IEEE Transactions on Power Systems, Vol. 9, No.

3, August 1994
EFFECT OF HVDC LINE FAULTS ON TRANSIENT TORSIONAL TORQUES OF TU RB INE-G ENERATOR SHAFTS

1457

W. Shi* Department of Electrical Engineering Xi'an Jiaotong University Xi'an, People's Republic of China 'Visiting Scientist at the University of Toronto
Abstract: This paper investigates the effects of HVdc line faults, line de-energization, and line re-energization on the transient torsional stresses of steam turbine-generator (T-G) units. The studies are conducted on a bipole HVdc system which connects a T-G set to a large ac system. The shaft transient stresses of the T-G set as a result of HVac line fault, fault clearing, and automatic reclosure are also determined when the HVdc transmission system is replaced by an equivalent double-line HVac system. The EMTDC program is used for the simulation studies.

M.R. lravani Department of Electrical Engineering University of Toronto Toronto, Ontario M5S 1A4 the rest of the network. If the network is equipped with series capacitors, the T-G set and the network can resonate at one or more of the natural modes of the combined system (subsynchronous resonance), which in turn results in high amplitude torsional stresses. A HVdc line is electrically connected to a T-G set through a HVdc converter station. The operation principles and the control characteristic of the HVdc converter prevent oscillatory and bidirectional energy exchange between the dc line and the T-G set after the line disturbance. Furthermore, HVdc converter prevents network-generator subsynchronous resonance. Closed loop control of a HVdc converter can interact with a T-G set and excite small-signal torsional oscillations [9,10].However, such an interaction is not of significant importance when largesignal transient torques are of prime concern. A HVdc converter also can initiate interaction between ac and dc sides at characteristic/non-characteristic harmonic frequencies [I 1,121,and depenging upon the operating conditions, impose stresses on T-G sets [13]. However, since the harmonic interactions occur at frequencies which are well above the torsional frequency range, they are not of any concem with respect to the shaft transient torques.

The studies conclude that transient shaft stresses as a result of HVdc line fault and its subsequent switching events are (1) significantly less severe than those of HVac faults and subsequent switchings, and (2) not sensitive to the fault location and disturbance duration.
Keywords: Transient Torques; HVdc line Fault; HVac line Fault; Time-Domain Simulation.
1.

INTRODUCTION

As a result of large-signal electrical disturbances and their subsequent planned and/or unplanned switching incidents, the shaft segments of turbine-generator.(T-G) units are subjected to transient torsional stresses [I]. The phenomenon of transient torsional torques is also referred to as "torque amplification" [2]. Torsional stresses induce fatigue in the shaft material and reduce the shaft life-time [3,4].Fatigue phenomenon is a cumulative process and each shaft segment loses some of its life-time as a result of each torsional oscillation. The level of induced fatigue depends upon the amplitude of the imposed torsional stress. The phenomenon of transient torsional stresses of T-G shaft segments as a result of HVac system disturbances has been extensively investigated during the last two decades [I-71 and several countermeasures have been proposed/implemented [7,8]. Although the number of HVdc links within HVac networks have been continuously growing for the last two decades, the impact of HVdc line faults on transient torsional stresses of T-G sets have not been adequately studied. The main reasons are as follows:

(3)

The phenomenon of transient torsional torques is a highly nonlinear phenomenon, and its investigations require step-by-step numerical integration of the system nonlinear differential equations. Although this type of study can be carried out by means of electromagnetic transients programs, e.g. EMTP and EMTDC, a realistic and accurate digital time-domain simulation of a HVdc system for such studies is not a trivial task.

The objectives of this paper are:

(1)

To investigate the phenomenon of transient torques in a bipole HVdc system based on time-domain simulation studies. To compare the torsional impact of a HVdc line fault and its subsequent line de-energization and re-energization with that of an equivalent fault on a HVac system and its subsequent fault clearing and reclosure.

