DE!

TERMINATION OF SUITABLE LOCATIONS FOR POWER S Y STABILIZERS AND STATIC VAR "IPEXGATORS FOR DAMPING ELEcTRoMEcHANICAz,OSCILLATIONS IN LARGE SCALE FWER S Y S " S

Nelson Martins, Member IEEE Centro de Pesquisas de hergia Elgtrica - CEPEL Caka Postal 2754 Rio de Janeiro, RJ, 21945, Brazil Keywords - Excitation Control, Additional Feedback, Static VAr Compensators, Electromechanical Oscillations, Pole Shift, Power System Dynamics. Abstract - This paper presents efficient algorithms for the solution of two important problems in the area of damping control of electromechanical oscillations in large scale systems. The proposed algorithms allow the determination of: 1 - the most suitable generators for installing power system stabilizers; 2 - the most suitable buses in the system for placing static VAr compensators in order to damp the critical modes of oscillation. These algorithms involve the calculation of transfer function residues and represent an important developnent on the powerful methodology proposed in [ 11, whose use w a s up to nuw restricted to power systems of limited size. Another major aspect of this methodology is that there is no limitation on the degree of modelling of the power system being studied. I. INTRODUCTION Present day algorithms allow efficient and reliable captation of daninant eigenvalues (and associated eigenvectors) for power system models represented by several thousand state variables [ 2,3, . An important requirement in this field is the 4,5 1 developnt of algorithms to help stablishing adequate control strategies for large systems [ 6 1. ?his paper presents contrilxltions to this area of work. The infomtion contained in the eigenvectors allows the determination of the groups of coherent generators in each one of the oscillatory mdes of the power system. The set of elements of an eigenvector which are associated with the rotor speed deviations of all the generators constitutes the "mde-shape of rotor speeds". A first indication on a good location for placing a pwer system stabilizer can be obtained from the analysis of these mode-shapes. The generators located at the anti-nodes (largest amplitudes) of a mode-shape of rotor speeds are the natural candidates for the installation of stabilizers. Another possibility is to provide damping to the electromechanical oscillations through dynamic voltage su~port. The buses which intuitively are good cardidates for the installation of synchronous or

Leonard0 T. G. Lima Main Ehqenharia S.A. Rua do Ouvidor, 121 Rio de Janeiro, R J , 20040, Brazil static compensators are those located at the anti-node points of the "mode-shape of bus voltages" in the system [ 7 I. These mode shapes only give a relative measure of the observability of a given mode at the various locations (or variables) in the system. An obviously better indication on locations for placing damping sources should also contain a measure of controllability of the various system inputs on the low-dampd electromechanical modes [ 1, 6, 8 1. The residue of a specified transfer function associated with a critical mode of oscillation is given by the product of an observability factor by a controllability factor[ 1 1. The algorithms proposed in this paper are based on the methodology presented in [ 1 1 which involves the calculation of transfer function residues. These algorithms allow very efficient calculation of the required residues for large scale power systems and are believed to advance the state of the art in this field. The ccsnpltational efficiency is derived from the use of the "augmented eigenvector" concept [ 2, 4 3. It may be argued that stabilizers are usually provided to large machines in many existing pwer systems and therefore the practical advantages of the proposed methodology would be slim. However, when planning a new network or an interconnection between existing netmrks there will be a tendency to install stabilizers on a limited number of generators [ 1, 9 1. The choice of the most effective generators for damping the troublesane oscillations is i n this case easily carried out by the algorithm described in this paper. The location of a static VAr compensator is determined taking into account various factors such as static arid dynamic voltage supprt, capability of and subsynchronous damping electromechanical oscillations, etc. 'Ihe algorithm here proposed attempts to provide an answer to the problem of finding the best location for the sole s e of dmping electranechanical oscillations. This particular problem has been given a lot of attention in a recent EPRI 8 ] .?he algorithm presented here is thought to project [ be more general and more efficient than that described i n [ 8 ] . The mtatims adopted in the paper are defined as Used. The Small-Disturbance S t a b i l i t y Problem
?he p a e r system eledmnechanical stability problem can be represented byasetof differential equations w e t h e r with a set of algebraic equatims, to be solved simlltaneously with each other:

where

is the state vector arid algebraic variables.

is a vector of

CH2747-4/89/0000-0074$1 .oOO 1989 IEEE

Small-disturbance stability analysis nomlly involves the linearization of (1) around a system operating point (x z 1: -of -0
1-

Original Algorithm The state spce equations associated with the transfer function G k ( s ) = yk(s)/V,k,f ( s ) are given by:

1(2)

The power system state matrix can be obtained by eliminating the vector of algebraic variables i ? g i n equation ( 2 ) :

where the index k denotes quantities of the k - t h generator and A - system state nntrix of order (n x n) k k b - input vector associated with Vref fef-reference voltage of the excitation system yk - variable to be used as the input signal to the stabilizer Ck

