EE5702R Advanced Power System Analysis:: Power System Transient Stability II

EE5702R Advanced Power System
Analysis:: Power System Transient

Stability II
Panida Jirutitijaroen
Fall 2013
03/10/2013

10/2/2013 EE5702R Advanced Power System Analysis:: Stability II by P. Jirutitijaroen 1
Outline
Extension to two-machine case
Numerical integration of the swing equations
Multi-machine application

Reading Materials
Todays material
Chapter 14.6-14.9 Power System Stability, Power
Systems Analysis 2nd edition by Arthur R. Bergen
and Vijay Vittal
Chapter 11.7-11.10 Stability, Power System
Analysis by Hadi Saadat
Syllabus
Week Topics Assessment Assignment
1:15/08 Introduction and Network equations
2:22/08 Power flow analysis Project 1 (20%), Due 23/09
3:29/08 Power flow analysis Quiz 1 (5%)
4:05/09 Power flow analysis
5:12/09 e-learning week: Overview of power
system stability and control
Quiz 2 (5%) Case study (10%), list of
group members.
6:19/09 Power system stability
23/09 Recess week
7:03/10 Power system stability Quiz 3 (5%) Project 2 (20%), Due 31/10
8:10/10 Power system control
9:17/10 Power system control Quiz 4 (5%)
10:24/10 Power system state estimation
11:31/10 Power system state estimation Quiz 5 (5%)
12:07/11 Case study presentation
13:14/11 Case study presentation
29/11 Final exam (30%) from 9-11am
The Swing Equations: Single Machine
Without damping:

With damping:
( ) o o o
e m
P D M P + + =

( ) o o
t
. . , . . ,
0
u p e u p m
P P
f
H
=

G

Z =
0 1 V
P
e
=P
max
sin

o Z = E E
Equal Area Criterion: Graphically
Pe

Pm,0
0
( ) ( )
} }
=
2
1
1
0
. . , . . , . . , . . ,
o
o
o
o
o o d P P d P P
u p m u p e u p e u p m
Accelerating Area Decelerating Area
We need to know how
the disturbance effects
electric power output
P
e
and mechanical
power input P
m
.
P
m
> P
e
P
e
> P
m
TWO-MACHINE CASE
Swing Equations
Application
Extension from Single-Machine
Consider a system with
two synchronous
machines (one generator
with one motor).

Assume that both are
uniform damping:
G1
X
L
M2
( )
2 1 1 1 1 1 1 1
o o o o + + =
e m
P D M P

( )
1 2 2 2 2 2 2 2
o o o o + + =
e m
P D M P

P
e1
P
e2
P
m1
P
m2
2
2
1
1
M
D
M
D
=
Swing Equations for Two Machine Case
For lossless lines (no resistive losses),

Conservation of power:

Let
12
=
1

2
, we can write,

Similar analysis can be applied to the two-
machine case.
( ) ( ) 0
1 2 2 2 1 1
= + o o o o
e e
P P
0
2 1
= +
m m
P P
( )
12 1 12
2 1
2 1
12
2 1
2 1
1
o o o
e m
P
M M
M D
M M
M M
P +
|
|
.
|
\
|
+
+
|
|
.
|
\
|
+
=

Application of Two-Machine Case
Can be used to describe multi-machine network
that is separated in two groups linked by weak
transmission lines.
Within a group, the multi-machines are strongly
tied by a strong network of transmission lines.
The two-machine can be applied to analyze rotor
angle behaviors between two groups of
machines.
Rotor within one group swing together.

NUMERICAL INTEGRATION OF THE
SWING EQUATION
Approximate solution to nonlinear differential equations
Eulers method
First-Order Differential Equation
Consider a first-order differential equation:

Interest to approximate the solution x(t), given
that the function f(x) is known.
Iterative solution with some initial point (x
0
).
( ) x f
dt
dx
=
Eulers Method
Approximate the next
solution (x1) using the
slope, x.