(2)

(1)

This is generally understood that the impact of HVdc line faults on T-G torsional torques is less severe as compared with that of HVac line faults. This stems from the fact that fault clearing and re-energization of a HVdc line is carried out rapidly and according to pre-specified strategies by converter controls. Fault clearing and re-energizationof a HVac line are relatively slow and are carried out by opening and reclosure of circuit-breakers. A HVac line disturbance is followed by oscillatory (or even bidirectional) energy exchange between the T-G set and

The rest of this paper is organized as follows. Two test systems, . Section 3 one HVac and one HVdc, are introduced in Section 2 reports the result of digital time-domain simulation studies conducted on the test systems using the EMTDC program [14].A general discussions of the results is also provided in Section 3. Final conclusions and remarks are stated in Section 4. The investigations conclude that dc line faults and their subsequent HVdc control reactions impose noticeably, less severe transient torsional stresses on T-G shaft segments when compared with HVac line faults and their following switching incidents. However, for some types of HVdc faults, the imposed shaft stresses are within the range that is of concem with respect to the shaft loss of life.
2.
2.1

(2)

93 SM 523-1 PWRS A paper recommended and approved by the IEEE Power System Engineering Committee of the IEEE Power Engineering Society for presentation at the IEEE/PES 1993 Summer Meeting, Vancouver, B . C . , Canada, July 18-22, 1993. Manuscript submitted Aug. 31, 1992; made available for printing May 7, 1993. PRINTED IN USA

STUDY

SYSTEMS

HVac System

Figure 1 shows a schematic diagram of the HVac test system. The system is composed of a 2677.2 MVA, 26 kV T-G set, which
0885-8950/94/$04.00 0 1993 IEEE

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Figure 1:

Schematic diagram of HVac test system

is connected to an infinite bus through two identical, parallel, 500 kV ac lines. The T-G set is the equivalent of three 892.4 MVA, 26 kV T-G sets which are connected in parallel and are under equal loading conditions; thus, they can be represented by a single equivalent T-G set [15]. Figure 2 shows the shaft system of the equivalent T-G set. The shaft system is composed of one highpressure (HP) turbine, one intermediate-pressure (IP) turbine, two low-pressure (LPA, LPB) turbines, generator rotor (G) and a dc machine exciter (EXC). The shaft system has five torsional modes at frequencies 15.71 Hz, 20.23 Hz, 25.50 Hz, 32.34 Hz, and 46.5 Hz. The first mode (15.71 Hz) is the dominant torsional mode as a result of large-signal disturbances. For time-domain simulation studies, the generator electric system is represented in the Park's d-q-o frame and its mechanical system is represented by a mass-spring-dashpotsystem. Each step-up transformer is represented by three identical singlephase lumped model transformers. Each ac line is represented by its equivalent lumped parameters. Each circuit-breaker is represented as an ideal switch which can open at current zero crossings. Dynamics of the governor system of the T-G set are neglected and the input mechanical power is assumed to remain constant corresponding to the steady-state operating condition. Dynamics of the T-G set excitation systems are included in the simulation model. Electro-mechanical parameters of the HVac test system are given in Appendix A.
2.2

Figure 3:

Schematic diagram of HVdc test system

3.
3.1

STUDY RESULTS

CASE 1:

Fault at Sending End

Figure 4 shows the transient torques of the T-G set when the HVdc system is subject to a line-to-ground fault at the sending erid of line T1 (Fig. 3). Sending end of line T1 is the high voltage

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HVdc System

Figure 3 shows a schematic diagram of the HVdc test system [14]. The dc line is a 939 km, k500 kV, 2000 MW 12-pulse, bipole system. The rectifier ac side is connected to the same equivalent T-G set described in Section 2.1. The inverter ac side is connected to the equivalent of an ac network. For simulation studies, each pole of each converter stations is represented by two series 12-pulse bridges. Each 12-pulse scheme is represented by two six-pulse valve groups, including the details of transformer connections (Fig. 3) and valve snubber circuits. The HVdc transmission lines are represented as mutually coupled distributed parameter lines. Inverter electrode line is also represented by a distributed parameter line. AC side filters, dc side filters, inverter neutral filter, smoothing reactors, and ac collector systems are represented by lumped parameters. The system electrical data is given in [14]. The HVdc control system is represented by the details of functional blocks of master power controller, pole controllers, valve group controllers, and valve firing circuitry. Telecommunications delays, control nonlinearities (e.g. nonlinear mathematical functions and limits), and voltage dependent current limits (VDCL) are included in the simulation model. Control details and data are also available in ~41.