The symbol A signifies an incremental change from a steady-state value and will often be omitted in the remaining part of this paper. Reference [2 ] presented algorithms for the calculation of system eigenvalues and frequency response plots which do not require the explicit fomtion of the power system state matrix. These algorithms are directly applied to the large and highly sparse p e r system Jacobian matrix of equation ( 2 ) . To avoid repetition, the reader is referred to [ 2 ] for a description of the Jacobian matrix structure. For a neater and more efficient computer implementation, the Jacobian equations i n ( 2 ) should be reordered as discussed in [ 2 ] . However,for the sake of clarity and brevity, the algorithms proposed in this paper will be described usequation ( 2 ) . 11. DETERMINATION OF SUITABLE GENERATORS FOR PLACING POWER SYSTEM STABILIZERS Backsround Theory It was found necessary to include in this section
some concepts presented in [ l ] so as to make this paper

- output mtrix of order

(1 x n)

Figure 1

- Insertion of a Feedback Loop With a

Small Gain in a System
k

sufficiently self-contained. In Figure 1, G(s) is a transfer function relating the variables IN(s) and OUT(s), between which it is desired to close a feedback H(s) = E .h(s), where E is a scalar and h(s) is of a specified structure. Assuming that all the zeroes and poles of G ( s ) and H(s) are distinct,it can be shown [ l ] that for small values of E the closure of the feedback loop causes a change in Xi given by:

Note that the poles of G ( s ) are the eigenvalues of the state matrix A . The input signal ( yk to the stabilizer will be either rotor speed deviations ( L or generator active m e r ( P t )Assume that A has n distinct eigenvalues that represented by XI, x2, .. ., % l a n d 21 , 2 2 , ..., ! & , are the associated eigenvectors. In this case mtrix A can be diagonalized through the similarity transfomtion [ 10 ] :
2 = U-1 x
(6)

where 2 is the modal vector of the system and U

=

%I,

y,. .., + ]
vector

is the mdal matrix. satisfies the following

The modal equation:

i= U-lA U
where A. is a pole of G ( s ) and Ri is its associated residue.lThis property, as suggested in [l 1 , can be used to shift the poles (system eigenvalues) associated with the electromechanical oscillations with reduced damping. It is convenient to choose G k ( s ) , where k = l , 2,,.,ng (ng being the number of generators in the system), as the transfer function between the reference voltage of the automatic voltage regulator (Vref) and a measurable variable (y) from which the power system stabilizer is derived.
Assume that xi, is one complex conjugate pair of eigenvalues of the system for which more damping is required. The methcd proposed in [ 1 1 investigates the Gk(s) transfer functions for all k=l, 2, ng, in the search for that one with the largest residue Ri,asscciatedwith the h i , eigenvalue pair. If Gl(s) has the largest residue (Ri) this is taken as a good indication that the j-th generator is the most adequate for placing a stabilizer in order to damp the analysed mode of oscillation.

bk

cef
=

i;" Cef ( 7 )
ek

yk=dCuk
gk is

=F's

where = [ diag xi ] is the spectral matrix, a mode controllability vector and is a mode observability matrix (row matrix). The transfer function Gk ( s ) can be expressed [I11 as:
G k ( s ) = 8(sI-A)-Lk = (?(sI-A)-v
=

...,

-1
15

diag

1 s - xi

The constant Rk is the residue of Gk(s) associated with the &le (or eigenvalue) A . , and is given by the product of a mode observabili+ factor ($) @ a mode ~ n t r o l l a b i l i t y factor (&). The cabalation of the desired residues a s suggehtp in [l], requires the computation of U and Uand therefore is prohibitive for large scale systems.
AnImprovement

where the vector on the l e f t part of (11) w i l l be here dencaninated the aqmented right eigenvector of Xi [ 2, 4 ] anddenotedby

$.

on the Oriqinal Alcrorithm

The mode obsepability factor for a transfer function G (s) is given by

specified

If A has n distinct eigenvalues then there w i l l exiLeXn)n linearly independent eigenvectors 10 1 represented by U. which satisfy the equation:
A
U. = 1

A.

U. 1

(i = 1,2

,...,n)

(9)

The transpose matrix At has the sam? eigenvalues of A but different eigenvectors 101 which satisfy the equation:

A more efficient calculation of readily applicable t o large scale pcwer system problems, is obtained with the use of the augmented right eigenvector :

Gt,

(13)

At v . =

-3

A. v I -1

or

-3

vt A = X . vt;

I -3

(j= 1,2

,...,n)
r o w matrix for the k-th generator.

These two sets of eigenvectors are orthogonal, which means that t v. U . = 9, (i= 1,2, n) 11 i and qtg j = 0 (i, j= 1,2,. .n) for i t j

...,

Equation (11) is ncw rewritten considering the vector of observability factors t o be used in the calculation of relevant residues associated with X i :

where Ri i s a canplex number.

BJr suitable nomlization of the eigenvectors, it is possible t o obtain

11

U.

U.

vtu. = 1

(i= 1,2,.

..,n)

and then

v'v
or
W

= I

1
m a t r i x of A~

1 Z.

xi

0 -

gi

0 -

= I

where v = [ ,v . v 1 i s the and I is the $de&ty mat&

..,

where c"k i n &tion

(EL, 52, elrg ). Note that eac element is o&inh fran aldifferent matrix ($la (see (13)) with k = 1 , 2 ng.