The solution x(t) can be
approximated using the
recursive formula:
x0
x1
t0 t1
t
t
dt
dx
x
x
A ~ A
0
t
dt
dx
x x
i
x
i i
A + =
+1
Modified Eulers Method
Guess the next solution
(x1) using the slope, x.

Update the next
solution (x1) using the
average slope of the
beginning and end of
interval t:
x0
x1
t0 t1
t
t
dt
dx
x x
i
x
i predicted i
A + =
+ , 1
t
dt
dx
dt
dx
x x
predicted i i
x x
i i
A
|
|
.
|
\
|
+
+ =
+
+
2
, 1
1
Numerical Errors from Eulers Method
Red line represents the function
x(t).
Blue line represents Eulers
method.
Always falls below the curve because it
assumes that the slope is constant
over t.
Green line represents modified
Eulers method.
Average out the derivative at the
beginning and end of interval t.
Other numerical errors include
neglecting higher order terms in
Taylors series expansion (using
only the first derivative/slope)

Source: wikipedia.org
Extension to Higher Order ODE
Introduce auxiliary variables.
Write ODE in terms of n first-order differential
equations.
State variable form.
( ) o o o
e m
P D M P + + =

o o

= =
2 1
, x x
( )
M
P P
x
M
D
x
e m
o
+ =
2 2
2 1
x x =
This term needs to be rewritten

as a function of x1 and x2!
Recall State Variable Form
(Small-Signal Stability)
Linearization of swing equation for small-
signal stability in a state variable form.
Let
0 = A + A + A o o o
S
P D M

o o

A = A =
2 1
, x x
1 2 2
1
x
M
x
M
D
x =
2 1
x x =
(
(

=
(
2
1
2
1
1
1 0
x
x
M
D
M
x
x
Application to Swing Equation

without Damping
Consider the following
swing equation without
damping.

Where

Note that X
transfer
varies
according to system
structure.

. . , . . ,
0
u p e u p m
P P
f
H
= o
t

G

Z =
0 1 V
o Z = E E
o sin
. . ,
transfer
u p e
X
V E
P =
G

Z =
0 1 V
o Z = E E
X
transfer
P
e
=P
max
sin

Swing Equation without Damping:
State Variable Form
( ) o o
t
. . , . . ,
0
u p e u p m
P P
f
H
=

e o =
( ) ( ) o
t
e
. . , . . ,
0
u p e u p m
P P
H
f
=
Applying Eulers method, we have:

t t
dt
d
i i i i
i
A + = A + =
+
e o
o
o o
o
1
( ) ( )
i u p e u p m i i i
P P
H
f
t
dt
d
i
o
t
e
e
e e
e
. . , . . ,
0
1
+ = A + =
+
The initial condition is the condition before fault, we can find
0
from
P
m
= P
e,prefautl
(). The initial angular relative velocity is 0 (this angular
velocity refers to the speed relative to the synchronous speed).
Example
Consider a 60 Hz generator connected to an infinite bus.
The generator inertia constant (H) is 5 sec. The power-angle
curve before a three-phase fault is 1.8 sin . During the
fault, the power-angle curve becomes 0.65 sin . If the
mechanical power input is 0.8, apply Eulers method for
one step to solve the swing equation to find the rotor angle
and speed. Use time step of 0.01 sec.
rad 46055 . 0
8 . 1
8 . 0
sin
1
0
=
|
.
|
\
|
=