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line fault (sending end), line de-energization, and reenergization (a) Generator output power

1459
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Figure 5:

Transient torques of the T-G set as a result of HVac line fault (sending end), fault clearing, and successful reclosure (a) Generator output power (b) G-EXC shaft torque (c) LPB-G shaft torque (d) LPA-LPB shaft torque

Figure 6:

Transient torques of the T-G set as a result of HVdc line fault (receiving end), line de-energization and reenergization (a) Generator output power (b) G-EXC shaft torque (c) LPB-G shaft torque (d) LPA-LPB shaft torque

side (system side) of the corresponding step-up transformer. Initially, the HVdc system delivers 1.0 per unit power to the receiving end when the positive pole is subjected to the fault at kO.9 second. The fault inception is followed by line deenergization and re-energization ( k l . 2 5 second). Reenergization attempt is successful and the system delivers power through both poles after re-energization. The disturbance interval (from the instant of fault inception to the instant of reenergization) is 0.35seconds (21 cycles). Figure 5 shows the transient torques of the generator when the HVac system is subjected to a three-phase to ground fault at the sending end of line T1 (Fig. 1). The fault is followed by a threecycle fault clearing and an eighteen-cycle triple-pole successful reclosure. Initially, the generator delivers 1.O per unit power to the receiving end. The disturbance intewal (from the instant of fault inception to the instant of reclosure) is 21 cycles (0.35 seconds). Comparison of Figs. 4 and 5 indicate that: Both ac fault inception and dc line fault inception excite transient torsional torques of the T-G set. Amplitudes of oscillations as a result of ac line fault inception are significantly higher than those as a result of dc line fault inception. The ac line fault clearing and the dc line de-energization do not have noticeable amplification impacts on the

amplitudes of shaft transient torques imposed by fault inceptions. Successful reclosure of the ac line results in dramatic increase in the amplitudes of the shaft torques. To the contrary, the dc line re-energization has a relatively small impact on the amplitudes of shaft torques.

3.2

CASE 2 :

Fault at Receiving End

Figure 6 shows transient torques of the T-G set as a result of a fault at the receiving end of line T1 of the HVdc system (Fig. 3). Initial conditions and the disturbance sequence are the same as those of Case 1. Figure 7 shows transient toques of the T-G set as a result of a three-phase fault and its subsequent switching incidents at the receiving end of line T1 of the HVac system (Fig. 1). Initial conditions and the fault sequence are the same as those of Case 1. Comparison of Figs. 6 and 7 results in similar conclusions derived from the comparison of Figs. 4 and 5 which are stated in Section 3.1

3.3

CASE 3 : Impact of Fault Location

As compared with Fig. 4, Fig. 6 shows that when the dc line fault occurs at the receiving end, the maximum magnitudes of shaft transient torques are smaller. However, the differences are insignificant. To the contrary, comparison of Figs. 5 and 7 shows that when the location of the ac line fault is at the sending end of the line, the maximum stresses imposed on the shaft segments are considerably higher.

1460
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Figure 7: Transient torques of the T-G set as a result of HVac line fault (receiving end), fault clearing, and successful reclosure (a) Generator output power (b) G-EXC shaft torque (c) LPB-G shaft torque (d) LPA-LPB shaft torque Figure 8 shows the maximum peak torque imposed on the shaft section LPB-G as a result of HVac and HVdc line faults, for different fault distances. In Fig. 8, "fault distance" is defined as: (Fault Distance)%=(Distance from the Sending End/Line Length)(100) Figure 8 clearly shows that the maximum peak stress imposed on

DisMbaar I)arptim(s) Figure 10: Impact of HVac disturbance duration on the maximum peak torque of LPB-G shaft section (a) Generator initial loading 1.O per unit (b) Generator initial loading 0.50 per unit the shafi section as a result of the dc line fault is not sensitive to the fault location. To the contrary, the location of the ac line fault has a deterministic impact on the maximum peak torque imposed on the shaft sections. The closer the ac fault location is to the T-G set, the higher torsional stresses are imposed on the T-G shaft. It should be noted that the latter conclusion is not necessarily valid if the ac transmission system is equipped with series capacitors.
3.4

CASE 4:

