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CHAPTER-2
2.1 Introduction 20
CHAPTER-2
2.1. Introduction
Phillip’s Model [1],[10] and the modified Heffron Phillip's model as proposed in
[47], [48]. The material is reproduced from [10] and [49] for the sake of
stabilizers.
network. The current design makes use of IEEE Model 1.0[50] to correspond to
the synchronous generator having high gain and constant static exciter of low
time [51]. The following are the dynamic equations that govern the SMIB
systems:
B S m (2.1)
1
S m Tmech Telec DS m (2.2)
2H
1
E q' ' Eq' X d X d' id E fd
Tdo
(2.3)
21
Telec E q' i q X d' X q id iq (2.4)
1
E fd E fd K A Vref V pss Vt (2.5)
TA
E q' X d' id Ra i q Vq
X q iq Ra id Vd (2.6)
external network.
+ = +
This is just the law of Kirchhoff’s Voltage between the infinite bus and
and d axis and in Kron’s reference frame Q and D represent Q and D-axis
respectively.
= − + cos (2.8)
= + − sin (2.9)
where =( + ) + +
∆ = ∆ + ∆ (2.13)
23
∆ = ∆ + ∆ (2.14)
where
1
= [ cos − + sin ]
−1
= +
1
= [( + ) cos + sin ]
Linearizing (2.8) and (2.9) and substituting from (2.13) and (2.14)
∆ = ∆ + (1 + )∆ (2.15)
∆ =− ∆ − ∆ (2.16)
∆ = − − ∆ + ∆ −( − ) ∆ (2.17)
∆ = ∆ + ∆ (2.18)
where
= −( − )
= + −( − )
= −( − )
B
S m (2.19)
s
1
S m [ Tm - Te - DS m ] (2.20)
2 Hs
The combined Eqs. (2.18), (2.19) and Eq. (2.20) can be depicted in the form of a
block diagram as displayed in Figure 2.2. This stands for the torque-angle loop
For classical machine model, Eq1 0 and the characteristic equation given by
2 + + =0 (2.21)
K1B
S1 , S 2 j jn (2.22)
2H
extreme values of 0.1 Hz at the low end and 4 Hz at the high end are also
possible.
dEq
Tdo E fd Eq x d xd id (2.23)
dt
d Eq
Tdo E fd Eq x d xd (C1 C 2 Eq1 ) (2.24)
d t
(1 + )∆ = ∆ − (2.25)
1
where K3 (2.26)
[1 ( xd xd )C2 ]
= −( − ) (2.27)
Figure 2-3.
26
The Block diagram of the excitation system considered is depicted in Figure 2-4
vdo vqo
Vt vd vq (2.28)
vto vto
where
vd vq
K5 o
vt xdC3 + o xqC1 (2.30)
o vto
27
vd vq
K6 o
Vt xdC4 + o (1 xd C2 ) (2.31)
o vto
For Re=0, the expressions for the constants K1 to K6 are simplified as given
below:
Eb EqoCos o ( xq x d )
K1 E biqo Sin 0
( xe xq ) ( xe xd )
( xe xq ) E sin 0
K2 I q0 b
( xe xd ) ( xe xd )
( xe xd )
K3
( xd xe )
( xd xd )
K4 Eb sin 0
( xd xe )
xe Vqo
K6
( xe xd ) Vto
It is not difficult to perceive that for xe greater than 0, the constants K1, K2, K3,
K4 and K6 are positive. This is because δ0 is generally less than 900 and iqo is
positive. K3 is independent of the operating point and less than unity (as x'dless
thanxd). Note that xe is generally positive unless the generator is feeding a large
connected to the external system [48]. The rotor angle pertaining to the voltage
28
PS X t X q QS Ra Rt
S tan 1 (2.32)
PS Ra Rt QS X t X q VS2
From stator algebraic equation (2.6) the following equation can be obtained:
for E '
E '
X t X d'
Vt
2
Xq
V S sin S
q q
Xt X X
t q
X d'