o
rad/s 0
0
= e
( ) rad 46055 . 0 01 . 0
0 0 1
= + = e o o
( )
( )( ) rad/s 1927 . 0 01 . 0 sin 65 . 0 8 . 0
5
60
0 0 1
= + = o
t
e e
Note that when the fault is cleared, the power-angle curve will be different. When solving
the swing equation, the correct power-angle curve needs to be chosen.
MATLAB Options in Simulink
Ode1: Euler
Ode2: Heun
Ode3: Bogacki-Shampine
Ode4: Runge-Kutta
Ode5: Dormand-Prince
Ode14x: extrapolation
MULTI-MACHINE CASE
Assumptions
Load representation
Network representation: Pre-fault, fault, and post-fault
Swing equations
Assumptions
Classical model representation.
1. Mechanical power input to each synchronous machine is
constant.
2. Damping power is negligible.
First swing analysis
3. The synchronous machines are represented using circuit
models (voltage source with transient reactance).
4. During transient (fault), the rotor angle moves from its
initial conditions (pre-fault) while the voltage magnitude
remains constant.
5. Loads are represented as constant impedances.
Some loads are frequency dependent but these are not
considered in this analysis.

Transient Stability: Classical Model
Transmission
network
m-generator system
+
-
jX
1
1 1
o Z E
+
-
jX
2
2 2
o Z E
+
-
jX
m
m m
E o Z
Reference node
m
V
1
V
2
V
Load
Load
1 L
I
2 L
I
Steps
1. Run power flow analysis for pre-fault conditions to
obtain voltages magnitudes of all buses.
2. Convert the load data from complex power values to
equivalent admittance values.
3. Relate internal voltages of the generators to terminal
voltages at their nodes.
4. Derive equations of electrical power output of each
generator.
Reduce Y
bus
matrix by eliminating all nodes other than
generator nodes using Kron reduction.
5. Write swing equations
6. Solve these equations using numerical methods.
Load Representation
Transform all the load from pre-fault power flow
to equivalent admittances/impedances.
From

We can find:

Using the pre-fault loads, S
Li
, and pre-fault
voltage magnitudes at the terminal voltage |V
Li
|.
*
Li Li Li Li Li
I V jQ P S = + =
2
*
Li
Li
Li
Li
Li
V
S
V
I
y = =
Generator Model
Consider the steady-
stage model of a
generator.
Internal voltage
magnitude |E
i
| and
phase
i
.
Transient reactance, X
i
.
Voltage at the bus, V
i
.
jX
i
+
-
i i i
V V u Z =
i i i
E E o Z =
i
I
Internal Voltage of the Generators
We can calculate the internal voltages of all
generators.
From
i i i i i i
I jX V E + Z = Z u o
jX
i
+
-
i i i
V V u Z =
i i i
E E o Z =
i
I
Network Representation: Y
bus
We need to build Ybus for three cases:
1. Pre-fault
Initial condition, no disturbance.
2. Fault (three-phase to ground fault)
Setting the row and column of Y
bus
corresponding to
faults node to zero.
3. Post-fault
Removing the lines that would be taken off by circuit
breakers.
For different cases, we can write Y
bus
accordingly.
Reduced Admittance Matrix
Since the swing equations
only focus on how the
rotor angle swing, the
Y
bus
matrix is reduced to
represent only generator
buses.
For a n buses system with
m generator buses, we
can use Kron reduction to
reduce the Y
bus
matrix
from n-by-n to m-by-m
matrix.
V Y I
bus
=
(
=
(
n
m
nn
T
mn
mn mm m
V
E
Y Y
Y Y I
0
T
mn nn mn mm d bus,reduce
Y Y Y Y Y
1
=
Note that Y
mm
already accounted
for transient reactances!
m d bus,reduce m
E Y I =
Electrical Power Output (P
e
)
From
Since

We have

*
i i ei
I E S = { }
*
Re
i i ei
I E P =
m d bus,reduce m
E Y I =

=
=
m
j
ij j i
Y E I
1
Note that electrical power output varies according to
system structure during pre-fault, fault, and post-
fault. This Y
bus,reduced
needs to be correctly chosen.
( ) ( ) { }
=
=
+ + =
m
i j
j
j i ij j i ij j i ii i ei
G B E E G E P
1
2
cos sin o o o o
ij ij ij
jB G Y + =
Swing Equations
From

We can write,

Note that all the above values are in per unit
and the inertia constant H needs to be given
on the same base value.

