POWER SYSTEM STABILITY

POWER SYSTEM STABILITY

Property of the power system that
enables it to

remain in state of operating

equilibrium under normal condition

regain an acceptable state of

equilibrium after being subjected to a
disturbance
POWER SYSTEM STABILITY
POWER SYSTEM STABILITY
Traditionally,
Stability maintaining synchronism
Power System rely on Syn. M/cs for electricity generation

Therefore, maintaining Synchronism is major condition for

stable operation

Thus, stability of system is affected by

Dynamics of generator rotor angle Equation of motion
Power angle relationship Relationship of electrical
quantities.

Stability can also be lost without loss of synchronism. !g"

#oltage instability, where $oltages %eeps on sin%ing with
operator not able to arrest it.
POWER SYSTEM STABILITY
POWER SYSTEM STABILITY

Steady State Stability

&hec% using load flow e$aluation

across transmission lines '(( )*deg+
,us #oltages '*.-. ( # ( /.*.+
0enerator, Tr. 1ines, Transformers, within specified P,2,#,3

4lso do incremental changes around operating points to

ascertain the sensiti$ities.
POWER SYSTEM STABILITY
POWER SYSTEM STABILITY

Transient Stability

&hec% for major disturbances

1oss of generators
faults
1ine switching
1oad shedding

5bjecti$es to ascertain the machines return to new

steady state power angles

6irst Swing stability 't (( /.* Secs+

assumptions Pm, !q const., 7& offsets 8 harmonics are
ignored

Multi"swing stability 't 99 /.* secs+

Then details of go$ernors, e:citation systems ha$e to be
included+
POWER SYSTEM STABILITY
POWER SYSTEM STABILITY

Dynamic Stability

!:tends from few secs to few minutes

!ffects also include

0o$ernors

!:citers

1T& transformers
7ispatch/S&474 controls

3nteractions of abo$e control elements can destabili;e

system e$en though it is stable under transient
conditions.
POWER SYSTEM STABILITY
POWER SYSTEM STABILITY
!$aluation of stability concerns beha$ior of
system when subjected to DISTUR!"#E

Small disturbances in form of load changes

1arge disturbance loss of line, unit etc.

6aults of $arious types

System response to disturbance in$ol$es many
equipment, a fault on line and its subsequent
loss causes $ariations in

Power flow 0enerator controls

Speed actuate go$ernors, changes in load

#oltages actuate 4#<s, 1oad changes

7
$ccurrences of E%ents &ollowing Disturbance
$ccurrences of E%ents &ollowing Disturbance
Synchronous Machines
Synchronous Machines
Synchronous M/cs ha$e two essential elements

6ield =dg normally pro$ided on <otor

!:cited by 7&, when dri$en by prime mo$er establishes
rotating magnetic field
This induces 4& $oltages in 4rmature wdg whose frequency
and magnitude would depend on the speed

4rmature =dg. normally pro$ided on Stator

Spatial arrangement is such that the 4& current flowing
through it produces rotating magnetic field
The abo$e fields interacts and due to tendency to align with
each other electro"mechanical torque is produced.
3n generator this torque opposes the rotor, so mech. 3nput
must be applied to sustain rotation.
>nder steady state, there is an angular separation between
these fields though they are rotating at same speed
Synchronous Machines
Synchronous Machines
Stability is a condition of !quilibrium bet opposing forces
<estoring forces 4cc or 7e"4cc forces
Under Equilibrium, input mechanical torque ? 5utput
!lectrical torque and speed is constant.
Under Disturbance, equilibrium is upset causing acc
n
or
deacc
n
of rotor according to laws of motion.
Machine running at higher speed tends to share more
load and hence increasing angular separation.
,eyond certain limit, increase in ang. sep. reduces
electrical output hence leading to instability.
TRANSFER OF ACTIVE & REACTIVE POWER
TRANSFER OF ACTIVE & REACTIVE POWER
S R Line
Es Er 0

