General Power System Dynamic Modeling: Signals Dynamics and Control (2010/11)

Signals Dynamics and Control (2010/11)
General Power System

Dynamic Modeling
Maria Helena Vasconcelos
(mhv@fe.up.pt)
Modeling of network components
Assumptions for transient analysis:
Three-phase balanced power system
Analysis of the single-line diagram;
Impedance of a load, generator/motor, capacitor bank (etc) regards the single-phase
impedance having all the phases a star connection;
Electrical signals, by default, regard total power, phase-to-phase voltage and single-phase
current.
Fast network transients are neglected (disappear in a fraction of a second)
Equal to the steady-state model assumed for power-flow simulation
SDC 2010/11 - General Power System Dynamic Modeling 1st group (slide 2)
Network modeling (transformers, lines/cables, capacitor banks)
Admittance matrix: matrix representation of the network
( )
ik
ik
ii
shi ik
k i
Y y i k
Y y y
=
= +
[ ] [ ] [ ]
I Y V =
[ ]
[ ]
[ ]
I
V
Y
n
- Vector of the injected currents (n dimension)

- Vector of the bus-bar voltages (n dimension)
- Admittance matrix (nxn dimension)
- number of power system bus-bars
Lines and Cables:
Conventional PI model (included in [Y] matrix)

R
jX
Bus i Bus j
Y sh = jY sh Y sh = jY sh
sh
y
j C 2
=
Capacitor Banks:
R
X 2 L =
sh
y
j C 2
=
n
sh
y j2 f C 2 =
:series resistance
: series reactance
: shunt admittance
Capacitor Banks:
Constant admittance model (included in [Y] matrix)
cap
2
Qn
y =cte
Vn
=
V
g
jQ
*
g
cap
jQ V I (p.u.)
I V y (p.u.)
I
n
cap
y j C =
* * 2
g cap
cap
jQ V V y jV y = =
Admittance included in [Y] matrix
( ) ( )
2
g cap
Q t V t y =
Dynamic simulation result
Transformers:
Modeled by an ideal transformer, with tap ratio a, connected to a series impedance (xf) to
represent leakage reactance
With a real tap ratio value (to control reactive power flows and voltage values), a PI model is
obtained that is easily included in [Y] matrix
Variant 1: Taps modeled in the primary side (real tap ratio value)
Bus 1 Bus 2
V1 V2
a/1
I1 It I2
Vt
j x
f
Bus 1 Bus 2
V1 V2
I1
I2
j [-a.x
f
]
-1
j [(1/x ).(a-1)/a
2
] j [(1/x ).(1-a)/a]

j [(1/x
f
).(a-1)/a
2
] j [(1/x
f
).(1-a)/a]
j x
f
Bus 1
Bus 2
V1 V2
a/1
I1
It
Vt
I2
Bus 1 Bus 2
V1 V2
I1
I2
j [-a/x
f
]
j [(1/x
f
).(a-1)] j [(1/x
f
).(a-a
2
)]

Variant 2: Taps modeled in the secondary side (real tap ratio value)
Load modeling
Constant impedance model
l
1
y
R jX
=
+
V
l
S
I
*
l
l
S V I (p.u.)
I V y (p.u.)
* * * 2
l
l l
S V V y V y = =
*
l l l
2 2 l
S P -jQ
y = =cte (load flow results)
V V
=
Admittance included in [Y] matrix
( ) ( ) ( ) ( ) ( )
* 2 2
l l l
l
1
S t V t y P t jQ t V t
R jX
= + =
The active and reactive consumed power are a direct function of the square of voltage magnitude
Dynamic simulation result
Demonstration:
[ ] [ ] [ ]
I g Y' V =
[ ]
[ ]
[ ]
I g
V
Y'
n
- Vector of the generated currents (n dimension)

- Vector of the bus-bar voltages (n dimension)
- Modified admittance matrix (nxn dimension)
- number of power system bus-bars
[ ] [ ]
{ }
l1 ln
Y' Y diag y ; ; y = +
Constant impedance load models are easily included in [Y] matrix in the following way:
l
y
V
l
I
~
g
I
g l
l
I I I I y V = + = +
In matrix representation:
[ ] [ ] [ ]
{ }
[ ]
g l
l1 ln
I I I Y V diag y ; ; y V
(
= + = + (