Impact of Disturbance Duration

5 A-h

Figure 9 shows the maximum peak torque imposed on the shaft section LPB-G as a result of a fault at the sending end of HVdc line T i (Fig. 3) and its subsequent switchings, when the overall disturbance duration is varied from 0.20 (12 cycles) to 0.50 (30 cycles) seconds. The HVdc disturbance duration is defined as the time interval between the instant of fault inception to the instant that re-energization process starts. Figure 9 indicates that the duration of HVdc line disturbance does not have any noticeable impact on the maximum peak torque. Figure 9 also indicates that the pattern of variation of maximum peak torque versus disturbance duration is not noticeably affected by the generator initial loading. Figure 10 shows the effect of a three-phase fault at the sending end of HVac line T I (Fig. 1) and its subsequent line clearing and successful reclosure on the maximum peak torque experienced by shaft section LBP-G. The disturbance duration, which is the time interval between the instant of fault inception and the reclosure instant, is varied from 0.30 (18 cycles) to 0.70 (42 cycles) seconds. Fault duration is kept constant at 0.05 (3 cycles) seconds. Figure 10 clearly indicates that the disturbance duration has a significant impact on the maximum stress imposed on LBP-G. Figure 10 also shows that not only the maximum transient stress, but also its pattern of variation versus disturbance duration is heavily dependent upon the generator initial loading condition.

10

20

30

40 50 60 Pa& Dishoce (96)

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100

70

80

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Fgure 8:

Impact of fault location on the maximum peak torque of shaft section LPB-G (a) HVdc line fault (b) HVac line fault

1461
disturbances impose less severe transient torsional stresses when compared with HVac line disturbances.
A fault on a two-terminal dc link is followed by temporary increase and decrease of the direct current at the rectifier and inverter stations respectively. A sudden rise in rectifier direct current results in a sudden increase in its alternating current components, which is analogous to the effect of an HVac fault with respect to the rectifier-side generator. Thus, the HVdc line fault initiates transient torsional stresses of the T-G shaft system. Sudden increase in the rectifier direct current as a result of the dc line fault is limited by the rectifier current controller (CC), which attempts to bring the current back to the prefault value through direct voltage reduction. Consequently, increases in the rectifier alternating current components are also limited by the CC. Therefore, shaft transient torsional torques initiated by a dc line fault inception are less severe when compared to those due to an ac line fault inception. The inverter current regulator is also activated by the dc line fault and attempts to increase the inverter direct current to the set value by reducing the inverter direct voltage.

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Figure 11 Transient torques of the T-G Set as a result of a double pole to ground fault at the St3nding end (a) GI-EXCshaft t 0 r W (b) LPB-G shaft torque (c) LPA-LPB shaft torque
3.5

CASE 5:

Impact of Rectifier Current Control

An ac line fault is cleared by opening both end circuit breakers (i.e. 2 to 5 cycles after fault inception) at current zero crossings. A dc line fault is cleared by changing the mode of operation of the rectifier station, and operating both converter stations as inverters to de-energize the dc line and extinguish the fault arc. HVdc line fault clearing through valve firing angle control is accomplished faster than HVac fault clearing. HVdc line de-energization reroutes part of the energy stored in the dc line to the T-G set and contributes to the rotor acceleration. Our investigationsshow that similar to an ac line fault clearing, a dc line de-energization does not have significant impacts on the shaft transient torques. Thus, the torsional impact of a dc line fault and the following deenergization is less severe than that of an ac line fault and the subsequent fault clearing.
A dc line must remain de-energized long enough (about 0.2 to 0.5 second) for the arc path to be sufficiently deionized to withstand normal operating voltage. Automatic re-energization of a dc line is analogous to an automatic high speed reclosure of an ac line. HVdc line re-energization is carried out in a controlled manner though the firing angle control of the rectifier and the inverter valves, and direct current and voltage are gradually restored to their pre-fault (or some other pre-determined) values. Therefore, rectifier alternating current components also gradually build up and the ac side does not experience rapid and drastic current changes. Consequently, in contrast to a HVac line automatic reclosure, HVdc line re-energization does not impose high amplitude transient torques on T-G shaft segments,

