FACULTY OF ENGINEERING LAB SHEET TRANSIENT STABILITY OF POWER SYSTEM EET2056

TRIMESTER II (2011/2012)
TS1 - TRANSIENT STABILITY ANALYSIS OF ONE-MACHINEINFINITE-BUS-SYSTEMS TS2 - TRANSIENT STABILITY ANALYSIS OF MULTIMACHINE SYSTEMS

*Note: On-the-spot evaluation may be carried out during or at the end of the experiment. Students are advised to read through this lab sheet before doing experiment. Your performance, teamwork effort, and learning attitude will count towards the marks.

Experiment # 1

TRANSIENT STABILITY ANALYSIS OF ONE-MACHINEINFINITE-BUS SYSTEMS

Objectives
The objectives of this experiment are: 1. To study the stability behaviour of one machine connected to a large power system subjected to a severe disturbance (3-phase short circuit) 2. To understand the principle of equal-area criterion and apply the criterion to study the stability of one machine connected to an infinite bus 3. To determine the critical clearing angle and critical clearing time with the help of equalarea criterion 4. To do the stability analysis using numerical solution of the swing equation

Introduction
The tendency of a power system to develop restoring forces to compensate for the disturbing forces to maintain the state of equilibrium is known as stability. If the forces tending to hold the machines in synchronism with one another are sufficient to overcome the disturbing forces, the system is said to remain stable. The stability studies which evaluate the impact of disturbances on the behaviour of synchronous machines of the power system are of two types transient stability and steady state stability. The transient stability studies involve the determination of whether or not synchronism is maintained after the machine has been subjected to a severe disturbance. This may be a sudden application of large load, a loss of generation, a loss of large load, or a fault (short circuit) on the system. In most disturbances, oscillations are such magnitude that linearization is not permissible and nonlinear equations must be solved to determine the stability of the system. On the other hand, the steady-state stability is concerned with the system subjected to small disturbances wherein the stability analysis could be done using the linearized version of nonlinear equations. In this experiment we are concerned with the transient stability of power systems. A method known as the equal-area criterion can be used for a quick prediction of stability of a one-machine system connected to an infinite bus. This method is based on the graphical interpretation of energy stored in the rotating mass as an aid to determine if the machine maintains its stability after a disturbance. The method is applicable to a one-machine system connected to an infinite bus or a two-machine system. Because it provides physical insight to the dynamic behaviour of the machine, the application of the method to analyze a singlemachine system is considered here.

Test System and Data

A typical one-machine system connected to an infinite bus is shown in Fig. 1. The system consists of one synchronous machine, one transformer, two parallel transmission lines and an infinite bus. The various data are: Inertia constant of the synchronous machine, H = 5 MJ/MVA Direct axis transient reactance of the generator, Xd = 0.3 p.u. Transformer leakage reactance, Xt = 0.2 p.u. Line reactance, XL1 = XL2 = 0.3 p.u. Supply frequency, f = 50 Hz Real and reactive power delivered to the infinite bus, Pe = 0.8 p.u. and Qe = 0.074 p.u. The infinite bus voltage, V = 1.0 p.u.

Inf P R Q S

Fig. 1 One-machine system connected to an infinite bus Different Cases of Study Case 1 A temporary three-phase symmetrical fault occurs at point P for a short time and then the fault is cleared. Both lines are intact. Case 2 A three-phase symmetrical fault occurs at Q, the middle point of one of the lines shown in Fig.1. The fault is cleared by isolating the faulted line by opening the circuit breakers at both ends. Case 3 A three-phase symmetrical fault occurs at point R shown in Fig. 1. The fault is cleared by isolating the faulted line by opening the circuit breakers at both ends. Case 4 One of the transmission lines (say, line SR) is snapped at point S and falls on the ground creating a three-phase short circuit. The fault is cleared by isolating the faulted line. Formulas Electrical power, Pe = Pmax sin where Pmax = The critical clearing angle for case 1 cr = cos 1 [( 2 o ) sin o cos o ] The critical clearing angle for cases 2, 3 and 4
EV X

, X is the reactance between E and V.

 P ( o ) + P3 max cos max P2 max cos o cr = cos 1 m max P3 max P2 max The critical clearing time for case 1 4 H ( cr o ) t cr = s Pm

where o , max , s and Pm are initial rotor angle, maximum rotor angle, synchronous speed and mechanical power input to the machine, respectively. P2max and P3max are the maximum electrical power during the fault and after clearing the fault, respectively. There is no analytical expression to calculate the critical clearing time for other cases.

Problem Statement
Given the one-machine-infinite-bus system shown in Fig. 1 determine the system stability for all the four cases. Also find the critical clearing time and critical clearing angle for all the cases.