For only one bus-bar:
Synchronous machine modeling
Equation of motion (swing equation [1])
( )
( ) ( )
m
t
J Tm t Te t Ta( t )
t

= =
[S.I.]
J : Moment of inertia (turbine + generator system) [kg.m2];
: Mechanical Torque [N.m];
Tm
(1) Inertia constant (H) consideration (instead of the moment of inertia (J));
(2) Torque (T) or Power (P) values expressed in per unit values;
Original version:
: Electromagnetic Torque [N.m];
Te
: Accelerating Torque [N.m];
Ta
: rotor angular velocity [mech. rad/s].
m
Commonly used version:

Models the dynamic behavior of the rotor rotating motion (i.e., the rotor dynamics)
(2) Torque (T) or Power (P) values expressed in per unit values;
(3) rotor angular velocity expressed in elect. radian/s () (instead of mech. rad/s (
m
));
(4) modeling the rotor angular position (), besides rotor angular velocity ().
[1] Prabha Kundur, Power System Stability and Control, ISBN 0-07-035958-X, McGraw-Hill, 1993
(1) Inertia constant (H):
n
2
m
1
J
stored kinetic energy (at rated speed)
2
H
VA base Sb(VA)

= =
[MW.s/MVA= MJ/MVA = s]
n
2
m
2H
J Sb(VA)
=
( )
( )
n
m
2
m
t
2H
Sb(VA) Ta t
t

m
P T = [N.m]; T [W]; P [mech. rad/s].
m
(2) Torque (T) or Power (P) values expressed in per unit values:
n
m
Sb
Tb
=
( ) ( )
n n
m
m m
t Ta t
2H
t Sb

| |
| =
|
\
p.u.
p.u.
( )
( )
m
t
2H Ta t

=
(super bars to identify p.u. values)
T P =
n
m m
If cte, then =
Equation of motion
( )
( )
n
m
2
m
t
2H
Sb Ta t
t
( )
2H Ta t
t
=
(super bars to identify p.u. values)

( )
( )
t
2H Ta t
t

=
m
p =
(3) rotor angular velocity expressed in elect. radian/s () (instead of mech. rad/s (m)):
p : number of field pair of poles (ex: 1-2 in thermal and 10-20 in hydro)
m
n
p
p
= =

(4) Rotor angular position (), in elect. rad, regarding to a nominal rotating reference
n
t t (elect. rad) =
static reference ( 0 ) =
machine rotor position:
2 f =
t
nominal
reference
n n
2 f
( ex : 2 50 )

=
n
t
In any instant t:
n
(rad/s)
t
= =
2
2 n
2
(rad/s )
t t t
t

= =

n
cte =
2
(elect. rad/s )
t t

=

=

: angular velocity deviation
: angular acceleration
Equation of motion
1
t
2
2
1
=
( )
( )
t
2H Ta t
t

=
t t
=

( )
( )
2
2
n
t
2H
Ta t
t
Modeling with 1st order differential equations:

( )
( )
( )
( )
n
t
2H
Ta t
t
t
t
t

( )
( )
( )
( )
n
t
2H Ta t
t
t
t
t

or
Typical data for H
(machine VA base):
1 - 10 s
n
t
=
2
n
t

=
Including a damping torque component, reflecting the variation of active power load with frequency:
( )
( ) ( ) ( )
n
t
2H
Tm t Te t D t
t
D
: load damping constant [p.u.MW/rad/s]
D physical meaning?
Considering a simplified model for the power system: One equivalent synchronous generator feeding a
composite load, D reflects the relationship:
( ) ( )
Pd t D t =
D
: load damping constant [MW/rad/s];
- Behavior provided by non resistive loads
- Behavior that includes a damping torque in
the dynamic behavior of system frequency