The destabilizing impacts of converter station controls on smallsignal torsional oscillations of T-G sets is very well known [9, IO]; however, their effects on transient torsional stresses have not been investigated. The current controls of both rectifier poles of Fig. 3 were deliberately tuned to make the first torsional mode of the generator unstable during small signal dynamics. Initially, the real part of the eigenvalue corresponding to the first mode was -0.42(lkecond), then by tuning the current control, it was changed to +0.15 (lkecond). Subsequently, the system was subjected to large signal disturbances described in previous sections. The study results indicate that the small-signal destabilizing effect of the rectifier current control does not have any considerable impact on the shaft transient torsional torques within the first two seconds after the fault inception.
3.6

CASE 6:

Double Pole to Ground Fault

Figure 11 shows the transient shaft stress of the T-G set when both HVdc poles are simultaneously subjected to a fault at the sending end. Fault inception is at kO.9 second. Both poles are independently controlled. The fault is cleared by de-energization of both poles. An attempt is made to re-energize both dc lines independently at k1.25 second. Positive pole is successfully reenergized; however, the fault on the negative pole persists and its re-energization is unsuccessful. After another 0.20 seconds (12 cycles) at f=l.453,the second re-energization attempt is made and the negative pole is successfully re-energized. As compared with Figures 4 and 6, Figure 1 1 indicates that significantly higher transient stresses are imposed on the shaft segments. However, when compared with Figures 5 and 7, Figure 1 1 shows noticeably less severe transient torsional torques.

If a dc line fault is permanent or if the fault arc restrikes, line reenergization is rapidly interrupted by the converter controls without noticeable adverse impact on the shaft torques. To the contrary, an unsuccessful reclosure of a HVac line results in severe shaft transient torsional torques. Two or more reenergization attempts with different dead time intervals can be made to restore a HVdc line after a fault. In practice, HVdc links are bipole systems and the poles are controlled independently. When one pole is subjected to a fault, through fast HVdc controllers, the sound pole is controlled to carry its rated power or temporarily overloaded to compensate for the faulty pole. In any case, due to the characteristic of the dc system, a T-G set located at the rectifier side does not experience severe swings. To the contrary, an ac line fault and fault clearing are followed by oscillatory power exchange between the T-G set and the system through the sound line($. This oscillatory energy exchange is accompanied by high amplitude low frequency (0.6 2 Hz) rotor switchings. If reclosure of the faulty line occurs at an unfavourable instant (i.e. about the peak of a swing) the shaft sections will be subjected to extremely high transient stresses.

3.7

Discussion the line reline

This section provides a qualitative explanation of phenomenon of transient shaft torques as a result of HVdc faults, and their subsequent line de-energization and energization incidents. This section explains why HVdc

Controlled sequential interruption and reclosure of HVac lines

1 1 6 1 and supplemental power modulation of HVdc links are

possible options to reduce adverse torsional impacts of HVac line faults and HVdc line faults respectively. Controlled sequential

