Lecture Notes

on
Power System Stability










Mrinal K Pal












iii
CONTENTS

Preface ix
Chapter 1 Fundamentals of Power Flow and Power Limits
Representation of Transmission Lines 1-1
Equations of a transmission line 1-1
Equivalent circuit of a transmission line 1-3
Y - ? transformation 1-5
Per Unit System 1-6
Base quantities 1-6
Change of bases 1-7
Per unit and percent admittance 1-8
Power Limits 1-9
Circle Diagram 1-11
Basic Power Flow Calculation 1-12
Direct solution 1-12
Iterative procedure (Newtons method) 1-13
Selection of starting values 1-14
Steady State Stability 1-14
Steady state stability limit 1-15
Steady state stability criterion 1-17
Steady state stability of a two-machine system 1-17
General Network Equations 1-20
Nodal formulation in terms of bus admittance matrix 1-20
General equations for real and reactive power 1-21
Elimination of network nodes by matrix method 1-22
Application of the Steady-State Stability Criterion to an n Machine System 1-23
Network Calculations Using Bus Impedance Matrix 1-24
Adding a new bus to the network 1-25
Adding a new line between two existing buses 1-26
Adding a new line between an existing bus and neutral (reference bus) 1-27
Calculation of Short-Circuit Current 1-28
Representation of Tap-changing Transformers and Phase-shifting Transformers 1-29

Effect of phase shift on power flow 1-30
References 1-32
Chapter 2 Stability Basics
Stability of Dynamic Systems 2-1
Stability definitions 2-1
Power system stability definitions 2-2
Comments 2-2
Small-disturbance stability 2-2
Large-disturbance stability 2-3
Linear and Non-Linear Systems 2-3
Linearization of non-linear systems 2-3 CONTENTS
iv
Solution of linear differential equations with constant coefficients 2-5
Evaluation of the arbitrary constants 2-6
Criterion for stability of a linear system 2-6
Concepts of damping ration and natural frequency 2-7
The State Variables of a Dynamic Systems 2-9
The state vector differential equation 2-11
Solution of the equation x& = Ax 2-13
Liapunovs Direct Method of Stability Analysis 2-17
Stability and instability theorems 2-17
Illustration of positive definite functions and their closedness 2-18
Stability determined by linear approximation 2-19
Extent of asymptotic stability 2-20
Construction of Liapunov functions 2-20
Comments of Certain Terms in Common Use 2-21
References 2-23
Chapter 3 Synchronous Machine Stability Basics
The Swing Equation 3-1
Selection of units 3-3
Mechanical Torque 3-4
Unregulated machine 3-4
Regulated machine 3-5
Small Disturbance Performance of Unregulated Synchronous Machine System 3-6
Single machine connected to infinite bus 3-6
Modes of Oscillation of an Unregulated Multi-Machine System 3-8
Division of Suddenly Applied Load Among Generators in the System 3-15
Transient Stability by Equal Area Criterion 3-19
Effect of damping 3-22
Equal area criterion for a two-machine system 3-22
Transient Stability by Liapunovs Method 3-23
References 3-26
Chapter 4 Numerical Solution of the Transient Stability Problem
Numerical Solution of Differential Equations in Power System Stability Studies 4
-1
Eulers method 4-2
The modified Eulers method 4-3
Runge-Kutta method 4-3
Predictor-Corrector method 4-4
Implicit multi-step integration 4-5
Solution of Multi-Machine Transient Stability Problem
Using Classical Machine Model 4-5
Single-machine-infinite bus system 4-6
Multi-machine system 4-7
Handling of constant current load 4-10
Solution of Faulted Networks 4-14
Analysis of Unsymmetrical Faults 4-16
Single line-to-ground fault 4-17 CONTENTS
v
Line-to-line fault 4-17
Double line-to-ground fault 4-17
One open conductor 4-18
References 4-19
Chapter 5 Synchronous Machines