ECE 576 Power System

Dynamics and Stability

Lecture 26: Modal Analysis, Power System

Stabilizers (PSSs)

Prof. Tom Overbye

University of Illinois at Urbana-Champaign
overbye@illinois.edu
Special Guest Lecture by
TA Soobae Kim

1
 Announcements
Read Chapters 8 and 9
Homework 8 should be completed before final but need
not be turned in
Final is Wednesday May 14 at 7 to 10pm
Key papers for book's approach on stabilizers are
F.P. DeMello and C. Concordia, "Concepts of Synchronous
Machine Stability as Affected by Excitation Control, IEEE
Trans. Power Apparatus and Systems, vol. PAS-88, April
1969, pp. 316-329
W.G. Heffron and R.A. Philips, "Effects of Modern Amplidyne
Voltage Regulator in Underexcited Operation of Large Turbine
Generators," AIEE, PAS-71, August 1952, pp. 692-697
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 Example: Bus 4 with
GENROU Model
The eigenvalues can be calculated for any set of
generator models
This example replaces the bus 4 generator classical
machine with a GENROU model
There are now six eigenvalues, with the dominate response
coming from the electro-mechanical mode with a frequency
of 1.83 Hz, and damping of 6.92%

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 Example: Bus 4 with
GENROU Model and Exciter
Adding an relatively slow EXST1 exciter adds
additional states (with KA=200, TA=0.2)
As the initial reactive power output of the generator is
decreased, the system becomes unstable

Case is saved as B4_GENROU_Sat_SMIB

4
 Example: Bus 4 with
GENROU Model and Exciter
With Q4 = 25 Mvar the eigenvalues are

And with Q4=0 Mvar the eigenvalues are

5
 Example: Bus 4 with
GENROU Model and Exciter
Graph shows response following a short fault when Q4
is 0 Mvar
88

86

84

82

80

78

76

74

72

70

68

66

64

62

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

b
c
d
e
f
g Rotor Angle_Gen Bus 4 #1

This motivates trying to get additional insight into how

to increase system damping, which is the goal of modal
analysis 6
 Modal Analysis - Comments
Modal analysis or analysis of small signal stability
through eigenvalue analysis is at the core of SSA
software
Goal is to
In Modal Analysis one looks at: determine
Eigenvalues how the various
Eigenvectors (left or right) parameters
affect the
Participation factors response of
Mode shape the system

Power System Stabilizer (PSS) design in a multi-

machine context is done using modal analysis method.
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 Eigenvalues, Right Eigenvectors
For an n by n matrix A the eigenvalues of A are the
roots of the characteristic equation:
det[ A l I ] A l I 0
Assume l1ln as distinct (no repeated eigenvalues).
For each eigenvalue li there exists an eigenvector
such that:

Av i li v i

vi is called a right eigenvector

If li is complex, then vi has complex entries
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 Left Eigenvectors
For each eigenvalue li there exists a left
eigenvector wi such that:

w ti A w it li
Equivalently, the left eigenvector is the right
eigenvector of AT; that is,
A t w i li w i

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 Eigenvector Properties
The right and left eigenvectors are orthogonal i.e.
w v i 0 , w v j 0 (i j )
t
i
t
i

We can normalize the eigenvectors so that:

w v i 1 , w v j 0 (i j )
t
i
t
i

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 Eigenvector Example
1 4 1 l 4
A , A lI 0 0
3 2 3 2l
3 (3) 2
4(10) 3 49
l 3l 10 0 l1,2
2
5, 2
2 2

Right Eigenvectors l1 5

v11 v11 4v21 5v11

Av1 5v1 v1 choose v 21 1 v11 1
v21 3v11 2v21 5v21
1
Similarly, v1
1
4
l2 2 v 2
3
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 Eigenvector Example
Left eigenvectors
1 4
l1 5 w A w 5 [ w11 w21 ]
t
1
t
1 5[ w11 w21 ]
3 2
w11 3w21 5w11
Let w21 4, then w11 3
4 w11 2 w21 5w21
3 1
w1 l2 2 w 2
4 1
1 4 3 1
v1 v 2 w1 w 2
1 3 4 1
Verify w1t v1 7 , w t2 v 2 7 , w t2 v1 0 , w1t v 2 0
We would like to make w v 1.
t
i i
This can be done in many ways. 12
 Eigenvector Example

1 3 1
Let W
7 4 1
Then WT V I
1 3 4 1 4 1 0


7 1 1 1 3 0 1
Verify

It can be verified that WT=V-1 .

The left and right eigenvectors are used in
computing the participation factor matrix.