Software Used
MATLAB functions used are eacfault, and swingmeu. Function eacfault(Pm, E, V, X1, X2, X3) This function obtains the power angle curves for the one-machine system before the fault, during the fault and after the fault is cleared. The equal area criterion is applied to find the critical clearing angle for the machine. Also it computes the critical clearing time for case 1. The function arguments are: Pm = Generator output power in p.u. at steady state which is equal to the generator mechanical power input. E= Generator e.m.f. in p.u. It is the voltage behind the transient reactance of the machine. V = Infinite bus-bar voltage in p.u. X1 = Reactance in p.u. between E and V before fault X2 = Reactance in p.u. between E and V during fault. (If the power transfer to the infinite bus during fault is zero then X2 = inf) X3 = Reactance in p.u. between E and V after fault is cleared. Function swingmeu(Pm, E, V, X1, X2, X3, H, f, tc, tf, Dt) This program solves the swing equation of a one-machine system when subjected to a threephase fault with subsequent clearance of the fault using the modified Euler method. The swing cure is displayed. This is used to determine the system stability for a particular fault clearing time. The function arguments are: Pm, E, V, X1, X2, X3 are as defined earlier. H = Generator inertia constant in second (MJ/MVA) f = System frequency in Hz. Dt = Integration time interval tc = Fault clearing time in seconds tf = Final time of integration

Experimental Procedure
1. Launch the MATLAB and study the above functions to understand their working. 2. To study the stability for case 1, determine the following function arguments. Pm = V = E =

X1 = X3 = H=

X2 =

To compute E, use the following formula: S* = 0.8 j0.074 (Given) I = S*/V* = E = V + jX1*I = 1.17 26.3877o 3. Run the program using the function eacfault. Supply all the data. You will observe the power-angle curve with area A1 (during acceleration period) and area A2 (during the deceleration period) marked in different colours. Observe and record the following output values: Initial power angle Maximum angle swing Critical clearing angle Critical clearing time = = = =

Draw the power-angle curve with areas A1 and A2 marked. Also show in the plot the initial angle, maximum angle swing and critical clearing angle. 4. Repeat steps 2 and 3 for case 2. The function arguments are: Pm = V = E =

X1 = X3 =

X2 =

The output values: Initial power angle Maximum angle swing Critical clearing angle 5. Repeat step 4 for case 3 The function arguments are: Pm = V = E = = = =

X1 = X3 =

X2 = The output values: Initial power angle Maximum angle swing Critical clearing angle Critical clearing time 6. Repeat step 5 for case 4 The function arguments are: Pm = V =

= = = =

X1 = X3 =

X2 = Inf The output values: Initial power angle Maximum angle swing Critical clearing angle

= = =

7. Solve the swing equation for all the four cases using the function swingmeu. Create a Matlab file TS1.m with the following statement and store it in the MATLAB work. global Pm f H E V X1 X2 X3 Pm = E= V= X1 = X2 = X3 = H= f= tf = 1.0; Dt = 0.01; tc = swingmeu(Pm, E, V, X1, X2, X3, H, f, tc, tf, Dt) Run the program by using the command TS1. Choose at least two fault clearing time, tc for each case, one less than the critical clearing time and the other more than the critical clearing time. The additional function arguments are: H=5 tf = 1.0 tc = Dt = 0.01

The time interval and the corresponding power angle in degrees and the speed deviation in rad/s are displayed in a tabular form. The swing curve is also plotted. The swing curve for the stable case shows that the power angle returns after a maximum swing indicating that with inclusion of system damping, the oscillations will subside and a new steady state condition will be reached. For unstable case, the swing curve shows that the power angle is increasing without limit. From the simulation, determine the critical clearing time for all the four cases and record them. For case 1, compare the critical clearing time with that obtained in step 3. Also plot the swing curve for one stable case and one unstable case. Observations (a) Plot power-angle curves for Steps 3, 4, 5 and 6 (b) The critical clearing time for Case 1: The critical clearing time for Case 2: The critical clearing time for Case 3: The critical clearing time for Case 4: (c) Sketch the swing curves for one stable system and one unstable system.

Exercise
1. Explain the usefulness of equal-area criterion for stability analysis of one-machineinfinite-bus system. 2. Is it possible for applying equal-area criterion for two machine system? 3. How do you check the stability of the system from simulation results? 4. Briefly explain the modified Euler method of solving a differential equation. 5. What do you learn from this experiment?

References
1. Hadi Saadat, Power System Analysis, McGraw-Hill, 2004 2. John J. Grainger and William D. Stevenson, Jr. Power System Analysis, McGraw-Hill, 1994

Experiment 2

TRANSIENT STABILITY ANALYSIS OF MULTIMACHINE SYSTEMS

Objectives
The objectives of this experiment are 1. To analyze the transient stability of multimachine systems by solving swing equations by numerical integration. 2. To determine the stability of the given multimachine system for various fault clearing times. 3. To determine the critical clearing time using swing curves.