,
_

,
_

,
_

,
_

,
_

+

+

X
Er ErEsCos
j
X
ErEsSin
X
jEr EsSin jEsCos
Er
jX
Er jEsSin EsCos
Er
jX
Er jEsSin EsCos
Er
I Er jQr Sr
2
*
) ( ) (
) ( ) (
) ( ) (
) ( ) (
Pr




For small values of , sin( )=

Cos( )=1
X
Er Es Es
Qs
X
Er Es Er
Qr
X
EsEr
) (
) (
Pr

P & are closely coule!
" & V are Closely coule!
S#ea!y S#a#e S#a$ili#y
S#ea!y S#a#e S#a$ili#y
0
0.1
0.2
0.3
0.
0.!
0."
0.7
0.#
0.$
1
0 20 0 "0 #0 100 120 10 1"0 1#0
%oo &i'& Pm
() Pm
Pema*= E'*Em+,
For s-ea./ S-a-e s-a0ili-/ Pm 111 Pe(ma*)
2s Pe(ma*) 3ores4on.s -o =$0,
-&erefore, o05e3-ive is -o 6ee4 111 $0
To increase s#a$ili#y
7
8n3rease E', Em
7 Re.u3e , -&orou'& measures li6e
7 Parallel lines
7
Series 3om4ensa-ion
7
Even S&un- 3a4a3i-ors also &el4s
5,+2
5,+2
5,3
Trans%er I& ' ( )* + *
,
-.*c/
12
7
9n.er s-ea./ S-a-e Pm = Pe, %m = %e 0u- for
7
Loss of line, faul-, loa. e-3 re.u3es Pe :&ile Pm s-a/s 3ons-an-, Pa33=Pm;
Pe :oul. a33elera-e -&e ro-or
7
Loss of 'enera-or ma6es Pe < Pm, Pa33=Pe;Pm :oul. .ea33elera-e -&e
o-&er 'enera-ors in -&e s/s-em
7
(s3illa-ions of ma3&ines :i-& res4e3- -o ea3& o-&er is 3alle.
S=8>?
Transien# S#a$ili#y
Transien# S#a$ili#y
T&
W
r&
BW
r&
?overnor
E*3i-ers
Te
13
7
2..in' @e-ails of Ao.el
7
?overnor ; measures freBuen3/ an. in3reases Pm if f 11 !0 CD E vi3e
versa
7
E*3i-ers F Aeasures G- an. in3reases 8f if G- 11 1.0 4u E vi3e versa
7
PSS
7
Fas- Galvin'
7
SPR
7
S:i-3&e. Ca4a3i-ors F SGC, %CSC e-3
7
%o in3rease %ransien- s-a0ili-/
7
Aa6e 'enera-ors :i-& lar'e value of C
7
Re.u3e Pm .urin' faul-s (fas- valvin', 'overnors )
Transien# S#a$ili#y
Transien# S#a$ili#y
1
7
%o as3er-ain &o: a .is-ur0an3e affe3-s one 4ar-i3ular A+3, res- of
-&e s/s-em 3an 0e a44ro*ima-e. as a re.u3e. ./nami3 eBuivalen-
Transien# S#a$ili#y
Transien# S#a$ili#y
E
B
E
%C
5,H
.
5,
%C
8
G
-
7
8n a -ime :in.o: of - 11 1 Se3s
Pm=3ons- an.
Pe=(EBE-&+,)*Sin
2
2
t
M P P P
e m a

0
0.1
0.2
0.3
0.
0.!
0."
0.7
0.#
0.$
1
0 20 0 "0 #0 100 120 10 1"0 1#0
s n
7
From s,
7
if in3rease .
2
+.-
2
1 0 (Pm1Pe)
.e3reases
7
if .e3reases .
2
+.-
2
< 0
(Pm<Pe) in3reases
1!
7
0o1 !o 1e 2no1 i% s1in3s as# 4 5
7
Solu#ion lies in sol6in3 S1in3 e7ua#ion
Transien# S#a$ili#y
Transien# S#a$ili#y
7
For -=0I Ro-or a33elera-es
7
Rea3&es -2
7
@e3elera-ion s-ar-s
7
(s3illa-es a0ou- -2
7
>o 3&an3e -o main-ain s-a0ili-/
of s:in's 4as- 3
0
0.1
0.2
0.3
0.
0.!
0."
0.7
0.#
0.$
1
0 20 0 "0 #0 100 120 10 1"0 1#0
' ( ) *
P&,
P&8
1"
Swing Equation
Swing Equation
Equal !rea #riteria
6or the simple system, solution of swing
equation is not necessary

