Chapter 7

Small Signal Stability of

Single Machine Infinite
Bus System
 Small Signal Stability

Small signal stability is the ability of the

power system to maintain synchronism
under small disturbances
Small variations in loads and generations
The disturbances are considered sufficiently
smallfor linearization of system equations to
be permisssible for purposes of analysis
 2H d 2
p p
s dt 2 m e

We linearise this equation under nominal operating

point ( 0 )

0
Pe Pmax Sin
Now if we give an incremental change in delta

0
2 H d 2 ( 0 )
Pm Pmax Sin ( 0 )
s dt 2

Pm Pmax Sin 0 cos Cos 0 Sin

Cos 1
Sin
2 H d 2
Pm Pmax sin 0 cos 0
s dt 2

Pmax cos 0
2 H d 2
Pmax cos 0 0
s dt 2

The result is second order linear diff equation

Pmax cos 0 Synchronizing

Power coefficient
Pmax cos 0 Synchronizing
Power coefficient

S p Pmax cos 0
2 H d
2
S 0
s dt 2 p
d s S P
2

2
0 Equation of simple
dt 2H
d 2x harmonic motion
n x 0
2
2
dt

s S P In electrical
n rad/sec
2H
n Natural frequency
 dPe
Pmax cos 0
d
Sp is the slope of the power angle
characteristic.
The coefficients of the linear model give
us information about how the system
behaves for small excursions around the
operating point at which the coefficients
(tangent) were evaluated.
N.B. Here the primary requirement is that
the synchronizing coefficient must be
positive for the system to be stable under
small disturbances
 NOTE: We cannot use the coefficients of the
linearised model evaluated at one point to
make predictions about how the system will
behave for small excursions at a different
point around another operating point
Different slopes imply different small-signal
characteristics
Generally we will have non-linear equations
(models) of many variables resulting in a
linearised model with numerous coefficients
arranged in matrix (state space) form
 Many powerful linear systems analysis
techniques exist with which to interpret the
information locked inside the coefficients of
these matrices.
However, by far the most important of these is the
eigenvalues of the system.
there are a number of eigenvalues and these can
be plotted in the complex (, j) plane: the type
and position of these eigenvalues in the complex
plane tell us specific details about the small-signal
characteristics of the system. Each eigenvalue (or
complex conjugate pair of eigenvalues) tells us
specifics about one mode of small-signal response
of the system.
N.B.The system will have a number of eigenvalues
and its time response will be a combination of these
small- signal modes
H 5MJ / MVA
Pe 2 sin
0 60 0
S P 2 cos 0 1
f 50 Hz

314 1
n
25
31.4 5.6electrad / sec
n
fn 0.89 Hz
2
 SMALL-SIGNAL STABILITY
CHARACTERISTICS

In order to determine the small-signal

characteristics of a synchronous machine
connected to a transmission system we apply
the techniques of linearisation to the models
of the system and interpret the coefficients
of the linearised model via eigenvalues.
Consider the simplest case of a single machine
infinite bus (SMIB) power system in which the
transmission line is assumed to be purely
reactive.

Classical (Swing Equation) Model

The equations for this system are

Linearising about an initial operating condition at = 0

= = 0

The swing equation in final form for the simplified

system (discussed earlier):
 1
= (
2 Dynamic model
equations.
= 0

= 0

is the synchronising
torque coefficient.
Linearising the equation of motion and changing
variables p to p , Te to Te and Tm to Tm for
the reason, we have the linear model of the system
dynamics for small changes around a given operating
point:
1
= ( )
2

= 0
where KD = D is the damping torque coefficient
K s Te
And which in matrix form is:

Or

in block diagram form:

 Block diagram for a single machine
infinite bus system

r=s/0 relation is from the block

diagram

This diagram illustrates graphically the concept of synchronising

and damping torques central to small-signal stability.
By relating the output to the input Tm from
the block diagram we can develop the ch-cs
equation so that we may have SISO system:

0 1
= ( + )
2

0 1
= ( + )
2 0

r=s/0 relation is from the block

diagram
 After some rearrangement:

2
0
+ + 0 =
2 2 2

When we equate the right hand side expression to

zero we get ch-c equation for the system.

2

+ + 0 = 0
2 2
Here the coefficients are functions of system operating
condition and system parameters
 Ks
As the synchronizing torque coeffcient
Increases, the natural frequency increases
and the damping ratio decreases.

An increase ln damping torque coeffclent KD

increases the damping ratio, where as an
increase in inertia constant decreases both

 The Ch-c equation in the general form is:

2 + 2 + 2 = 0

0
2 2

The roots can be written as:

2
1,2 = (1 )
0<1
=1
>1
 Example 12.2 [1]
(Excersise for yourself)

Further Reading
Effects of SM field circuit dynamics
Effects of field flux linkage variation on
system stability