1462 interruption and reclosure can reduce peak torsional stresses of ac line faults about 25%. However, based on our simulation studies, such a countermeasure cannot reduce the shaft stresses below those stresses imposed by HVdc line faults. An HVdc line fault and its subsequent control actions during monopolar mode of operation results in noticeably higher torsional stresses as compared with the torsional impact of the same disturbance during bipolar mode of operation. This paper attempts to investigate torsional stresses as a result of comparable ac line and dc line faults, thus, the HVdc monopolar operation , Fig. 2, should be compared with the ac system, Fig. I , when only one line is in service. Simulation studies indicate that for these scenarios, a three-phase ac line and its subsequent switching incidents impose significantly higher shaft stresses as compared to those as a result of dc line fault and the following control actions. In practice (1) HVdc links operate under bipolar condition, and (2) large generating stations are connected to power grids through two or more parallel HVac lines. Thus probability of exposing T-G shaft segments to transient torques during monopolar HVdc operation or single three-phase ac line operation is very l o w and the simulation results are not reported in this paper. pp. 1357-1370, JUly/AUg. 1980. J.V. Mitsche, P.A. Rusche, "Shaft Torsional Stress Due to Asynchronous Faulty Synchronization", IEEE Trans., Vol. PAS-99, No. 5, pp. 1864-1870, Sept./Oct. 1980. IEEE SSR Working Group, "Third Supplement to a Bibliography for the Study of Subsynchronous Resonance Between Rotating Machines and Power Systems", IEEE Trans., Vol. PAS-6, No. 2, pp. 830-834, May 1991. M.R. Iravani, "A Method for Reducing Transient Torsional Stresses of TurbineGenerator Shaft Segments", IEEE Trans., Vol. PWRS-7, No. 1, pp. 20-27, Februaty, 1992. M. Bahraman, E.V. Larsen, R.J. Piwko, H.S. Patel, "Experience with HVdc-Turbine-Generator Torsional Interaction at Square Butte", IEEE Trans., Vol. PAS-99, pp. 966-975, 1980. M.R. Iravani, Z. Zhao, R.M. Hamouda, "Impact of Inverter Station on Torsional Dynamics of Parallel HVdc-ac Power Systems", IEEE PES Summer Meeting 1992, paper 92 SM-409-3-PWRS. H. Stemmler, "HVdc Back-to-Back lnerties on Weak AC Systems n-n Second Harmonic Problems n-n Analyses and Solutions", paper 300-08, ClGRE Symposium, 1987 Boston. A.E. Hammad, "Eigenvalue and Frequency Domain Analysis of Second Harmonic Resonance in a Complex AC/DC Network", presented at the Panel Session on Eigenvalue and Frequency Domain Method for System Dynamic Performance, IEEE PES Summer Meeting, 1990 H.L. Nakara, L.X. Bui, D. Soulier, P. Czech, "Stresses on Generators Feeding HVdc Link Inverter Bus", IEEE Trans., Vol. PAS-102, No. 6, pp. 1633-1636, June 1983. Manitoba HVdc Research Centre, "EMTDC User's Manual", Winnipeg, Manitoba, Canada. M.R. Iravani, "Torsional Oscillations of Unequally-loaded Parallel Identical Turbine-Generators", IEEE Trans., Vol. PWRS-4, No. 4, pp. 1514-1524, October,l989. A.M. El-Serafi, S.O. Faried, "Effect of Sequential Reclosure of Multiphase System Faults on TurbineGenerator Shaft Torsional Torques", IEEE Trans., Vol. PWRSB, No. 2, pp. 1380-1388, May 1991.
APPENDIX A

4.

CONCLUSIONS

This paper investigates the impacts of HVdc line fault, line deenergization, and line re-energization on transient torques imposed on the shaft section of steam turbine-generator units. The studies are conducted on a bipole HVdc system which connects a turbine generator set to the equivalent of a large ac system. For the sake of comparison, shaft transient torques of the turbine-generator as a result of three-phase fault, fault clearing, and automatic reclosure are investigated when the bipole HVdc is replaced by a double line HVac system. The studies are conducted based on digital time-domain simulation methods, using the EMTDC program. The investigations conclude that: Shaft transient stresses as a result of dc line fault, line deenergization, and line re-energization are significantly less severe than those as a result of ac line fault, fault clearing, and automatic reclosure. For the systems under investigation, the shaft transient stresses as a result of dc line fault and its subsequent switching process are not severe enough to reduce the shaft life-time. The maximum peak torques imposed on the shaft system as a result of a dc line fault and its subsequent planned switching actions are not sensitive to the fault location and the disturbance duration.
5.
1 11

[I 31

1161

. .

HVac System Data A.l Turbine-Generator

The T-G set of Fig. 1 is the equivalent of three identical 26 kV, 892.4 MVA T-G sets. Electro-mechanical data of each T-G set based on 892.4 MVA, 26 kV base values is:
X , =1.790 PU X:=O.169 PU x,"=o.135 pu X , =0.130 PU HHp= 0.092897 PU HLpB = 0.884215 PU HHP+ = 19.303 PU K,.p-/p = 19.303 PU KLPB-G = 70.858 PU

