alsa. vary only the initial (ive Enova) HP corresponds to the generator paver “cotsir site fored fs]. Tee tanforneon a eriy Saploneeed {Stata Acta trating Mh ola 2 lo ee Ge pine eee Stoned eee cn cette Gain Aiea! Sean ae eased ESET ot Searle oe be anole ‘ other EPs, generator povers are trans Fig.t: One Line Diagran of 4-Bus Syaten. Consider the sual? pover systen of Fig. 1. This systen consists of three generator buses asd one Toad its.” (Te does not meet ‘the numbering convention “of Section 2.1, but usefully ifustrates all the concepts ‘hich will be encountered.) The Toad is taken to be of Constant, power type. This is deliberately chosen to Sct savisly the Conditions, of Ippendix A. “Thus we expect aultiple sets Gy. By releasing tho real power constraint, at generator 2, the t-nunifold of Fig. 2 Fesults,” It is plotted vith reference to MVAL at gen trator ta Usha the Tage itferaces ‘a rescize er reguirenents between Es. origin Fer facet shoun Use Ade Fige 2, This Saeiatersecte the t-man{fold at. two polit, ‘a’ and “b the anly EPs of this systen. Point a! was the original ne Ne ae he : a Fig.2: GIN? isifold.9 Notice thet if the initial GEN2 power was Opa, the ayscen ould fave four Ute piven by" the istereckions oP the satis aad the T-nanifol ° 1 CLASSIFLATION OF HqUILTBRTUN PorNTS Relay te ® ‘Then, linearizing SP, (3), (4) gives lg « WelDglay = Teal 4g Tyg ge 9 medi 7 a Solving for af, in (9), and substituting yields the Uinearized version of $y as (19) a {ps yan fo suble(agh vim) $€ snd ely 1 ee SURES AR oe ae Ti Jn is ine condition an cates at lege aad SR, eat cated ek of ola Sie ite aan oe ees oe ae ae) te er ne Thisvis seen by rearranging (@). “TE det Iya-0e ho vad relationship exists between day, | and day 4.2 Efficient Determination of EP Tyoes ‘The process of building the syston A matrix aed then. finding all its eigenvalues "ie" cpetstionally expensive. detually we°are. aot interested fer the wales of’ the eigenvalues, ‘onty"Jn tho signs of their Teal parts. Fortunately evo results eaable these Signs 4nd hence ‘the EP type, tobe determined without aay xtra compatation at ail Fronosition 120); Sopyose §) Singular matric, is (Getorized tiag sot Gausbiaa blac as Sol whore [8 Ie aie transla, Sand Ue tpper trlatgslar. “Then the aunber of negative diagonal “elewonts ef is equal’ to" the numer of symmetric nan egative eigenvalues of 8, 21]: The number of positive eigenvalues SP at ‘eral to the ier of negative sigentalces of If a Nexton-based iterative technique is used to obtain the EP, as it is is CINTUR, the Jacobian (0) is available aad factorized.. Further, by ensuring it is dridered asin (0) With af last, after the fist 23g rows and colums have been factorized, the (a 1)x(@1) trix remaining in the Bolion tight earner fs FY elven By ij Wee that i det Topt0y the factor izSt lon rocess vill, fail during these initial 2nq steps, jecause of a divide by ze eavor Continuing, the factorization process to completion, ‘he Tast wt agotals correspond ta the facearszed b ple) By treitin te tage of the ane nt Hagonal elewents of correspond othe Signs of the figenalues of By ic, Se of the last. wl diagonals fre negative, “then E ‘has “@ ‘negative “eigenvalues (BecanseE is symecrie its. eigenvalues ate teal) Aut, by Proposition 2, that aeans that f has & ges alles’ with positive feal parts.” Therefore the EP is Yoee. Me have determined the EP type as a byproduct of solving for the EP i ‘Example (cont.) Meco ners (Se fone in, minle of Tg, cut ft eee "9.4 ae ff ihe i a PGE schultz ey sie a a age wele af if! ie aeptiee ie on ao borne (gl) aulalty tall eral! cacresiy eesles that a “tothe oder el treat eee a eas ee ee Consider the EPs along the x-axis. They are clase ifjed as "e" Hs type-0, “a te type-0, "e” is type Tis type 2. At eael of the pints “a, sey tf") one eigenvalue of dgg is negative a coments, sattadtme fg aeple gluon to, Lod fay fs Sngortant. to. discussions of voltage ‘stability This exanple shows that cate “Is needed. in statensavs about ‘voltage and/or angle stability of these solu 2 init in goneral a negative eigenvalue of Jyp does ot imply instability for SMM, f the syston contains devises which are esitive to gly or SEL, 0g, SVGs, then unstable behaviour may occur in the aadelled bxteh States of those devices, V LARGE DISTURBANCE ANALYSIS Ia this section, ve provide sone basic nethodole for decernining lange disturbance stability of the EPS, Enphasis is given ‘to ney insights on the aavure of energy surlacts in the preseace of multiple eqsilibrie. 