Introduction
The equal-area criterion used in Experiment 1 cannot be directly used to determine the stability of multimachine systems. Although the physical phenomena observed in one-machine-infinitebus system are basically the same as in the maultimachine case, the complexity of the numerical computation increases with the number of machines increases. In order to reduce the complexity some simplifying assumptions (similar to the ones assumed in Single-Machine-Infinite-Bus systems) are made as follows. (i) (ii) (iii) (iv) (v) (vi) Each machine is represented by a constant voltage source behind the direct axis transient reactance. The input mechanical power is assumed constant during the entire period of simulation. All loads are converted to equivalent admittances to ground using the prefault bus voltages and assumed to remain constant. Damping or synchronous powers are neglected. The mechanical rotor angle of each machine coincides with the angle of the voltage behind the machine transient reactance. Machine belonging to the same station swing together and are said to be coherent.

The first step in the transient stability analysis is to solve the initial load flow and determine the initial bus voltages. The machine currents prior to disturbance are calculated from

Si * I i = i = 1, 2, m Vi *

(1)

where m is the number of generators., Vi is the terminal voltage of the ith generator, Si = Pi + jQi is the complex power of the generator i. The generator resistance is neglected and the generator voltage behind the transient reactance is obtained as
E i ' = Vi + jX d ' I i

(2)

Equivalent admittances of loads

yi 0 =

Si * Vi
2

(3)

The m generator internal buses with voltages Ei are added to the n-bus power system network and the resultant Ybus matrix is formed. Then all buses other than the generator internal buses are eliminated using the Kron reduction formula. The reduced bus admittance matrix of dimension red (m x m) be denoted as Ybus Then the electrical power output
Pei = Ei ' E j ' Yij cos( ij i + j )
m j =1

(4)

where Ei = |Ei| i and Yij = |Yij| ij and Yij is the ij th element of Ybus. A three-phase fault at bus k results in the bus voltage Vk = 0. This is simulated by removing the the kth row and column from the prefault bus admittance matrix. The new bus admittance matrix is reduced by eliminating all buses except the internal generator buses. The generator excitation voltages during the fault and post fault condition are assumed to remain constant. The electrical power of the ith generator in terms of the reduced bus admittance matrix is obtained from (4). The swing equation for machine i becomes
m H i d 2 = Pmi E i ' E j ' Yij cos( ij i + j ) (5) f 0 dt 2 j =1 where Hi is the inertia constant of machine i expressed on the common MVA base.

When the fault is cleared, the postfault bus admittance matrix is recomputed to reflect the change in network and then the simulation is continued using the postfault electrical power computed using the postfault bus admittance matrix. The MATLAB function ode23 is employed to solve the set of 2m differential equations. Usually the solution is carried out for 1 to 2 seconds. If the angle differences of the generators with respect to the reference generator swing back after reaching the maximum, the system is said to be stable. Otherwise the system is unstable. Based on the above procedure a MATLAB function trstab has been developed. The function trstab must be used in conjunction with any one of the power flow programs. The program lfnewton is used prior to trstab program. The power flow program provides the power, voltage magnitude and phase angle for each bus. Also, the load admittances are returned in a matrix named ``yload''. In addition to the required power flow data, transient reactance, and inertia constant of each machine must be specified. This is defined in a matrix named gendata. Each row contains the bus number to which the generator is connected, armature resistance, transient reactance, and the machine inertia constant. Program trstab obtains the prefault bus admittance matrix including the load admittances. Voltages behind transient reactances are obtained. The reduced admittance matrix before, during and after fault are found. Machine equations are expressed in state variable form and the MATLAB function ode23 is used to solve the multimachine equations. The phase angle difference of each machine with respect to the slack bus is plotted. The simulation can be repeated for a different fault clearing time, or a different fault location.

Test System and Data A typical multimachine power system network with three generators is shown in Fig. 1. The load data and the voltage magnitude, generation schedule, and the reactive power limits for the voltage controlled buses are given in the following tables. Bus 1 is the reference bus. The line data on 100 MVA base are also tabulated. The generators transient reactances in p.u. and the inertia constants in seconds expressed on a 100-MVA base are given in Table 5.
1 4 2

Table 1: Load Data Bus No. Load (MW) Load (Mvar) 1 0 0 Table 2: Line Data 2 0 0 including Transformer 3 0 0 Data 4 100 70 From Bus 5 To Bus 90 (p.u.) X (p.u.) B/2 (p.u.) R 30 1 4 0.225 0.0065 6 1600.035 110 1 5 0.025 0.105 0,0045 1 6 0.400 0.215 0.0055 2 4 0.000 0.035 0.0000 3 5 0.000 0.042 0.0000 4 6 0.028 0.125 0.0035 5 6 0.026 0.175 0.0300

Bus No. 1 2 3

Table 3: Generation Schedule Voltage Generation Mvar Limits mag (MW) Minimum Maximum 1.06 ------1.04 150 0 140 1.03 100 0 90 Table 5: Machine Data Reactance Xd Inertia constant H 0.20 20 0.15 4 0.25 5

Generator 1 2 3

Problem Statement
For the multimachine system given in Fig. 1, perform transient stability analyses using the trstab program and determine the stability and critical clearing time for various cases.