...,

,...,

It follows that

be noted that

while the number of

and therefore (7) can be expressed as

associated with the generator active pwer P has only five non-zero elements for systems of tany s u e . Additionally, these five elements have sinple algebraic expressions and therefore matrices J5 and J6 do not need t o be formed a t a l l . The mode controllability vector is given by

an be seen fran (8) and (10) that in order t o R for k = 1 , 2 , . ,ng, it is only necessary to obtain [ calculate the right and l e f t eigenvectors % and associated with Xi.
It

..

i k = u-l bk

t k - =v &

(15)

only the i-th element of is needed for the calculation of the residue Rh and its expression is

A more efficient version of a digital program for the calculation of the residues Rk wuld involve the 1 0 I for &e c a l m a t i o n of only use of a QR routine the systen eigenvalues. The right ard l e f t eigenvectors associated with the c r i t i c a l eigenvalues should be calculated by inverse iterapon u t i l i z the same Lu factors of (A - X i I ) since (A - XiI) =

gb = v t bk 1 1 where
is

(16)

the left-eigenvector associated with

Xi.
the

Et.

Fquation (16) can be expressed in t e r n of augmented l e f t eigenvector va

1

Alcrorithn for Lame Scale Svstems Equation (9) is n o w expressed in implicit fom
76

augmented input vector. The concept of an augmented input vector is essential to the algorithm described i n the next section of this paper.

As previously said it is necessary to normalize n order to calculate the left and right eigenvectors i Rk. It is computationally m r e convenient to carry out the nomlization only on the right eigenvector, whose elements must then be scaled by the inner-product $.%. In the proposed algorithm, this normalization is actually done in the augmented right eigenvector 1 U&
Equation ( 1 3 ) is now rewritten in term of the normalized augmented eigenvector ( < l n :

Figure 2. Voltage control L m p of a SVC. The index "k" will here denote quantities or eauipnent of th? k-th bus in the system. Assume that h. is a pole of & ( s ) and Rk is its associated residue? h . when closing the The change experienced b $ feedback loop in Figure 3 , where hC(s) = E.SVC(S) and E i s an incremental gain, is given by
(19)

The residue Rk is obtained from the product of the controllability' and observability factors, whose expressions are given in ( 1 7 ) and (18). These residues can also be calculated for other transfer function outputs such as rotor speed or bus frequency deviations. 111. DETERMINATION OF SUITABLE LOCATIONS FOR STATIC VAR CCiYPENSATORS It is recognized that static VAr compensators can effectively damp electromechanical oscillations. The damping effectiveness is dependent not only on the structure and tuning of the static compensator but also on its location in the electrical system [12 I . Figure 2 shows a block diagram which describes the voltage control loop of a static VAr compensator connected to a bus of a multimachine power system [131. Note that this block diagram is analogous to that describing the voltage control loop of a synchronous generator in a power system [131. The blocks SVC(s) and CSS(s) denote the transfer functions of the static compensator and its stabilizing signal respectively. The blocks F(s) and G ( s ) relate the variable shunt admittance (B) of the compensator with the deviatiop frequency ( e ) in the regulated voltage (v) and respectively, considering the dynamics of the entire multinnchine pwer system. Besides the frequency at a bus, other inputs to the stabilizer can be considered, such as the transit power deviations in a transmission line (P..) for example.
13

Figure 3 .

SVC Control Loop without Stabilizer CSS(s)

-The closed loop poles of the system of Figure 3 are the same as those of the system of Figure 4 which, despite the fact of not reflecting the real system configuration, is more convenient to the analysis.

1-1

Figure 4.

A Convenient Representation of the SVC Control b p

It was shown that transfer function residues can be used to find the m s t suitable generators for placing stabilizers in a large systm, in which the generator locations are well defined. The method here proposed for determining suitable locations for SVC's is based on the same concepts of transfer function residues. The objective in t h i s case i n to determine appropriate buses, out of all buses in the system, to place static Var ampmators to aid in damping specific system d e s . The feedback loqp of the block CSS(s) in Figure 2 will now be disregarded with no detrimental consequences to the objectives of our analysis. The block SVC(s) in the present context is given the function of damping electromechanical oscillations rather than regulating bus voltage.

For a given eigenvalue pair A . , A* which needs to be damped, one s uld obtain the lesiaues Rk of the where k = 1 , 2 , . .. , n k ' a n d "nk" transfer function is the total number of buses in the system. If Rg happens to be the residue of largest modulus, this indicates that bus "j" is the m s t suitable for installing an SVC for the purpse of damping the critical eigenvalue pair. It should be noted that n an may have other outpts such as: transit power i adjacent line, bus frequency, current magnitude or apparent resistance of a line, etc.

F(s),

The augmented input vector used in this algorithm is obtained fran the linearized expression for the current injected by a static ccmpensator into bus k. This expression, expanded into its real and imaginary components, is given by:

77

where the subscript "0" denotes values calculated at the system operating point. In the present application we have'B = o for all k = 1.2,. .nk. Therefore the disturbmge applied to the power systemby the k-th static comppator is having represented by an augmented inpt vector (& non-zero elements only at the two lines of the algebraic equations associated with bus "k" ( see equation (20)).