6or stable operation, speed 'time deri$ati$e of

angle+ must be bounded say between

This requires speed to reach ;ero after

disturbance

Thus criteria for stable operation is

,
_

0
2
2
* 2 ,
2
2
2
2
2
2
2
a
a
a a
o i a
P
M t
t M
P
t t
M
P
t t M
P
t
or
P P
t
M P
0
0

a
P
17
POWER 9 AN:LE C;RVE
0
0.1
0.2
0.3
0.
0.!
0."
0.7
0.#
0.$
1
0 20 0 "0 #0 100 120 10 1"0 1#0
a
b
c
d
e
f
Response during a short #ircuit &ault
Elementary +iew of Transient stability
Elementary +iew of Transient stability
Pre,&ault
Post &ault
$n &ault
1#
POWER 9 AN:LE C;RVE
0
0.1
0.2
0.3
0.
0.!
0."
0.7
0.#
0.$
1
0 20 0 "0 #0 100 120 10 1"0 1#0
a
b
c
d
e
f
Response during a short #ircuit &ault
Elementary +iew of Transient stability
Elementary +iew of Transient stability
Pre,&ault
Post &ault
$n &ault
1$
FACTORS INFL;ENCIN: TRANSIENT
FACTORS INFL;ENCIN: TRANSIENT
STABILITY
STABILITY

@ow hea$ily 0enerator is loaded

The generator output during fault

The fault clearing time

The post fault transmission system ABC

The generator ABC, 'low ABC, more APC

consequently low Ainitial rotor angleA

The generator A@C, '@igh A@C, slower rate of

change of rotor angle consequently, lesser
energy gained during fault+

The generator internal $oltage '!+, depends on

field e:citation.
20
Transient Stability #riteria
Transient Stability #riteria

&ontingency of 5utage of Single largest unit in

the system

S10 fault on transmission line close to bus

DE. %# line " Temporary S10 fault

'SPS of faulted phase in /** msecs 8 sucessful reclosure F
dead time / secs+

G** %# S/c line " Permanent S10 fault

'SPS of faulted phase in /** msecs 8 un"sucessful reclosure
followed by ) phas opening in /** msecs F dead time / secs+

G** %# 7/c line " Permanent S10 fault when

both circuits are in ser$ice and Temporary
S10 fault when one of the circuit is out.
21
Transient Stability #riteria
Transient Stability #riteria

HH* and /)H %# Ietwor% " ) phase fault with

fault clearing time of /E* Msecs, J &ycles.

6ault in con$ertor station resulting in permanent

outage of one pole.
22
ST!I-IT. STUDIES SI/U-!TI$"
ST!I-IT. STUDIES SI/U-!TI$"

The networ% and pre"disturbance data is ta%en

from 1oad flow file

0enerators in dynamic situation can no longer

be represented as P#,

0enerator should be represented by a the$nin

Source in series with sub"transient reactance

1oads K Io longer be treated as constant P2,

they should be combination of constant current
and admittance

Io swing bus necessary as the solution does

not calculates networ% $oltages with respect to
slac% bus
23
0uide lines for chec1ing 0enerators
0uide lines for chec1ing 0enerators
Dynamic Data
Dynamic Data

<eactance, Time constants, Saturation data and

3nertia &onstant $alues are important in
determining

3nitial condition of 0enerator

Subsequent iteration during simulation

2d 3 2q 3 2q4 3 2d4 3 2d5 3 2
-

2d4 3 6.7 8 2d

' 9 Td64 9 '6

S:'.6; 9 S:'.);