( )
ei mi i
i
P P
f
H
= o
t

0
( ) ( ) { }
=
+ =
m
j
j i ij j i ij j i mi i
i
G B E E P
f
H
1
0
cos sin o o o o o
t

Example 14.6: pages 570-574
+
-
jX
1
1 1
o Z E
+
-
jX
2
2 2
o Z E
+
-
jX
3
3 3
o Z E
7
3
6
5
1
2
8
4
2244 . 1 8653 . 2
7
j S
L
+ =
4 . 0 4 . 1
8
j S
L
+ =
02 . 1
5
= V
05 . 1
6
= V
Z = 0 04 . 1
4
V
Example 14:6 System Data
For the transmission lines in the system, all the shunt
elements are capacitors with an admittance of yc =
j0.01pu and all the series elements are inductors with
an impedance ZL = j0.1 pu.

Generator Xd H
1 j0.08 10 s
2 j0.18 3.01 s
3 j0.12 6.4 s
Step 1: Power Flow Solution
(
(
(
(
(
(
Z
Z
Z
Z
Z
=
(
(
(
(
(
(
05 . 7 0135 . 1
48 . 7 9911 . 0
90 . 2 05 . 1
55 . 3 02 . 1
0 04 . 1
8
7
6
5
4
V
V
V
V
V
(
(
(
=
(
(
(
6000 . 1
6661 . 0
9991 . 1
3
2
1
G
G
G
P
P
P
(
(
(
=
(
(
(
051 . 1
02049
8134 . 0
3
2
1
G
G
G
Q
Q
Q
This is used
as initial
mechanical
power
supplied.
Step 2: Convert Load Data
2465 . 1 9170 . 2
9911 . 0
2244 . 1 8653 . 2
2 2
7
*
7
7
j
j
V
S
y
L
L
L
=
= =
3894 . 0 3630 . 1
0135 . 1
4 . 0 4 . 1
2 2
8
*
8
8
j
j
V
S
y
L
L
L
=
= =
From constant power to constant impedance.
Step 3: Internal Voltage of Generators
i i i i i i
I jX V E + Z = Z u o
*
|
|
.
|
\
|
=
i
i
i
V
S
I
Z =
|
.
|
\
|
Z
+
+ Z = 3507 . 6 0627 . 1
55 . 3 02 . 1
2049 . 0 6661 . 0
18 . 0 55 . 3 02 . 1
*
2
j
j E
Z =
|
.
|
\
|
Z
+
+ Z = 9399 . 7 1132 . 1
0 04 . 1
8134 . 0 9991 . 1
08 . 0 0 04 . 1
*
1
j
j E
Z =
|
.
|
\
|
Z
+
+ Z = 9813 . 5 1844 . 1
9 . 2 05 . 1
051 . 1 6 . 1
12 . 0 9 . 2 05 . 1
*
3
j
j E
Step 4: Y-bus Pre-fault
(
(
(
(
(
(
(
(
(
(
(
=
369 . 20 363 . 1 0 0 . 10 0 . 10 0 0 0 0
0 217 . 31 917 . 2 0 . 10 0 . 10 0 . 10 0 0 0
0 . 10 0 . 10 0 . 28 0 0 333 . 8 0 0
0 . 10 0 . 10 0 526 . 35 0 . 10 0 556 . 5 0
0 0 . 10 0 0 . 10 48 . 32 0 0 5 . 12
0 0 333 . 8 0 0 333 . 8 0 0
0 0 0 0 556 . 5 0 556 . 5 0
0 0 0 0 5 . 12 0 0 5 . 12
,
j j j
j j j j
j j j j
j j j j j
j j j j
j j
j j
j j
Y
prefault bus
(
(
(
+ +
+ +
+ +
=
9822 . 3 4352 . 0 2535 . 1 2913 . 0 9573 . 1 4799 . 0
2535 . 1 2913 . 0 7709 . 3 1954 . 0 997 . 1 3250 . 0
9573 . 1 4799 . 0 997 . 1 3250 . 0 8499 . 4 5595 . 0
, ,
j j j
j j j
j j j
Y
reduced prefault bus
Step 4: Y-bus Fault
(
(
(
(
(
(
(
(
(
(
(
=
369 . 20 363 . 1 0 0 . 10 0 . 10 0 0 0 0
0 0 0 0 0 0 0 0
0 . 10 0 0 . 28 0 0 333 . 8 0 0
0 . 10 0 0 526 . 35 0 . 10 0 556 . 5 0
0 0 0 0 . 10 48 . 32 0 0 5 . 12
0 0 333 . 8 0 0 333 . 8 0 0
0 0 0 0 556 . 5 0 556 . 5 0
0 0 0 0 5 . 12 0 0 5 . 12
,
j j j
j j j
j j j j
j j j
j j
j j
j j
Y
prefault bus
Step 4: Y-bus Post-fault
(
(
(
(
(
(
(
(
(
(
(
=
369 . 20 363 . 1 0 0 . 10 0 . 10 0 0 0 0
0 217 . 21 917 . 2 0 0 . 10 0 . 10 0 0 0
0 . 10 0 0 . 28 0 0 333 . 8 0 0
0 . 10 0 . 10 0 526 . 35 0 . 10 0 556 . 5 0
0 0 . 10 0 0 . 10 48 . 32 0 0 5 . 12
0 0 333 . 8 0 0 333 . 8 0 0
0 0 0 0 556 . 5 0 556 . 5 0
0 0 0 0 5 . 12 0 0 5 . 12
,
j j j
j j j
j j j
j j j j j
j j j j
j j
j j
j j
Y
prefault bus
Electrical Power Output (P
e
)
From
Since