The residue calculation algorithm was used to determine a minimum set of enerators to damp the m s t X2 and Table I lists the critical modes: largest tranfer 'knction rzsidues relative to the inter-area mode of oscillation ( All together with the associated generators. The relative magnitudes of the residu are Qsted for the transfer functions pk(s)/? (s)and U (s)/V,k f ( s ) . Note that the rankhgs oktainAefwith these tw% t r m e r functions are quite different. Actually, there is a fixed relation between the residues of these two transfer functions:

it .

The fonmlation for this algorithm is, from this pint onwards, equivalent to that previously described and is therefore omitted. IV. FWER SYSTl3l STABILIZER RESULTS The determination of suitable generators for placing power system stabilizers (Pss) using transfer function residues [ 1 ]has become well accepted in the field [ 6, 9, 11 ] .This section presents results for a medium size system which raise some interesting pints regarding the power system stabilization problem. The power system analysed is the South-Southeast interconnected Brazilian system ccmprising 616 buses, 995 lines, 50 synchronous machines with detailed rotor dynamics modelling, 4 9 smaller machines represented by negative impedance loads, 4 4 excitation systems and 16 power system stabilizers. The operating point analysed corresponds to a heavy load condition of the year 1987, with a high power transfer from the South to the Southeast system and a total qeneration of 21,000 MW. Tne critical eigenvalues could have been obtained by one of the efficient methods described in [ 2,3,4,5I Hmever, as the system matrix was not large ( 4 2 0 state variables), the full eiqensolution was obtatransfer by a standard library QR routine. The method function residues were calculated by the described in this paper. The system shows adequately damped oscillations its for the given operating pint and dominant eigenvalues are X = - 0.258 5 j 6.51 and A = - 0.380 5 j 7.01. The damping effect of the various power system stabilizers to the electromechanical oscillations is eliminated by setting their gains to zero. The dominant eigenvalues of the system without stabilizers are:

where * and ** denotes residues for pole A . associated with t h s variapes " ~ ~ ' 1 and * ' u t ' r e & t i v e l y . The and D represent the inertia constant and symbols the mechanical damping constant for the k-th generator. The' variables "P I' and '' w 'I stand for generator terminal power andtrotor speed respectively. Note that the relation above is only valid in the absence of mechanical power variations. The authors favour the use of pt(s)/vref(s) for ranking generators since this transfer function inherently carries information on machine size. It is intuitive that between two strategically located machines, the larger has more chances to damp a multimachine mode of oscillation. The generating plant named GBM is operating as a syncronous condenser and generates 150 MVAr. It is seen from Table I that GBM is one of the most suitable machines for installing a stabilizer in order to damp Al. Therefore, the currently adopted practice of disconnecting the power system stabilizer when the machine is operating as a synchronous condenser is not absolutely necessary from the viewpoint of electromechanical oscillation damping. Table I1 shows the largest residues relative to another low damped oscillatory mode (A2).Table I11 by the dominant shows the shifts experienced eigenvalues after insertion of stabilizers in the iridicated machines. The stabilizer data were provided by the Brazilian electricity campanies. The eigenvalues shown in Table I11 are in agreement with the ranking results obtained (see Tables and II), and are now shortly discussed: The PSS of I T A & strongly damps X1 but does not significantly affect h or X 3. The PSS of I'IUMBIARA damps A 1 and The PSS of GBM strongly damps X 1 . The stabilizers of D ~ R C A and ~ O I . SOLTEIRA damp I2' according to the The PSS of ITAIPU damps h , and associated ranking list ?not shown in the pper) is the only generator with this capability in the system. The joint action of the stabilizers in I T A & , ITAIPU, EMEORCA@O and I I A F W is sufficient to damp all dcminant modes for the operating point considered.
( 4 ) allows an approximate calculation t i o n of eigenvalue shifts due to the insertion of a stabilizer with a mall gain [ 1 1. In fact this approximation is sometimes reasonable even for practical values of stabilizer gains as shown in the following lines. Denote the eigenvalue estimated

x1
X3

=
=

- 0.0017 5 j 3.51

\
X4

= =

- 0.022 5 - 0.1312

j 5.37 j 5.21

- 0.081

j6 . 9 8

15 = - 0.148 5 j 6.099 It is therefore evident that the power system mtah the stabilizers are essential to electromechanical oscillations in the Brazilian system adequately damped.
The identification or characterization of the various modes of oscillation is done through the analysis of the rotor speed mode-shapes. ?his analysis shows that is associated with an inter-area oscillatory mode, of frequency 3 . 5 rad/s (0.55 Hz), in which the michines of the South system oscillate against those of the Southeast system. The mode of frequency 6 . 9 8 8 rad/s (1.11 Hz) corresponds to an intermachine oscillation in which ITAIPU is the generator s h h g the largest rotor speed deviations.

h2.

