Slip Stabilization Equipment, BROWN BOVERI Transfer Functions and the Relevant Experience Publication No. CH-E 2.0341.0€Slip Stabilization Equipment. Transfer Functions and the Relevant Experience F. Peneder and R. Bertschi, Baden Almost all fairly large generators are today equipped with ip stabilization devices. The optimization and setting of these systems is described in (23. To assist in understanding these important devices, the transfer functions are inter preted and the effect on rotor oscillations is ilustrated with reference to diagrams of generators that are operating. Design of the Slip Stabilization Devices Alma alsa eciation deve tat ve been pled te order dace 197 for ayairodea genetaors Wha ing coedlig 100 MYA ve bat elged ah tabilation davis for damping rotor csation [21 The eeenny gal canbe dared frm the mewtenent cf oped: remy or lsc chit nme age sa ot se ite fiery tie ee ee eee f degre oa feet oy ote fated For ts olae meacray ein, Cae Ahvers nad tobe digeed and fied, which oessiates coapheunt aectaicl or seal sfmact: Tan (eae pee ye are theahah Jecrmiae not mae the canal peed hand the fit derivative of the spe bt alo transmit tosonl cecations arising from two-mass or tre ins problem, which have toting fo do with the rotor coclatios lobe detecine tral pouil fo teach anos ial in pita tat ng, sce he pnt normally eae i Sosa cetod and tome. Comparten by Beto saciad temtdrer vt tv citer ond or cor eects pease en egies coop canes Memeilwany Even faeces at by peal 9 Mines tre not on good tone might expt Wit Bot posible oft addonal low-pass ile ts wel For ll ofthe above reson, eles 95% ofl lip st- (Gtestor een ope aa te et mente tment florian and optized according The sibling edna signa for eucocing the exci spo cb oy ice tuatae ec ee Wop fh may pots of tn bag epic ota pat Strole ie ter ern i ie en the met! economia and exible solu hs bosom he most commonly adopted. Almost all the stabilizing equip. ‘ment ordered influences the actual value—set point differ- ence at the voltage regulator by means of the additional signal, This method of applying the signal can be used for almost all electronic voltage regulators and is not neces sarily tied to the signal level values of the manufacturer. The second method of applying the signal, by contrast, requires very good adaptation and tuning of the signal levels of the stabilization equipment to the system for generating the firing pulses for the thyristor excitation. Having regard to the predominant application of the stabilization equipment by signal forming from the output ‘measurement and by applying the signal at the regulator ‘mixing point, the possible methods of adjusting this equip- ‘ment and the experience gained in its operation will ist be explained; subsequently, the experience obtained in the determination of the signal from the rotor speed will be given. Computation of the Gain Factors ky and kz To enable the influence of the slip stabilization to be de- termined, the voltage regulation cireuit ofthe synchronous machine must be known. From Fig. 1, in which the voltage regulation circuit with the additional signal applied from output measurement is shown, and per-unit values (p.u.-values, see [3] are assum- ed, the circuit gain K, of the voltage regulation circuit is found to be: Ky = V%o.€ = Gain of voltage regulator in V/V Uinsx \ Te C= Ceiling factor Uy = Actual voltage in volts at the regulating amplifier input for | p.u. generator rated voltage = Voltage in volts required at regulating amplifier output and at input of firing angle device for generating Uwe at control element output ‘The slip stabilization is so designed that a volt U, = 5 V is supplied by the measurand transducer for the electrical output measurement, at | p.u. output. Only the changein the output sfully transmitted and is amplified through the proportional channel by a factor of at most 25 and through the integrating channel by a factor of at most 1000. The amplification in the slip stabilization device itself can be varied by adjusting potentiometer, in the range 0 to 25 for the proportional channel and in theStrocure of slip siablization signal input (ative power) M= Pa SS signal output take = Sete TaTs = Time constants Operator ‘Generator field voltage ‘Generator terminal voltage x “Mixing resistances Input voltage 10 fring angle a TIT pri device ‘Setpoint for generator termina voltage © = Calling factor range 0 to 1000 for the integrating channel. Further adaptation is possible by the value of the ratio of the ‘mixing resistance Ry, to the rated mixing resistance Ry at the voltage regulator or at the firing angle control unit, and the following amplifications are found ~ through channel 1 (proportional) % Gay = 25h RG ky... t0 1-0; Uy Signal of stabilization device = through channel 2 (integrating): k ‘The achievable total amplification up to a change in field voltage is therefore, depending upon the channel (K) U Kee Gu. ee where i, = Plantdependent proportionality factor j= Potentiometer setting (0...) Transfer Functions of the Slip Stabilization ‘The general transfer function of slip stabilization up to the input to the voltage regulator is as follows: 1 eri © ~ 7 Fo0sp T+pr 1 Gu Gua HTB (Gas + Gea) -pT1,(1492, Se) (L + 003 p) (1 + pTI) (Il + pT2) andthe sceeedng control chain, fora purely proportional tetion ofthe voltage rquleae ad siplied scprsentae tion of the synchronous machine, is given by the following expressions! a. For cometion tthe ting angle conte devin i, \ \ %+ o):(1+ Pee, >. For application at the regulator input L L Td, T¥pTe, lege Gna) [As would be expected, the difference lies only in the gain V, of the voltage regulator. Interpretation of the transfer function Gy can be carried ‘out very simply by considerations of limiting values inthe setting ky and k. and by assuming average time constants For the sake of simplicity, Up and Uy and the mixing resistances are assumed to be equal. In the five principal possible methods considered below, the mean values are taken to beTI = 1's and T2 = 45s. Case 1k = 0 ky = 0.10 p *p. tp. ‘The transfer function with the possible variations is shown in Fig, 2a, It can be seen that only cer~ Gu = 1000. SHAH 3B 8 86 8 8 86 Bos a6 eo 8 8 88 20 Fig.2~ Transfer functions for vatious it~ Ing value seings a:Cael k= 0 brew? A= 10 k= 10 k= 10 “10 y= 10) Lo k= 10 “10 k= 10) Case $ 10004, = -25 fy (1000 42 = 254) 234 6 810!pay Fig. 3 ~ Output oxeilations of a 122 MVA synchronous machine on the network caused by setpoint surges with the additional signal not applied rH derived fom the electrical output Ur = Rotor voliage Uo = Generator voltage tain oscillations (frequencies of the output changes) are determined and evaluated. Case2ike=0 ky = 0...10 Gy = 25.hy.—____P (CF 003p).0 Fp) Fig. 2b shows the Bode represent ble variations. Case3:k 40 ke 40 Both these variables are given the same sign and ‘maximum values are used: and possi- (ote cmunen een 4 Ga ~ 1000 : ‘The representation according to Bode is given in Fig. 2c. It can be seen how, by successive reduc- tion of k., the diagram of 2c is transformed into the diagram of 26, For all three eases, a negative sign may also be present, so Fig.4 — Output oscillations and damping behaviour ofthe synchro ‘nous machine onthe network, with excitation by setpoint surges and stabilizing signal suddenly applied tothe voltage regulator For notation and description see Fi.3. that any adaptation to different voltage regulating systems is possible Case 4: The relationships are somewhat more complicat- ‘ed when k and k have different signs and 1000 k is different from 25 ky ‘Apart from the sign, the transfer function is as Gy = (1000. ky ~ 25. ky). 25. ky r(i-ng DFO) + FSP) ‘The term with negative operator p states that, although from the point where the amplification rises logarithmically, neverthe- less a further deterioration in the phase angle ecurs through this term at higher frequency (Fig. 24)Fi 5 ~ Output exilations ofthe synchronous machin for a change inthe transmission network and blocked stabilization signal Fr notation and description see Fig-3 1se $: 1000 . ke = Gy. = 25. ky 25k pps T0039. =. Fp) The transfer function in Fig. 2e represents this alternative. ‘The choice of the correct set values is very much depen- dent upon the network conditions and must also be adapt- ed to the regulating parameters of the voltage regulation, This