' 9 < 9 '6

2
Typical %alues 0enerators Dynamic Data
Typical %alues 0enerators Dynamic Data
<ound <otor Salient Pole
'Thermal+ '@ydro+
2q => ? @7?
2d4 '7 ? *7 ?
2q4 )7 ? ,
2d5A2q5 ''? )7?
2
-
7? '6?
Td64 7 Secs 7 Secs
Td65 6.67 Secs 6.67 Secs
VOLTA:E STABILITY
VOLTA:E STABILITY

4bility of the power system to Maintain acceptable

$oltages at all the buses under condition steady State
and after being subjected to disturbances

7rop of $oltages in rotor angle instability is one of the

effect while in A#oltage StabilityC loss of $oltages is the
heart of the problem.

System enters state of A#oltage instabilityC causes a

progressi$e and uncontrollable decline of $oltages.

The main cause of #oltage 3nstability is the inability of the

system to maintain reacti$e power balance
VOLTA:E STABILITY
VOLTA:E STABILITY

Problem of #oltage 3nstability is associated with

the transfer of !#TI+E B RE!#TI+E P$CER
o$er a <I0<-. I"DU#TI+E "ETC$RD.

Stability problems occur in a <E!+I-.

STRESSED "ETC$RD with primary underlying
I"<ERE"T CE!D"ESS in the system
TRANSFER OF ACTIVE & REACTIVE POWER
TRANSFER OF ACTIVE & REACTIVE POWER
S R Line
Es Er 0

,
_

,
_

,
_

,
_

,
_

+

+

X
Er ErEsCos
j
X
ErEsSin
X
jEr EsSin jEsCos
Er
jX
Er jEsSin EsCos
Er
jX
Er jEsSin EsCos
Er
I Er jQr Sr
2
*
) ( ) (
) ( ) (
) ( ) (
) ( ) (
Pr




For small values of , sin( )=

Cos( )=1
X
Er Es Es
Qs
X
Er Es Er
Qr
X
EsEr
) (
) (
Pr

P & are closely coule!
" & V are Closely coule!

G** %# Tr. line of H** %ms 'B?*.*G pu+

transferring power

Say $oltage gradient of /*L is maintained

!s ? G** %# '/.* pu+ !r ? )E* %# '*.- pu+

6or such a substantial gradient we might

e:pect large reacti$e power transfer
TRANSFER OF ACTIVE & REACTIVE POWER
TRANSFER OF ACTIVE & REACTIVE POWER
X X
Qr
X X
Qs
Cos
03 . 0 $ . 0 #"" . 0 $ . 0 1
22 . 0 #"" . 0 $ . 0 1 1
#"" . 0 ) 30 (
2
2

Transmission line has become sin% of

<eacti$e power

6or eg. 4ssume !s ? G** %# '/.* pu+

!r ? )E* %# '*.- pu+
1ine length ? H** %ms 'B?*.*G pu+
TRANSFER OF ACTIVE & REACTIVE POWER
TRANSFER OF ACTIVE & REACTIVE POWER

P Es Er
/. .JH )HD /GJ
H. -.* GE/ /G
)* //HG ../ "DE
). /H-* E.D "/JH

<eacti$e just cannot be transmitted o$er

large power angles e$en with substantial
$oltage gradients

Therefore, the reacti$e power transfer needs

to be minimi;ed as it causes

Substantial $oltage drop from sending end to

recei$ing end.

3ncreased losses

@igh dynamic o$er $oltage

TRANSFER OF ACTIVE & REACTIVE POWER
TRANSFER OF ACTIVE & REACTIVE POWER
V
X
j
V
Qr X
V
V
jQr
jX V I jX V Eth
Pr
0
Pr
0

+ +
S Loa. Line
E-&

G 0
%&e vol-a'e -erm in
4&ase :i-& vol-a'e
.e4en.s on J
FACTORS INFL;ENCIN: VOLTA:E
FACTORS INFL;ENCIN: VOLTA:E
STABILITY
STABILITY

0enerator reacti$e power and $oltage control

limitations.