The mode of frequency 5.374 rad/s (0.85 Hz) is observable all over the system and to a larger degree is the following generators: JACUf, PROMIS&, AVANHANDAn, CAPIVARA, JUF'I& I . SOLTEIRA, GBM, EMBORCA@O~~~ ITUMBIARA.
78

Table
I

I - Largest Transfer Function Residues

Relative to X1 = - .0017 + j 3.511 Stabilizer derived fm "U" (2) 0.389 1.o 0.131
0 . 0 6 4

Associated Generator

Stabilizer derived from "Pt" (1)

1.0

Ranking (1)

Ranking (2)

GEM

I T ITUMBIARA

I. SOLTEIRA JACUf
MARIMBOND0

ITAIPU
P. FUNDO
I

0.936 0 . 4 7 6 0.367 0.312 0.300 0.232 0.161

0.585 0.097 0.135 0.309

Table I1 - Largest Transfer Function Residues Relative to Associated Generator Stabilizer derived from "P
'I

x2

= -

0.022 1 : j 5.374
Ranking

Ranking
(1)

(1)

Stabilizer derived from " U ' (2)

1.0

(2)

I. SOLTEIRA I'IUMBIARA JACUf m I A ENHIRCAGO

1.0

0.303 0.070 0.052

0 . 0 4 0

0.479 0.758 0.129 0.113

Table I11 - Eigenvalue Shifts Following Insertion of Power System Stabilizers

rGenerator( s)

with Stabilizer None -0.0017 + -0.553 + -0.240 + -0.139 + -0.0087 +

j

A
3.511

2
+j

ITA~BA
GBM

JACUf I. SOLTEIRA ITUMBIARA

E M E Q R C A @ O

j 3.470 j 3.112 j 3.492

j

3.509

ITAIFU ITAIFU+ITAL~A+ I.SOLTEIRA ITAIPU+I"MBWIA_

-0.084 + j 3.539 0 . 0 6 4 + j 3.482 -0.018 + j 3.503

-0.022 -0.0082 +0.0082 +0.013 -0.157 -0.172 -0.130 -0.019

5.374

+ j 5.387
+ j 5.352

+ j 5.365

-0.081 -0.052 -0.057 -0.092

+ + + +

j 6.988 j 7.011
j

7.042

+ j 5.342 + j 5.448 + j 5.435 + j 5.366

0 . 0 8 6 6+ -0.083 + 0 . 0 8 0 + -0.334 +

j 6.999 j 6.992 j 6.987 j6 . 9 8 6 j 6.974

-0.570 + j 3.436 -0.624 + j 3.27 and

-0.145 + j 5.316

-0.378 + j 6.982

+ITA~BA+EMBORCA@O

(*I

(*I

* - Eigenvalues h2
through equation $ 4 ) by eigenvalue by

h3 could not be easily identified.

' I h e results of Ranking - (2) in Table I1 pint JACUf as an adequate generator for damping h2. It was noted however that, irrespective of its parameters, the stabilizer of JAmf c & d not damp A2. A more detailed analysis reveled the exismce of an open-loop trakfer function zero Z = + 0.0197 5 j 5 . 3 7 . Therefore, despite the lade residue, the proximity of zero Z, caused pole A, to be invariably attracted to it as & e stabilizer g a & w a s increased. The reader is referred to [ 14 Ifor some interesting results on the detrimental effect of right-hand plane zeros on r system

A l l system eigenvalues a r e well-damped.

hest

and

the calculated

- For T A estthe stabilizer Of I

= -

0 . 4 9 2 j 3.21 while lne =

$Udtion (4)yields - 0.55 51 3-47

- For the stabilizer of JACUf v t i o n (4)yields lest = - 0.11 5 j 3.44 while lne = - 0.14 5 j 3.49
An iterative procedure for d e t e h h 3 adequate based on t i o n (4) is Stabilizer described i n b 1 The undamped eigenvalue is moved from the initial to its final position by subsequent small shifts. The rmin disadvantage is that it is necessary to recalculate eigenvalues and residues at each step of this procedure [ 9 1.

79

Use of Residues in Stabilizer Retuninq

A possibility worth investigating is the use of residues to help retuning existing &mer system stabilizers. As an example, the gain of the stabilizer X3 at ITXCpU was halved and the system eigenvalue and associated residues were recalculated. These residues still placed ITAIPU as the first i n the ranking list, indicating that another stabilizer should be added i n parallel with the existing one. This was obviously equivalent to saying that the stabilizer at ITAIPU needed to be retuned.