may with advantage be done by a computer pro- gramme, as described in (1) Experience in the Practical Use The action of such a stabilizing device can be seen from the diagrams in Fig. 30 6. In this example, a 120 MVA\ ‘generator is connected to a 400 kV transmission Line, to which three other machines are also connected. A 220 kV system is also connected in parallel to this, and the active power can be transmitted without problems. In Fig. 3 the active load swings and the damping behaviour of the machine that are produced by surges in the set point are plotted. In addition, the resulting derived stabilizing signal is indicated in the diagram, The stabilizing signal is not 6 Fig.6 — Damping behaviour of the synchronous machine for a change in the transmission network and with stabilization signal applied tothe voltage regulator For notation and description se Fig 3 applied to the voltage regulator, as can be seen from the excitation voltage of the generator, which is also plotted here. If the additional signal is applied to the voltage regulator, aan extremely good damping of the swings is immediately produced (see Fig. 4) During operation, however, no set point surges are applied to the control device of the machine, but instead what hap- pens is that the 400 kV network is suddenly tripped and the power transmission has to take place through the 220 KV line, As a result, large load swings occur, which are shown in Fig. 5 and Which sometimes lead to tripping of the machine, The network change-over itself cannot be avoided. It is, however, possible, by immediate damping of the swing, to prevent the machine from tripping (Fig. 6). Similar operating experience can be obtained with stabili= ation devices which derive the signal from the speed measurement, However, the expense and complication necessary for this method are much larger than for the method described above. The transfer function without double notch and low-pas filter is as follows: 1+ pra. +334 +72. +33. or zi Gu = 100k Spray Tl FOP). + PTDRotor oscillations of a 600 MW reironows machine on the network due (ose point surges, with stabzation signal not applied Use = Regulator ouput ao asi = Stabilizing signal to the voltage rey lator, derived from the speed = Speed change 1, = Excitation current Uo = Generator voltage 5° = Rotorangle The interpretation of this function is similar to that al- ready discussed, and an analogous representation can very easily be found ((é, = 0 disappears), and the follow- ing time constants should be selected: TI=15 12 = 002 The action of such a stabilization device on a 600 MW turbo-generator can be seen from the diagrams in Fig. 7 and 8 The optimizing of the parameters ky and ky was carried ‘out with the appropriate computer program [2]. Fig.# — Rotor oscillations. and damping bohavioue ofthe 600 MW synchronous me chin, for excitation by st point surges and ‘with stabilizing signal applied For notation and description soo Fie.7 The damping of the rotor oscillations was again determin- fed by an excitation via set point surges. A change-over to other network conditions, however, was not possible. Fig. 7 shows the speed change Ajay for set point surges without additional damping through the excitation. Fig. 8 shows the change in speed with the additional signal atthe voltage regulator. In both cases, that is with electrical output measurement and with speed measurement, an extremely good agree- ment was obtained between calculated values and those ound during commissioning, for the parameter settings.Both solutions show that, by the use of suitable equip- ment and computing procedures, Brown Boveri are in a position to investigate and solve difficult problems of power generation and transmission quite early in the design stage e Bibliography LI] F-Peneder and R, Bertsch: Sip stabilization, Brown Boveri Rev {511974 (10) 448-454, [2] FPeneder an R. Bertsch: Optimizing the setting of sip stabi tion eauipment by digital computer and special computing procs (dures. Brown Boveri Rev, 65 1978 ) $90-397 [3] Th Lal Die Theorie dee Syachronmaschine im nichstaton’- ‘en Betnb, Berlin Goitingen Heidelbers: Spinger Vela, 1952 BROWN BOVERI Division E