We have

*
i i ei
I E S = { }
*
Re
i i ei
I E P =
m d bus,reduce m
E Y I =

=
=
m
j
ij j i
Y E I
1
Note that electrical power output varies according to
system structure during pre-fault, fault, and post-
fault. This Y
bus,reduced
needs to be correctly chosen.
( ) ( ) { }
=
=
+ + =
m
i j
j
j i ij j i ij j i ii i ei
G B E E G E P
1
2
cos sin o o o o
ij ij ij
jB G Y + =
Swing Equations
Pre-fault (t<0) Fault (t=0 to t=0.1) Post-fault (t>0.1)
Y-bus, pre-fault Y-bus, fault Y-bus, post-fault
Pm1 = Pe1 = 1.9991
Pm2 = Pe2 = 0.6661
Pm3 = Pe3 = 1.6000
Pm1 = 1.9991
Pm2 = 0.6661
Pm3 = 1.6000
Pe1, Pe2, and Pe3
follow network
structure.
Pm1 = 1.9991
Pm2 = 0.6661
Pm3 = 1.6000
Pe1, Pe2, and Pe3
follow network
structure.
( ) ( ) { }
=
+ =
m
j
j i ij j i ij j i mi i
i
G B E E P
f
H
1
0
cos sin o o o o o
t

These two parameters depend on network structure.
These parameters are constant. Pm in this case is constant
because there is no change in mechanical power input.
MATLAB-Simulink
Next Lecture
Control of active and reactive power
Frequency & Voltage control
Basic control loop
Frequency control
Turbine-governor control
Load frequency control


EE5702R Advanced Power System Analysis:: Power System Transient Stability II

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EE5702R Advanced Power System Analysis:: Power System Transient Stability II

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EE5702R Advanced Power System

Analysis:: Power System Transient

This term needs to be rewritten

Application to Swing Equation

Applying Eulers method, we have:

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