REFERENCES

P I
1 3 1

1 4 1

[ 5 1

A. Abolins, D. Lambrecht, J.S. Joyce, L.T. Rosenberg, "Effect of Clearing Short Circuits and Automatic Reclosing on Torsional Stress and Life Expenditure of TurbineGenerator Shafts", IEEE Trans., Vol. PAS-95, No. 1, pp. 14-25, Jan/Feb. 1976. IEEE SSR Working Group, "Reader's Guide to Subsynchronous Resonance", IEEE Trans., Vol. PWRS-7, No. 1, pp. 150-157, Februaty 1992. J.S. Joyce, T. Kulig, D. Lambrecht, "Torsional Fatigue of Turbine-Generator Shafts Caused by Different Electrical System Faults and Switching Operations", IEEE Trans., Vol. PAS-97, No. 5, pp. 1965-1977, SeptJOct. 1978. C.E.J. Bowler, P.G. Brown, D.N. Walker, "Evaluation of the Effect of Power Circuit Breaker Reclosing Practices on Turbine-Generator Shafts", IEEE Trans., Vol. PAS-99, No. 5,pp. 1764-1779, Sept./Oct. 1980. I.M. Canay, H.J. Roher, K.E. Schnirel, "Effect of Electrical Disturbances, Grid Recovery Voltage and Generator Inertia on Maximization of Mechanical Torques in large Turbogenerator Sets", IEEE Trans., Vol PAS-99, No. 4,

X,=1.710 PU TA74.300 S X i =0.228 PU TG = 0.032 S x,"=0.200 pu T& =0.850 S fa =O.OOl pu TG =0.050 S HIP= 0.155580 PU H L p A =0.858570 PU HG = 0.868495 PU H,, = 0.03421 6 PU H,p-wA = 34.920 pu HLpA-LpB =52.038 PU Kjp-~p = ~34.920 PU KLPA-L~B = 52.038 PU KG-Exc = 2.822 PU

All self and mutual dampings are assumed to be negligible. A.2 Transformer

26/515 kV, 1375 MVA, X ~ 0 . 1 3 pu, R ~ 0 . 0 0 5 pu A.3 Transmission Line

X~zO.32 pu, R~=0.005PU (MV&=1375, kVb=515) In reality, each transmission line is equipped with series capacitors and the above value of XL is the net series reactance of each line.

1463
W. Shi was born in Jiangsu, People's Republic of China in 1941. He graduated in Electrical Engineering in 1965 from Xi'an Jiaotong University, China. He started his research and teaching career in 1965 at Xi'an Jiaotong University, where he is presently an associate professor. He spent two years (1980-81) at the University of British Columbia, Canada, investigating power system overvoltages. Since July 1991, he has been at the University of Toronto as a visiting scientist. His fields of interest are high voltage techniques and power system ovewoltages.

lravani (M85) received his B.Sc. from Polytechnique University, Tehran, and M.Sc. and Ph.D. degrees from the University of Manitoba, Canada; all in electrical engineering, in 1975, I981 and I985 respectively, Presently, he is an associate professor in the Department of Electrical Engineering at the University of Toronto, Canada. His research interest are in the areas of power electronics and power system dynamics.
M.R.