Equation of motion
( ) ( )
Pd t D t =
( )
t : machine frequency deviation [rad/s];
( )
Pd t
: variation of the active power load due to frequency deviation [MW].
D
: load damping constant [MW/rad/s];
D typical values?
p.u.MW/p.u.Hz or p.u.MW/p.u.rad/s D 2% D 2 = =
(in load VA base) [ ]
D 1;2 %
Example:
D defines the % variation of active load, for a 1% variation in frequency
~ Pc
( )
t ( )
Pd t
Pmec
Pe
How can we measure D?
- Apply a step variation in the composite active load (Pc);
- Measuring the frequency deviation between the pre-disturbance and post-disturbance steady-state operating
conditions (f ), without considering the action of frequency regulators and by making the assumption that
Example: UCTE (Union for the Co-ordination of Transmission of Electricity) assumes a self-regulation of
load of 1%/Hz.
What is the load % variation for 1% variation in frequency?
% p.u.MW p.u.MW
D 1 0.01 50 Hz 0.5 =0.5%
Hz Hz p.u.Hz
= = =

Equation of motion
conditions (f
SS
), without considering the action of frequency regulators and by making the assumption that
voltage magnitudes remain constant.
With these (very theoretical !!!) conditions:
ss
Pc
D
f
=
MW/Hz
What is the relationship between D(of the composite load) and D(of each swing equation i)?
nger
i 1
Deq Di
=
=

: load damping constant of machine i
nger
: n of generators in service
Deq : load damping constant of the power system composite load
Di
How can we make the distribution of Deq between the machines?
Consider the following simplified power system:
For a sudden loss of load of 20 MW (Pc = - 20 MW), calculate the frequency deviation this disturbance will
produce between the pre-disturbance and post-disturbance steady-state operating conditions (fss),
considering no action of frequency regulators and that the bus-bar voltage magnitude remains constant.
Example 1 (calculate post-disturbance steady-state operating conditions):
~
Pmec Pe
Pc = 1020 MW
D = 1.5%
( )
Interpretation : Pc (disturbance) Pe Pmec Pe f
Pc Pe until a new steady-state operating scenario is reached where
>
=
i
Equation of motion
( )
Pc Pe until a new steady-state operating scenario is reached where
Pmec=Pe and f>0
=

ss
ss
20MW
D f
Pd = Pc
p.u.MW Sb
D 1.5
p.u.Hz fn
=
Sb 1000MW
(VA base for the load that remains in service)
fn 50Hz
=
ss
Pc ( 20MW )
f 0.( 6 ) Hz
D 30 MW/Hz

= = =
resolution: i
ss
Pc
D
f
ss
ss ss
20MW
D f
Pe Pc + Pd =0
30 MW/Hz =
( )
( ) ( ) ( )
( )
t
2H Pm t Pe t D t
t
( ) ( ) ( ) ( )
( ) ( )
t s
2H s s Pm s Pe s D s

=

=
=
Example 2 (calculate dynamic behavior, by creating a block-diagram in Laplace domain):
Consider the power system of example 1. For the specified disturbance (sudden loss of load of 20 MW), obtain
the dynamic behavior of the frequency deviation (in Hz) and rotor angular position (in elect. rad) of the
synchronous generator.
For the dynamic model, consider al the variables in p.u. regarding the following base values: Sb=1000 MVA;
fb=fn=50Hz. The parameters of the generator are: Sn = 1500 MVA; H = 10s (in machine VA base).
block-diagram for the generator swing equation: i
Equation of motion
( )
( )
n
t
t
t

( ) ( )
n
s s s

( )
( ) ( )
( ) ( )
n
Pm t Pe t
s
2H s D
s s
s
values for this example: i

Pc Pe 20MW Sb 0.02 p.u. = = =
( )
D 30 MW/Hz fb Sb 1.5 p.u.MW/p.u.Hz = =
( )
H 10 MJ/MVA Sn Sb 15 MJ/MVA (or s) = =
( )
Pe s
( )
Pm s ( )
s
( )
s
n
s
1
2H s D +
+
-
( )
Pe s 0.02 p.u. =
( )
Pm s
0
=
( )
s
( )
s
100
s
1
30 s 1.5 +
+
-
Example 2 (dynamic simulation results obtained from MATLAB Simulink toolbox):
o o
Pm Pe 1020MW Sb 1.02 p.u. = = =
Equation of motion
Problem:
Solution:
Consideration of a new system reference that, in steady-state conditions, rotates at synchronous velocity.
- Alternative 1: rotor angular position of the largest machine in operation;
- Alternative 2: angular position of the center of inertia of the system:
Swing equation for a multi-machine system:
- equal to nominal velocity
Being measured regarding a reference with nominal velocity (2..fn), if, in the new steady-state operating
scenario, the synchronous machines have a synchronous velocity:
( )
i
t cte =