Procedure
You will be doing stability analysis for the following six cases: (i) A three-phase fault occurs on line [5 6] near bus 6 and is cleared by simultaneously opening the breakers at both ends of the line. (ii) A three-phase fault occurs on line [4 6] near bus 6 and is cleared by simultaneously opening the breakers at both ends of the line. (iii) A three-phase fault occurs on line [1 6] near bus 6 and is cleared by simultaneously opening the breakers at both ends of the line. (iv) A three-phase fault occurs on line [5 6] near bus 5 and is cleared by simultaneously opening the breakers at both ends of the line. (v) A three-phase fault occurs on line [4 6] near bus 4 and is cleared by simultaneously opening the breakers at both ends of the line. (vi) A three-phase fault occurs on line [1 6] near bus 1 and is cleared by simultaneously opening the breakers at both ends of the line. 1. Launch the MATLAB program. 2. Key in the required data and commands as follows:
basemva = 100; % Bus data
% %

accuracy = 0.0001;

maxiter = 10;
--------- Generation ------------- Injected MW Mvar Qmin Qmax Mvar

Bus Bus Voltage Angle ----- Load -----No.Code Mag degree MW Mvar

busdata=[1 2 3 4 5 6 % Line Data

1 2 2 0 0 0

1.06 1.04 1.03 1.0 1.0 1.0

0.0 00.00 0.0 00.00 0.0 00.00 0.0 100.00 0.0 90.00 0.0 160.00

00.00 00.00 00.00 70.00 30.00 110.00

0.00 150.00 100.00 00.00 00.00 00.00

00.00 00.00 00.00 00.00 00.00 00.00

0 0 0 0 0 0

0 140 90 0 0 0

0 0 0 0 0 0];

% %

Bus Bus From To

R p.u.

X p.u.

B/2 p.u.

1 for line code or tap setting value

linedata=[1 1 1 2 3 4 5 lfybus lfnewton busout

4 5 6 4 5 6 6

0.035 0.025 0.040 0.000 0.000 0.028 0.026

0.225 0.105 0.215 0.035 0.042 0.125 0.175

0.0065 0.0045 0.0055 0.0000 0.0000 0.0035 0.0300

1.0 1.0 1.0 1.0 1.0 1.0 1.0];

% form the bus admittance matrix % Power flow solution by Newton-Raphson method % Prints the power flow solution on the screen Ra 0 0 0 Xd' 0.20 0.15 0.25 H 20 4 5];

% Gen. gendata=[ 1 2 3 trstab

You will see the power flow results and the reduced prefault bus admittance matrix in the MATLAB command window. Note down the power flow results in the tabular form and enter the results in the single line diagram of the system. Record the reduced bus admittance matrix. Also note down the E and Pm for all the three generators. 3. You are then prompted to enter the faulted bus number. Once the bus number for case (i) is entered the program outputs the reduced faulted bus admittance matrix. Note down the results. 4. Fault is cleared by opening a line. You are now asked to enter the bus to bus numbers of the line to be removed (corresponding to case (i)). Once the line to be removed is entered the postfault reduced bus admittance matrix is displayed. Note down this matrix also. 5. Next you are prompted to enter the fault clearing time, t c and the final simulation time, tf. The program outputs the phase angle difference of each machine with respect to the reference machine in a tabular form. The program also shows plots of the swing curves of machines 2 and 3. 6. Determine the critical clearing time by repeatedly simulating the swing curves for various fault clearing time. 7. Repeat steps 3 - 6 for all the six cases.

Observation
(1) Load flow results for the given system at the end of step 2:

(2)

Load flow results in Single line diagram of the system

(3) Prefault reduced bus admittance matrix:

(4)

Generator 1: E= Generator 2: E= Generator 2: E=

Pm = Pm = Pm =

(5) Reduced bus admittance matrix at the end of step 3.

(4) Reduced postfault bus admittance matrix at the end of step 4

(5) Critical clearing time. Case (i): Case (ii): Case (iii): Case (iv): Case (v): Case (vi): (6) Swing curves for one stable condition and one unstable condition for all the six cases.

Exercise What do you learn from this experiment?

References
1. Hadi Saadat, Power System Analysis, McGraw-Hill, 2004 2. John J. Grainger and William D. Stevenson, Jr. Power System Analysis, McGraw-Hill, 1994