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Reference [22] presents two sparsity-based eigenvalue eigenvalue and eigenvector vs. the parameter value can be
techniques for oscillatory stability analysis of large-scale obtained. Thus, the complete information about how the
power systems. dominant eigenvalue approaches and crosses the imaginary
Above critical eigenvalue calculation algorithms can axis can be obtained.
provide snap shot at a particular operating point. To find the References [29, 30] provide an approach for developing the
stability margin, we have to repeat this process at a series of eigenvalue and eigenvector differential equation for the
operating points. parameterized matrix J(). For any eigenvalue of J(), and
Reference [15] combines dominant eigenvalue calculation corresponding eigenvector , the following relation is well
with an eigenvalue-based iterative algorithm that calculates known.
the Hopf bifurcation-related segment of the feasibility J ( ) v = v (2.1)
boundary for a realistically large power system model. Each T
v v = 1
iteration consists of the parameter estimator and the dominant
If you differentiate (2.1) with respect to , then
eigenvalue calculation, also called the eigenvalue corrector. In
dJ dv d dv
d v + J d = d v + d
reference [15], the secant method is used for the parameter
estimator. dv T
Another way to identify Hopf bifurcation is through the dv
v + vT =0
direct method [23]. The direct method can identify the d d
oscillatory stability margin directly without computing any d dv dv dJ
intermediate operating points. The Hopf bifurcation point is d v + d J d = d v (2.2)
the solution of a set of algebraic nonlinear equations. T
dv dv
References [24] and [25] first applied the direct method in v + vT =0
d d
the identification of the power system oscillatory stability
(2.2) can be simplified into:
margin. Solving of these nonlinear algebraic equations is also
d dv dv dJ
complex and sometimes the traditional Newton-based
v+ J = v
techniques can lead to difficulties or failure. This approach is d d d d (2.3)
dvT
very fast for a close initial guess. Reference [26] extended the v=0
direct method to include damping margin as a constraint. This
d
reference utilized dominant eigenvalue/eigenvector [18] as an
Q dvd v = dv
T n
dv )
initial guess. Reference [26] rightly pointed out that this area
( v =v
i T
d d
i
i =1
needs further work. For example there can be a case where the
By rearranging the terms in (2.3) we get the derivatives of
dominant eigenvalue at base case is moving away from the
and with respect to as shown in equation (2.4)
imaginary axis and may lead to non convergence.
Reference [27] proposed a manifold based indirect method ( I J ) v v& J&v
= (2.4)
that does not need eigenvalue estimation to identify Hopf vT 0 & 0
bifurcation. This method looks for singularity of (Atotal+AtotalT). where a dot denotes differentiation with respect to .
Reference [28] presents an approach for tracking all the Here J depends explicitly on . In power systems, J
eigenvalues of a dynamic system Jacobian matrix. It employs corresponds to the Jacobian matrix. However the Jacobian
an iterative method to update the eigenvalue. As the authors elements in power systems are not explicitly expressed in
mentioned it may diverge for repeated eigenvalues. terms of .
In this paper we are proposing a new approach that is based For this case, the differential equation, similar to (2.4), is
on integration to track one or several eigenvalues/eigenvectors derived to solve the implicitly expressed parameterized
of interest. This approach is combined with dominant Jacobian matrix.
eigenvalue calculation to identify Hopf bifurcation. Next For power system differential and algebraic equations
section provides the details about this approach. (DAE) model:
.
Imaginary Part
A
6
parameter can be derived and is given by (2.9)
d d
( R I I R )
4
dD I d d
= sin(arctan( )) (2.9)
d R (2I + 2R ) 2
D E FG H
The damping index can be obtained by 0
-2.5 -2 -1.5 -1 -0.5 0
D D0 Real Part
Index damping =
dD Figure 3.1 All complex eigenvalues in complex plane at base case
d
Following similar approach to Hopf identification, damping
ratio of any eigenvalue can be traced with a given damping Table 3.1 Index of all complex eigenvalues in Fig 3.1
threshold D0. Fig 2.3 shows the process of searching damping Index Symbol Eigenvalue Index Value
margin. Ranking
1 A -0.14272394j6.2611139 0.22210698
Damping Ratio 2 B -0.66343979j10.138474 0.91222316
3 C -0.66402544j9.3350234 0.93246577
D -2.1290647j1.3082278 -1.3789475
Slope is dD
d E -0.92005709j0.91899444 -2.6854991
F -0.44958111j0.65411231 -9.4661737
G -0.42909641j0.63828035 -5.8927809
Damping Margin H -0.050857671j0.18008881 -10.775733
corresponds to 1973.727MW 8% = 157.898MW. From Table 3.3: Damping ratio search for each iteration
Table 3.2, we can see that the accumulated error is under value Integrated Actual Error for
control very well. Fig 3.2 shows the eigenvalues position for Iter Damping Damping (%) Damping
No. (%)
every step in the complex plane. 0 0 2.2789375 2.2789375 9.76996E-15
Fig3.3 shows the eigenvalues real part with the parameter
1 0.08 1.611725 1.6105401 1.18484E-03
. Eigenvalue position in Steps 4 and 5 are very close.
2 0.1548193 1.0061742 1.0053922 7.81999E-04
6.3 3 0.15558904 0.99987697 0.99921253 6.64443E-04
6.25
2.6
Imaginary Part
2.4
6.2
2.2
6.15
1.8
6.1
1.6
1.4
6.05
-0.16 -0.14 -0.12 -0.1 -0.08 -0.06 -0.04 -0.02 0 0.02
1.2
Real Part
Fig. 3.2 Integrated eigenvalue in complex plane 1
0.8
0 50 100 150 200 250 300 350
Entire System Load Increase (MW)
0.02
Fig. 3.4 Damping ratio vs. entire system load increase
0
-0.02
Figure 3.4 shows the each iterations load increase and
Eigenvalue Real Part
-0.04
damping ratio. The actual damping margin is computed by
-0.06 calculating the actual eigenvalue as 15.54718% load increase.
-0.08 There is an error of 1.172E-4 in value, which equal to
-0.1 0.231MW (=1.172E-41973.727MW).
-0.12 If we compare oscillatory stability margin with damping
-0.14
margin 306.859MW (=1973.727MW15.54718%), there is
-0.16
244.185 MW (551.044MW -306.859MW) difference. When
0 100 200 300 400 500 600 we use D0=0%, the corresponding damping margin becomes
Entire System Load Increase (MW)
oscillatory stability margin.
Fig. 3.3 Integrated eigenvalue with total load increase
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7