- different from nominal velocity

( )
i
t cte
Equation of motion
- Alternative 2: angular position of the center of inertia of the system:
( ) ( ) ( )
nger
o i
nger
i 1
i
i 1
1
t Hi t
H

=
=
=
[rad]
nger: n de sync. machines in operation
( )
i
t
rotor position for machine i
( ) ( )
i i
t 2 f t =
n n
2 f =
( )
i
t
( )
o
t
system reference
( ) ( )
o o
t 2 f t =
i
cte =

- In steady-state conditions
i o
=
- Additional advantage: allows obtaining the dynamic behavior of the system frequency deviation (mean value)
( )
( ) ( ) ( ) ( ) ( )
o
o n o n o n
t
t t t t 2 f t f
t t

= = =

Swing equation, with rotor swings measured regarding the system center of inertia
( ) ( ) ( )
i i o
t t t t t = : Angular position, regarding the system center of inertia [rad]
( ) ( ) ( )
( )
i
i i o
t
t t t
t

= =
: Angular velocity deviation, regarding the system center of inertia [rad/s]

New variables for each machine i:
Regarding the earliest version of swing equation:
( )
( ) ( ) ( )
( )
( )
( )
i
n
i i i i
i
i
t
Pm t Pe t D t
t 2H
t
( )
t
rotor position for machine i
( ) ( )
i i
t 2 f t =
( )
i
t
system reference
( ) ( )
o o
t 2 f t =
Equation of motion
( )
( )
i
i
t
t
t

The new swing equation will be:
( ) ( ) ( )
( ) ( ) ( )
( )
( )
( )
( )
i i o o
n
i i i i
i
i
i
t t t t
Pm t Pe t D t
t t t 2H t
t
t
t

= =
with:
( )
( ) ( ) ( )
( )
nger
o
i i i i
nger
i 1
i
i 1
t
fn
Pm t Pe t D t
t
H
=
=
( )
i
t
n n
2 f =
( )
o
t
, ( ) ( ) ( )
i i o
t t t = +
( ) ( )
( ) ( ) ( )
2
o o
2
nger
o i
nger
i 1
i
i 1
t t
t
t
1
t Hi t
H

=
=
Demonstration of o differential equation:

( )
( ) ( ) ( )
( )
i
n
i i i i
i
t
Pm t Pe t D t
t 2H
( ) ( )
2
nger
o i
nger 2
i 1
i
i 1
t t
1
Hi
t
t
H

=
=
| |

| =
|
( )
i
t
t

( )
( )
nger
t
fn

Equation of motion
Most important output variables for angular stability or frequency stability analysis?
( )
( )
o
o
t
f t
2
= : system frequency deviation, regarding nominal value [Hz]

( )
( ) ( ) ( )
i i o
i
t t t
f t
2 2

+
= =

: machine i frequency deviation, regarding nominal value [Hz]
( )
( ) ( ) ( )
( )
nger
o
i i i i
nger
i 1
i
i 1
t
fn
Pm t Pe t D t
t
H
=
=

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Signals Dynamics and Control (2010/11)

General Power System

- Vector of the injected currents (n dimension)

- Vector of the generated currents (n dimension)

Commonly used version:

(super bars to identify p.u. values)

Modeling with 1st order differential equations:

Synchronous machine modeling

values for this example: i

- different from nominal velocity

: Angular velocity deviation, regarding the system center of inertia [rad/s]

Demonstration of o differential equation:

= : system frequency deviation, regarding nominal value [Hz]

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