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Discussion
T.J. Hammons and J.J. Bremner (Glasgow University, Glasgow G12 8QQ,.Scotland, UK): The Authors are to be commended on their investigations into the effect HVDC line faults have on transient shaft torques in turbine-generator shafts. The Discussors fully agree with the Authors that transient shaft torques which result from a worst-case DC line fault with de-energisation and line re-energisation are significantly less onerous than those which result from a severe AC system disturbance on a line which is electrically close to the HV generator busbar with clearance [A]. DC line faults are less onerous than AC system faults on account of DC line faults being cleared by changing the mode of operation of the rectifier station and operating both converter stations as inverters to de-energise the DC line and extinguish the fault arc. HVDC line fault clearing through valve firing angle control is fast, and the currents to which the generator is subjected are significantly less onerous than those which result from a close-in 3-phase AC disturbance cleared by line disconnection at fault current zeros. It should be noted that recent experience with shaft torsional monitors has shown that of 144 events recorded up to January 1991, 24 were attributable to HVDC line operations, 27 to unit tripnoad rejection, 18 to synchronizing, 42 to system faults, 14 to line clearing, 11 to remote disturbances, and 8 miscellaneous/unclassified. A handicap was that the design of the routine to analyse the recorded HVDC line disturbances made no provision for the parameters and configuration or operations of HVDC lines. Although disturbances at HVDC converter stations generally result in less onerous shaft torques than those which follow AC system disturbances, incidence of HVDC converter station disturbances is significantly higher. The stressing and possible fatigue life expenditure of turbine-generator shafts in close proximity to HVDC converter stations should therefore be investigated although life fraction expended per event is much less onerous. The phenomenon of transient torques following a DC line fault with line de-energisation and line re-energisation is a function of the converter control system in addition to fault location and the disturbance duration with subsequent planned switching actions. It would appear the same converter control system has been employed for all comparative studies which have been undertaken by the Authors. Could the Authors indication how reasonable variation of the HVDC controller parameters might impact on peak shaft torques following incidence and clearance of a DC line disturbance? It should be noted that ripple currents on the DC side of both HVDC synchronous and asynchronous links can, in some circumstances, also excite onerous torsional vibrations in large steam turbine-generator shafts. A consequence of operating rectifier and inverter stations asynchronously is that small amounts of harmonic currents will be injected into the AC system during normal steady-state operation of the Link. These currents have frequencies that are not integer harmonics of the system supply frequencies, and can be above or below the system supply frequency. It can be shown that two types of frequency component exist in the asynchronous operation of converters, namely i) the sum, and (ii) the difference terms. Small deviations in system frequency for 60Hz/60Hz, 50Hz/50Hz or 50Hz/60Hz systems etc can give modulation product harmonic currents injected into the AC system that could excite oscillations corresponding to rotor torsional vibration frequencies of the Machine [A]. The amplitude of these oscillations is proportional to the steady state torque excitation which acts on the generator rotor due to the injected stator currents, and the time constant at which the torsional vibration decays. The oscillations which result from realistic DC Link ripple currents may give rise to onerous turbine-generator-exciter shaft torques if the time constant for decay of the vibration is large.

A dilemma is that it is difficult to evaluate the time constant for decay of the vibration with precision if modal damping is small. Torsional stressing of turbine-generator-exciter shafts by variable frequency currents superimposed on the DC current in asynchronous links is examined in Reference [A]. Auto-reclosure following a severe AC system disturbance with clearance may give rise to unacceptable turbinegenerator shaft torques. Auto-reclosure should not be used following severe 3-phase AC system disturbances on account of likely life fraction expenditure of the shaft. The Authors' comments on excitation of onerous shaft torsional vibrations by variable-frequency DC ripple currents and on auto-reclosure following severe AC system events would be appreciated. REFERENCE [A] T.J. Hammons and J.J. Bremner. "Torsional Stressing of Turbine-Generator-Exciter Shaft by Variable Frequency Currents Superimposed on the D C current in Asynchronous Links and following Disturbances at HVDC Converter Stations". Proceedings 28th Universities Power Engineering Conference, Staffordshire University, UK, September 20-23 1993, pp.344-348.
Manuscript received August 9, 1993.

W. Shi and M.R. Iravani: We would like to thank Professor Hammons and Mr. Bremner for their interest in the paper and their comments.
The discussers question the impact of HVDC controller parameters on the peak shaft torques. Our investigations indicate that based on detailed representation of HVDC controllers including nonlinear functions and realistic limits, similar to the controller model used for the reported studies, the peak shaft torques calculated from the simulation studies are not sensitive to the controller parameters. The statement is particularly true if the turbine-generator set, e.g. that of the first IEEE benchmark model, is sensitive to the system transients and experiences large amplitude shaft stresses. In principle we agree with the discussers that variable-frequency DC ripple currents can excite torsional oscillatory modes of Turbinegenerator-exciter sets. However, the amplitudes of these oscillations are very small and practically are well damped out, unless they are reinforced by the HVDC converter controllers. Both rectifier and inverter controllers can destabilize torsional oscillations which are originally excited either by the controller themselves or by variable-frequency DC ripple currents. We have not investigated torsional oscillations as a result of variable-frequency DC ripple currents, but these oscillations can also be mitigated based on modified HVDC controllers. We also agree with the discussers' comment that auto-reclosure may give rise to unacceptably high shaft torques, particularly in series compensated transmission systems. The reason that we have investigated auto-reclosure in our studies is that a DC link reenergization is conceptually analogous to an AC link auto-reclosure. Thus, comparison of peak shaft torques as a result of the two incidents reveals the relative impacts of AC line and DC line transients on the shaft segments.
Manuscript received October 5, 1993.