applies to the SVC problem exactly the same ideas used in 111 to find the m s t Suitable generators for placing stabilizers. The two-area system chosen to be studied here is alnrsst identical to that of [ 8 ] except for the generator and excitation control parameters which were not available. The results obtained were all in agreement with those described in [a] though it is worthwhile to put forward sane comnents. Figure 4.4 of [8] shows the variation of the controllability factor as a function of the paver transfer, with the SVC located midway between the two areas. It is seen fran that figure that the controllability factor changes sign with a reversal in the direction of the power exactly interchange. As the test system is synetrical this result looked surprising to the authors. A careful analysis of this problem showed that controllability and observability factors are complex numbers whose magnitude and angle depend on the scaling and orientation of the right arid left eigenvectors only their product, which is the residue,has a unique value. With adequate maniplation of the eigenvectors it was possible to reproduce Figure 4 . 4 of [ 8 ] . When attempting to determine the best location for placing the SVC in order to damp the inter-area mode of oscillation, the methcd of [SI has sane inconveniences. Consider the Figure 4.5 of [ 8 ] , which shows the controllability factor as a function of the SVC location in the two-area system. The curve in Figure 4.5 was prcduced f m results of many different runs of the load flaw and eigenvalue calculation programs. In contrast to that, the algorithm proposed here can determine in one simulation the optimal location of the SVC for a given power interchange level. This is achieved b y having the load flow solution obtained at intermediate pints along the transmission circuit of the two-area system. The transmission circuit was divided into ten sections of equal length yielding an eleven-bus network sham in Figure 5. Various power flaw conditions were considered and the residues associated with the inter-area mode of oscillation calculated for transfer functions V.(s) / B.(s). The symbols V. and B. denote incremental c h g e s i?i voltage magnitudeland s?iunt admittance at the i-th system bus respectively. The tridimensional surface of Figure 6 s h m the variation of the moduli of these residues as a function of both pwer transfer level and Svc location. It is seen that the residues have larger magnitude for buses near the middle of the transmission circuit and that they increase with the power transfer. When there is no pwer interchange between areas the residues are comparatively very law and at the mid-pint of the transmission circuit (bus 6 ) the residue is equal to zero. Therefore, for this operating condition, the inter-area mode of oscillation is not observable nor controllable from the mid-pint of the transmission circuit. These results are in accordance with [B] showing that the SVC should be located near the &-point of the transmission circuit and that it becomes m r e effective in damping the inter-area mode of oscillation for higher pwer transfer levels. The Brazilian Interconnected System
a s seen The Brazilian system without stabilizers w to have eigenvalues h = - 0.0017 2 j 3.51 (inter-area mode) a r i d = - 0.081 2 j 6.988 (ITAIPU local mode). ~n analysis of the transfer function residues, identified the terminal bus of the JACUf generator as the m s t adequate for the installation of an SVC i n order to damp Al. A great n m k r of other buses located at different parts of the system were seen to Similarly, also be adequate locations for daqing

Results Obtained with Methcds Usinq SimDlified Models Reference [l] also describes a Simplified methcd which calculates residues for the eigenvalues of a pawer system state matrix in which411 generators are represented by the classical 2 order model. The methcd proposed in 1151 is very similar to that of [l] though it does not obtain transfer function residues. These t m simplified methods were also programed by the authors in order to test their performances. A short sum~ry of the results obtained for the South-Southeast Brazilian system is presented in the following lines. The simplified representation of the system generators causes the three eigenvalue of interest to becane: A s = 0 2 j 3.48, h - 0 j 5.55 and h:= 0 j 6 . 8 0 . It is worth 2mentioning that the association between h . (obtained with a detailed system representation) hd h s is made through the observation of similar patterh i n their rotor-sped mode shapes. This association is however not always an easy nntter due to the large differences betweenthesetwon&hcds regarding p e r system delling. The simplified methods of [l] and [151 had equal performances and produced fairly good results for the three eigenvalue pairs of interest. The generators which came first place in their ranking list were the same ones indicated by the m r e detailed method used in this paper [l] Hmever, for the remaining generators of the system there were large discrepancies between the results of the simplified and detailed methods.

The a c d a t e d experience to date by the authors indicates that the simplified methods give satisfactory results for lowfrequency inter-area d e s , but can lead to inadequate results for d e s of higher frequency. The classical generator modelling is a serious handicap since it distorts the frequency and disregards the damping of the system oscillatory modes. The residues obtained with the simplified method do not contain any valuable information regarding the required phase compensation for a given stabilizer. References [11 and [151 justify the use of the simpler methods for its reduced compltational load and for being somethes desirable to obtain the generator ranking list disregarding their autornatic voltage control systems. This goal could be m r e easily achieved using the efficient method of this paper to calculate residues for the transfer functions P (SI/ E (SI, where Efd is the field voltage for the k-th gener&!or.
V. STATIC VAR ccMpENsAToR RESULTS

The M-Area Test System Reference [ 8 1 contaks a detailed and highly instructive study on the use of static campensators for damping pmer system swings. The controllability and observability factors are calculated in [81 with the objective of designing the supplementary stabilizing control of the SVC and choosing the best local variable to feedback. The work reported i n [ 8 1
80

1.

POWER INTERCHANGE ( M W )

5 6 7

8 9 1 0 1 1

I
7

detailed rotor dynamics representation and are equipped with speed-governorand excitation control systems. The resulting power system Jacobian has about 3000 equations and the total number of state variables is 953.
All times given here are for the VAX 11/780 c c i n p u t e r and it is believed they could be significantly reduced if the computer program w a s further optimized.