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 Modal Matrices
The deviation away from an equilibrium point can be
defined as
x Ax
From this equation it is difficult to determine how
parameters in A affect a particular x because of the
variable coupling
To decouple the problem first define the matrices of the
right and left eigenvectors (the modal matrices)
V [ v1 , v 2 ..... v n ] & W [ w1 , w 2 ,..... w n ]
AV V when Diag (li )

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 Modal Matrices
It follows that
V 1AV
To decouple the variables define z so
x Vz x Vz Ax AVz
Then
z V 1AVz WAVz z
Since is diagonal, the equations are now uncoupled
with z l z
i i i

So x(t ) Vz (t )
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 Modal Matrices
Thus the response can be written in terms of the
individual eigenvalues and right eigenvectors as
n
Note, we are
x(t ) v i zi (0 )e li t

i 1 requiring that
the eigenvalues
Furthermore with be distinct!
x= VZ z V 1x WT x

So z(t) can be written as using the left eigenvectors as

x1 (t )
z (t ) W t x(t ) [ w 1 w 2 ....w n ]t

xn (t )

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 Modal Matrices
We can then write the response x(t) in terms of the
modes of the system
zi (t ) wi t x (t )
zi (0 ) wit x (0 ) Ci
n
so x(t ) v i Ci e li t
i 1

Expanding xi (t ) vi1C1e l1t vi 2 C2 e l2t ... vinCn e lnt

So Ci represents magnitude of excitation of the ith mode

resulting from the initial conditions.

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 Numerical example

x1 0 1 x1 1
x 8 2 x , x(0) 4
2 2
Eigenvalues are l 1 4 , l 2 2
1 1
Eigenvectors are v1 , v 2
4 2
1 1
Modal matrix V
4 2
0.2425 0.4472
Normalize so V
0.9701 0 .8944
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 Numerical example (contd)

Left eigenvector matrix is:

1.3745 0.6872
1
W V
T

1.4908 0.3727
z = W T AVz
z1 4 0 z1
z 0 2 z
2 2

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 Numerical example (contd)
z1 4z1 , z (0 ) V 1x(0 )
z1 (0 ) 4.123
z2 2z2 ,
2
z (0 ) 0
4t 4.123
z1 (t ) z1 (0)e ; z2 (t ) z2 (0)e , C W x(0)
2t T

0
x = Vz
Because of the initial
x1 (t ) 1 1 z1 (t ) condition, the 2nd mode
x (t ) 4 2 z (t ) does not get excited
2 2
0.2425 0.4472 2
z2 (t ) Ci vi zi (0 )e
l it
C1 z1 (t ) C2
0.9701 0.8944 i 1
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 Mode Shape, Sensitivity and
Participation Factors
So we have
x(t ) Vz (t ), z (t ) W t x(t )
x(t) are the original state variables, z(t) are the
transformed variables so that each variable is
associated with only one mode.
From the first equation the Right Eigenvector gives the
mode shape i.e. relative activity of state variables
when a particular mode is excited.
For example the degree of activity of state variable xk
in vi mode is given by the element Vki of the the Right
Eigenvector matrix V

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 Mode Shape, Sensitivity and
Participation Factors
The magnitude of elements of vi give the extent of
activities of n state variables in the ith mode and
angles of elements (if complex) give phase
displacements of the state variables with regard to
the mode.
The left eigenvector wi identifies which
combination of original state variables display only
the ith mode.

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 Eigenvalue Parameter Sensitivity
To derive the sensitivity of the eigenvalues to the
parameters recall Avi = livi; take the partial derivative
with respect to Akj by using the chain rule
A v i li v i
vi A v i li
A kj Akj Akj Akj
Multiply by w ti

A v i t li v i
w t
vi w i A
t
wi v i w i li
t

A kj Akj Akj Akj

i

A v i t li
w t
v i w i [ A li I ]
t
wi vi
Akj Akj Akj
i

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 Eigenvalue Parameter Sensitivity
This is simplified by noting that w ti ( A li I ) 0
by the definition of wi being a left eigenvector
Therefore
A li
w t
vi
Akj Akj
i

A
Since all elements of Akj
are zero, except the kth row,
jth column is 1
Thus li
WkiV ji
Akj

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 Sensitivity Example
In the previous example we had
1 4 1 4 1 3 1
A , l1,2 5, 2, V , W
3 2 1 3 7 4 1
Then the sensitivity of l1 and l2 to changes in A are
l1 1 3 3 l2 1 4 3


A 7 4 4 A 7 4 3
,

For example with 1 4

A 5.61, 1.61,
l
, 1,2
3 3
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 Participation Factors
The participation factors, Pki, are used to determine how
much the kth state variable participates in the ith mode
Pki VkiWki
The sum of the participation factors for any mode or
any variable sum to 1
The participation factors are quite useful in relating the
eigenvalues to portions of a model
For the previous example P would be
1 3 4
P
7 4 3

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 PowerWorld SMIB
Participation Factors
The magnitudes of the participation factors are shown
on the PowerWorld SMIB dialog
The below values are shown for the four bus example
with Q4 = 0

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