5.1 Buecgy Function ‘The developnent of energy functions for the model dexetons 8 ‘s SPHy. hasbeen studied “elseshere sing finst ineggral and Lorve problen analysis: netiods: A valid energy function is (2) Veg) ie * exw de> lee [Faw shore (apap WIT, bOx) =U, (0"E(3)'a(w)") and 3, denotes a stable EP. ‘This funétion ean be evaluated aVoeprtgitgs WD = 59h Mey 1 2 1IV8leos of BD 2 Bsttllilow a; NPL $eos af) - [Skane + fe Mil gaia Ey, (3) Bias Sonments 1, Tt can be shown that voltage dependence of Pd; leads to similar analytical difficulties as transfor conduceanees” in AMS [8,15]. The” Integral (IWID*da becomes path dependent. The details of roxinating Uhis integral are similar to those for 2B a a ala evendeat "lin general the energy function ¥ is multi-valued. This is "inkerkeed from the relation between pli] and ‘stograls of sow-zero transfer SE tn [15] it fs shown theta more geaeral kinetic Soray Lh da So SSSR, Malad Pha Taping Be as zoro or aniforn (3, various refinneats of this ern Ste appropriate. he ‘zero damping version is equival fat (ova esefol COA angie version {14} zs 5.2 Stability Results The folloving result, establishes the comection between saul! digtarbance, ‘Stability (Section 4) and asyaptotie stability for is of SP ‘Meoren 2: If an equilibrium pointy, is " iseerbance stable" in the sengo of Section 4.1 thes it is asyaptotically stable with respect, smi ‘The proof of this theorea is given is [20] 1 In Section 2.2, loca solvability of (1) as ex ended to solvabil sat ‘over voltage causal. regions, “The Sipe concep can be aoe to fotind ey on et Selidity of the local representation of foo), Theoretical estimates ofthe regions of attraction tO stable Be are given sua stn ee ale tesa ta ae fndeat on the Set Gyr the Local potential energy fune wins Ey ha ag For each region Cy defined ty Theoren 1, a unique local potential energy function exists. nea mle after that theoren, there could exist up to Shevt"auch PE functions, eack one a sheet in gy-space. Tt is not difficult to inagine therefore how itis pos Finke Wo faves amar of aeymprovicaly stable Pro. (ose ‘sheets viek'a Tecally positive definite section Stet: have an seyeptotieally Stable EP at the lovest poles ecta fect.) Noe tat at all shcets eed By the com 19 ALL the PE sheats join on the impasse surface. To ‘lustrate this, consider a point yo ou the nasifold (Gy there at dggtogeOs isbn se Tes on the" ipasse surface galyy MSE have at Teast one sero eigen falm,_Sopene ib Jot ua ae eben, wd ¢ ee eee eee Eel Feat el tebe dae Nin da Me Pe, Mielec Heal ons ieaniee ay sili es scans as wate we lal ates seer, chet tn ‘approach each other at the impasse surface. each of these sets is a unique Given that, the potential energy sbgcts Lie ore on tor of the other, dnd are jolued at the impasse cur Yeler it'sceas reasonable Yo expect, that the iovest sheet, vbich corresponds to Cy, mast be deeper in terns Gf the potential eneray well, Yhap those stacked, above it. “Inerefore the stable EP’ of Co asst have Larger stability margin than otter stable BPs (f-any 4st) {ile ie fonsigtent with the fact that load baa voltages ‘on the sets Cg, eA, are depressed ven compared with tioreon Ge. Thes dpceaed voltages race the ror uns(er copabilieiesy and hence Stability aarginsy for Bie other stable Bs ves Buasple (cont.) “ Pig. Sb: Potential Uaergy Surface, Point “b*