SVC

: Which

i s the best

bus to place i t

Figure 5. Two-A!a Test System

The eigenvalue p i : associated with the = - 0.022 2 inter-area mode of oscillation is now j 3.018. The eigenvalue pair associated wlth the ITAIPU local mode of oscillation is X3 = - 0,1252 j 7.039.

ARESIDUE

These two eigenvalues were calculated using the Inverse Iteration AESOPS/PEALS [ 3 I and the -licit results given are for an (111) 2 1 algorithms. eigenvalue tolerance of 10 on both real and imaginary prts .

%s

MAGNITUDE

- For an initial estimate (0 + j 7) the AESOPS/pEALS algorithm took 25 iterations to converge a s applied to the to h The mechanical disturbance w ITAIPU3generator. The total CPU ths was 474 seconds.

- For an initial estimate (0 + j 3) the AESOPs/PEAZS algorithm took 9 iterations to converge to A The mechanical disturbance w a s applied to the I T & generator. The total CPU was 192 seconds.

- For an initial estimate (0 + j 3.5) the algorithm took 78 seconds to converge to X1 iterations (with only two matrix factorizations). same CPU time algorithm took the iterations/factorizations to converge to h3 when ) . initial esthte was (0 + 7

I11 in 9 This and the

The results presented here show the superiority of the 111 algorithm but the authors recognize that the AESOPS/PEALS algorithm may be the best choice in sane cases. Figure 6. Residue Magnitude as a Function of Power Interchange and Network Location * e terminal ms of the I T ~ generator ~ U was pint- as the most adequate for damping Xg. In this case only * e m e s located on the radial circuit out of the ITAIPU generator were identified as adequate locations for dauping X3. The information obtained from the analysis of the transfer function residues =re verified through eigenvalue calculation. A floating SVC (with no MVILI: generation) located at the ITAIFU bus and with a Once the desired eigenvalue and associated augmented right eigenvector are obtained, the calculation of the left eigenvector is very fast. The 111 algorithm is applied to the previously Calculated LU fa%~s and normally Converges after 3 Or 4 iterations (Only repeat solutions are needed). The sparse matrix PrduCts Shown in equations (17) - (18) require very little ccnnputation time.
v i a s obtained in 8.53 seconds. The residues for A, needed for PSS location were calculated arad properly ordered to obtain the generator ranking list in 1.57 seconds. The bus ranking list needed for SVC location

The augmnted left eigenvector relative to

hl

was calculated in 17.07 seconds.

yields X3 = - 0.333 2 j 6.975. A floating SVC placed at the JACUf generator t x s and w i t h an appropriate transfer function yields X1 = - 0.167 2 j3 . 6 7 . These results indicate that in the absence of power system stabilizers, a correctly tuned SVC M a t e s the machine terminal voltage in order to generate the necessary damping torques. In this case, a the best location for the Svc m y well be at generator bus.
VI. CPU TIME RESULTS

This paper described two algorithms for the calculation of transfer function residues in larye scale power systems. These algorithms are intended to help determining the most adequate sites in a system for placing damping sources in order to troublesare electranechanical oscillations. "he damprng sources considered inthis paper are pawer system stabilizers and static VAr ccanpensators.

The Brazilian system previously analysed is modelled here in greater detail: all 99 generators have
81

o pawer system The first algorithm, relative t n important developnent on stabilizers, represents a the pmerfd methcdology propsed in [ 1 1 , whose use was up to m w restricted to power systems of limited size. ?he second algorithm aims at aetermining appropriate buses, out of a l l buses i n the system, to

place static VAr -ccanpensators to aid in dampiny specific system &S. Tnis differs from the generator stabilizer problem in which the generator sites are already defined. The ranking list for PSS or SVC siting m y not always be in the correct order for practical use in large systems. The residue informtion only concerns incremental values of gain in the feedback loop. It w a s found that an open-loop zero located in the proximity of the p l e to be damped could attract it and impair any significant pole shift through that specific feedback loop. In such cases the large relative value of the residue associated with the insertion of this feedback loop must be disregarded from the ranking list. The results presented i n this paper clearly demonstrate the benefits to be gained fran the use of concepts based on transfer function residues. The CHT t h e needed for the calculation of transfer function residues was a s m a l l fraction of the CPU time required for the calculation of a critical eigenvalue by the efficient methods described in 1 2, 3, 4, 5 1 . The efficiency of the propsed algorithm for siting power system stabilizers obviates the need to resort to the sjmplified methodologies of [ 1, 15 1

[ 5

It must be kept in m i n d that the m s t inexpensive way to damp electromechanical oscillations is through the use of well located and tuned power system stabilizers. The possibility of damping these oscillations through static Compensators should only be considered once the PSS option has been exhausted. For the sake of brevity, the results presented for the Bra~ilianinterconnected system only considered one particular operating condition. The authors agree with [ 9 1 that several network conditions must be analysed in order to determine the best siting for the dwingsources (PSS and SVC) i n ' a n actual power system. VIII. A C K N S Numerous discussions with Prof. A l w a r pedroso
(CEPEL) and M r . Leo Mikami (COPEL, Brazil) have been

valuable in developing the concepts presented in this paper. The high interest and encouraging remrks of Dr. Prabha K u n d u r and Dr. Graham J. Rogers, from Ontario Hydro, are gratefully acknowledged. The data on the Brazilian interconnected system w a s kindly provided by Messrs. Xisto Vieira Filho and Paul0 Gams, from Eletrobr6s.