1oad &haracteristics

7istribution System #oltage regulatorsF tap

changers

&haracteristics of power compensating de$ices

PRACTICAL ASPECTS OF VOLTA:E
PRACTICAL ASPECTS OF VOLTA:E
STABILITY
STABILITY

=hen a power system is subjected to sudden

increase of reacti$e power demand following
contingency

The additional demand is met thru reacti$e power

reser$es carried by 0enerators and compensators

0enerally there is sufficient #4< reser$es and

system settles to a stable $oltage le$el.

@owe$er, if it does not then additional demand may

lead to $oltage collapse.
33
#oncepts of &eedbac1 #ontrol System
#oncepts of &eedbac1 #ontrol System
&? 0c0p < M 0p u
'/M0c0p@+ '/M0c0p@+
6eedbac%

<educes the effect of disturbances 8 drifts in the

steady state

&auses rapid response to

&hanges in reference

&ounteract the effects of load disturbances

?4
C
R
C
?3
u
m
;
I
;
I
3
#losed -oop B $pen -oop time responses
#losed -oop B $pen -oop time responses
&losed 1oop Shortens the time constant and
thereby speeds up the response
1
(1Is%oH
G
ref
e
-
)

Ef.
;
I
) 1 (
K
) 1 (
1
K
sTdo
K
K
GH
G
V
e
ref
t
+
+ +

Ef.
e
-
G
ref
e
-

Ef.
(4en Loo4
Close. Loo4
3!
Response of Second $rder System
Response of Second $rder System
Iature of the response can be deri$ed from roots of
characteristics eqn /M0@?*
1
(1Is%oH
G
ref
e
-

Ef.
;
I
)
(1Is%e

'

+
+
+
+
+ +

) 1 (
K 0
) 1 (
K 0
1 ) 1 (
2
K
TeTd
s
K
Td Te
K
K
V
e
ref
t
2
0
2
0
2
1

s
s + +
K 0
) 1 (
0
TeTd
K +

K 0 ) 1 ( 2
K 0
TeTd K
Td Te
+
+

{ }
2
0
1 2 , 1 t s s
3"

7amping ration of ? / 'critical damping+,

yields two equal real roots

( / comple: roots 'oscillatory response+

9 / <eal roots 'Ion"oscillatory response+

@igher the $alue of ANC, higher will be natural

frequency and lower will be the damping ratio

Second order system of this type can not ha$e

real roots and hence cannot be unstable.

@owe$er, as t *, sustained oscillations will be

e:hibited which is an unacceptable
performance.
#losed -oop B $pen -oop time responses
#losed -oop B $pen -oop time responses
37

&losed 1oop Performance for different $alues of

damping ratio.
Effect of Damping Ratio
Effect of Damping Ratio
'8<.
'=<,=
'=<>=
'8<=
3#
#ontrol Theory , asics
#ontrol Theory , asics

5bjecti$es are the response should be

6ast

7amped i.e. stable

The asymptotic response of N/'/MsT+ on 1og"log

scale
8-T 8== 8===
8<=
8=
9.?
=
9@=
8
=<8
=
3$
Response of #losed -oop System
Response of #losed -oop System

5pen loop response

&ross o$er frequency freq at which gain?/

Phase margin /J* " phase lag at cross

o$er frequency

&ontrol theory shows that the closed loop is

stable if open loop response has positi$e phase
margin.
?
C
8n4u-
(u-4u-
0
Response of #losed -oop System
Response of #losed -oop System

m
3 F6
o
45

<
m
9
F6
o
0

<
m
9
(7
o
(
u
-
4
u
-
(
u
-
4
u
-
(
u
-
4
u
-
%ime %ime %ime
Close! loo resonse #o a 8 <u< s#e inu#
1
EGcitor Tuning
EGcitor Tuning

6or $oltage control purposes the closed response in the range of /

secs is desired, i.e. the crosso$er frequency :&c; should be abo%e
:'HTdo4;
This means, from the start, there is a phase lag of I=6
o
due to
field winding and there is $ery little room for e:citor phase lag at
crosso$er frequency.
$bJecti%es of EGcitor Tuning are
Pro%ide high enough &c as speed of response is in$ersely
proportional to 6c
<a%e minimum phase lag at &c to ha$e stable system
Pro%ide enough steady state gain so that $oltage error from
no load to full load is of the order of /L
E*3i-or
8n4u- E#er&
1+(1Is%.oH)
E%!
;
I
%erminal
Gol-a'e
Fiel.
Gol-a'e
Error
Si'nal
Tdo4 K 7I'6 Secs
2
EGcitor Tuning
EGcitor Tuning