PWRS-3, pp. 715-725, May 1988. "A New Eigen-Analysis Method of Steady-State Stability Studies for Large Power Systems: S Matrix Method". IEEE Trans. on Rmer Systems, Vol. PWRS-3, pp. 706-714, May 1988. [ 6 1 F.L. Pagola, I.J. Grez-Arriaga, G . C . Verghese, "On Sensitivities, Residues and Participations. Applications to Oscillatory Stability Analysis and Control". 1988 IEEE Sumner Meeting, paper 8 8 S I 692-6. [ 7 1 C. concordia, Independent contribution presented at the C I & 1982 Meeting, in Paris. Proceedings of CIGRE? 1982, Section on System Planning, p . 33. [ 8 1 E. V . Larsen, J. H. Chow, "SVC Control Design Concepts for System Dynamic Performance", in IEEE Tutorial Course: Application of SVS for System Dynamic Performance, 87 TH0187-5-FWR, pp. 36-53, 1987. [ 9 ]V. Arcidiacono, E. Ferrari, R. Flarconato, G. Manzoni, "Problems posed in Power System Planning by Electromechanical Oscillation Damping and Means for Solution". CIGRE h-oceedings, pper 31-15, Paris, 1982. [ 101 J .H.Wilkinson, "The Algebraic Eigenvalue Froblem", Clarendon Fress, Oxford, 1965. [ 111 S. A t e , A. Doi, "A New Power System Stabilizer Synthesis in Multhchine Power Systems". IEEE Trans. on Power Appratus and Systems, Vol. PAS-102, pp. 3910-3918. [ 121 A. E. HamMd, "Applications of Static VAr Compensators in Utility m e r Systems" in IEEE Tutorial Course: Application of SVS for System Dynamic Perfomce, 87 TH0187-5-PWR, pp. 28-35, 1987. [ 131 N. Martins, "FYequency Response Techniques Applied to the Design of Additional Stabilizing Signals for Static VAR Compensators in Power System". hroc. of IASTED Conference on High Technology in the Power Industry, pp. 152-156 , Bozeman, Montana, 1986. [ 141 J. F. Hauer, "Reactive Paww Control as a Means for Enhanced Interarea Damping in the Western U.S. Pawer System - A F'requency-Danain Perspective Considering Robustness Needs", in IEEE Tutorial Course: Application of SVS for System Dynamic Performance, 87 TH0187-5-FWR, pp. 79-92, 1987. [ 151 F . P . de Mello, P.J.Nolan, T.F. Laskowski, J.M.Undril1, "Coordinated Application of Stabilizers in Multimachine Fkxer Systems", IEEE Trans. on Pawer Apparatus and Systems, Vol. PAS-99, pp. 892-901, May/June 1980.

] N. Uchida, T. Nagao,

w.

REFEXENcE.5

1 1 V. Arcidiacono, E. Ferrari, R. Marconato, J. Dos Ghali, D. Grandez, "Evaluation and Improvement of Electramechanical Oscillation Damping by Means of Eigenvalue-Eigenvector Analysis. Practical Results in the Central Peru Power System". IEEE Trans. on Ftwer Apparatus arid Systems, Vol. PAS-99, pp. 769-778, March/April 1980. [ 2 1 N. Martins, "Efficient Eigenvalue and FYequency Response Methods Applied to Power System -11Signal Stability Studies", IEEE Trans. on Power Systems ,Vol. PWRS-1, pp 217-226, February 1986. [ 3 1 D.Y. Wong, G.J. Rogers, B. mrretta, and P. K u n d u r , "Eigenvalue Analysis of Very Large Power Systems", IEEE Trans. on Power Systems, Vol. PWRS-3, pp. 472 - 480, May 1988. [ 4 I A. Semlyen, L. Wang, "Sequential Canputation of the Cqlete Eigensystem for the Study Zone in a l l Signal Stability Analysis of Large Power Systems". IEEE Trans. on Pawer Systems, Vol.
82

Nelson Martins (M'1981) received his B . S . degree f r c i n the University of Brasilia, Brazil, in 1972. He received the M . S . and Ph.D. degrees, both in electrical engineering, f r c a n the University of Manchester, UK, in 1974 and 1978 respectively. L k . Martins is presently a senior research engineer at CEPEL, the Braiilh electrical energy research center located in Rio de Janeiro. He developed several new digital-ccanpter tools and authored many papers in the area of pwer system dynamics and control.
Leonard0 T . G. Lima received his B.S. degree in electrical engineering from the Federal University of Rio de Janeiro, in 1986. M r . Lima worked in CEPEL until September 1988 when he joined MAIN menharia S . A . , an electrical n Rio de Janeiro. His current work and consultant firm i interests include power system dynamics and developnent of larye scale pawer system analysis tools.