@ighest possible 6c

6or damped response 6c should be

less than '//Te+ lets ta%e '//HTe+
)e+(1+s%e)
8n4u- E#er&
1+(1Is%.oH)
E%!
;
I
%erminal
Gol-a'e
Fiel.
Gol-a'e
Error
Si'nal

c
8

c

Ae
8
'HTdo4
0ainA'
'HTe
Lo3 Ae + Lo3 8 ' lo3 1c + lo3 )8-T!oB/
Lo3 Ae ' Lo3 )8-,Te/ + Lo3 )8-T!oB/
Ae C T!oB-,Te
3
EGcitor Tuning
EGcitor Tuning
6or typical $alues, Te ? *.*. and TdoO ? . Secs
De 99 76
=ith this $alue of gain, whatOs the steady state response,
!term ? Ne'#ref !term+ ? Ne #ref Ne !term
'/MNe+ !term ? Ne #ref
Eterm A LDeH:'MDe;N8+ref
Thus, Ne/'/MNe+ measures how closely, terminal $oltage follows the
reference $oltage once all the transient has died down.
6or Ne?.*, the $oltage regulation P/" Ne//MNe+Q is HL, a poor
performance
@owe$er, TdoO, Te and %e are related to equipment si;e and
characteristics, hence not easily modifiable.
There is a way out to use -ag lead filter

EGcitor Tuning
EGcitor Tuning
1og Ne 1og % ? log '//T/+ 1og '//TH+

%/Ne ? T//TH
@owe$er, '//T/+ ((( 6c
(1Is%1)
(1Is%2)
)e
(1Is%e)
1
(1Is%.oH)
1/
1

Ae
'HT)
c
2
6or Te ? *.*. Secs, 6c should be less than '//HTe+ ? /* rad/secs
Therefore, //T/ ? ///*R6c ? / rad/secs
TH 999 T/, say /* Secs
This would gi$e steady state gain of .** and better regulation.
!
EGcitor Tuning Procedure
EGcitor Tuning Procedure
a+ &alculate ma:imum transient gain %?TdoO/HTe
b+ &alculate necessary transient gain T0< ? %/Ne
c+ &alculate e:pected crosso$er frequency 6c ? //HTe
d+ &hoose //T/, /* times smaller than 6c
e+ &hoose TH using T0< ?T//TH i.e. TH?T//T0<
"
"umerical Instability
Consi.er sim4le firs- or.er in-e'ra-ion formulae a44lie. -o sim4le .ifferen-ial
eBua-ion :&i3& .es3ri0es .is3&ar'e of 3a4a3i-or -&rou'& a resis-or.

B
ne:
= B
ol.
I

i-s e*a3- solu-ion is B(-)=B(0)

>umeri3al 8n-e'ra-ion 4ro3ess, &o:ever, :oul. /iel.


%&is s&o:s -&a-
%&e seBuen3e of LBM values :oul. 0e .e3reasin' mono-oni3all/ if - 111 %
%&e seBuen3e of LBM values :oul. &ave al-erna-in' si'n an. in3reasin'
ma'ni-u.e, if - <<< %

>umeri3al ins-a0ili-/ :ill 0e normall/ avoi.e. an. a33ura3/ of in-e'ra-ion
4ro3ess :oul. 0e a.eBua-e if in#e3ra#ion #i&e s#e ) #/ is a$ou# 8-.
#h
#o 8-?
#h

of -&e leas# #i&e cons#an# in -&e 4ro3ess 0ein' simula-e..
t
dt
dq

T
q
dt
dq

T
t
e

T
q
dt
dq
old

t
T
q
q q
old
old new

,
_

+

,
_

T
t
q q
old new
1