VS cos S (2.33)
Xt
The modified stator algebraic equations referred to the transformer bus are
given by
Vq Rt i q X t i d VS cos S
(2.34)
Vd Rt id X t iq VS sin S
29
Kirchhoff's Voltage law between transformer bus and the terminal voltage of the
transformer bus. The modified stator equations of algebra which are referred
to the transformer bus are obtained by equating the real and hypothetical
sections of the above equation. The validity of these equations holds good for
Vq Rt iq X t id VS cos S
(2.37)
Vd Rt id X t iq VS sin S
X '
d
X t id Rt iq VS cos S Eq' (2.38)
Vt Vd2 V q2 (2.41)
i d C1 s C 2 E q' CV 1V s
(2.42)
i q C 3 s C 4 E q' CV 2 V s
where
1
C1
R tV s 0 cos s 0 X q' X t V s 0 sin so
1 '
C2
Xq Xt
1
C3
X d' X t V s 0 cos s 0 R t V s 0 sin so
1
C 4 Rt
1
CV 1
X d' X t cos s 0 Rt sin so
1
CV 2
Rt cos s 0 X d' X t sin so
S 0 , S m0 , Eq' 0 , E fd 0 and Vs 0 denote the value at the initial operating condition. The
linearized versions of the equations (2.1) to (2.5) and (2.17) are as follows:
s B S m s (2.44)
1
S m Tm Te DS m (2.45)
2H
31
G3
Eq'
1 sG3Tdo'
E fd G4 s GV 2 Vs (2.46)
KA
E fd
1 sTA
Vref G5 s G6 Eq' GV 3 Vs (2.48)
V s 0 E q 0 cos s 0 X q X d'
G1 V s 0 sin s 0
Xq Xt X t X d'
Xq Xt
G2 iq0
X t X d'
X t X d'
G3
Xd Xt
X d X d'
G4 Vs0 sin s 0
X t X d'
X t Vq 0
G6
X t X d' Vt 0
G v1
E q 0 sin s 0
X q
X d' I q 0 cos s 0
X t Xq X '
d Xt
Gv 2
X d
X d' cos s0
X d' X t
X qV d 0 sin s 0 X d' Vq 0 cos s 0
Gv 3
X q X t Vt 0 X t X d' Vt 0
32
'
'
where Eq0 Eq0 X q X d id 0
three more constants Gv1 to Gv3 are added at the torque, voltage of the field
and terminal voltage junction points respectively, which distinguish this model
transformer X t . In case the nominal system also signifies the condition of full
loading, then this model’s GEP furnishes the utmost phase lag. Information of
load flow both at the transformer and the terminals of the generator can enable
the acquisition of the G-constants in real time. Hence, the parameters of the
design of any PSS depending on this model can easily be altered at regular time
Vs 0i Eq 0i cos s 0i X qi X di'
G1i Vs 0i sin s 0i
X qi X ti X ti X di'
34
X qi X ti
G2 i iq 0 i
X ti X di'
X ti X di'
G3i
X di X ti
X di X di'
G4i Vs 0i sin s0i
X ti X di'
X ti Vq 0i
G6i
X ti X di' Vt 0i
Gv1i
E q 0 i sin s 0i
X qi X di' I q 0i cos s 0i
X ti X qi X '
di X ti
Gv 2 i
X di X di' cos s 0 i
X '
di X ti
The linear state space model for each machine can be obtained as
Si
X i Ai X i BV
i PSSi B1i (2.49)
VSi
where
35
0 Bi 0 0 1 0
G D G2i 0 GV 1i
1i i 0 0 0
2 Hi 2 Hi 2 Hi 2 Hi
Ai G4 i 1 1 ; Bi 0 ; B1i GV 2i (2.50)
' 0 ' '
0 '
Tdoi G3iTdoi Tdoi K
Ai T doi
K G K AiG6i 1 TAi K G
Ai 5 0 0 Ai V 3i
TAi TAi TAi TAi
In this thesis the state space model is adopted for developing the state
feedback controllers in the context of power systems of multiple machines. It
can be observed that the particular state space matrix is just 4 x 4 size matrix
and depends only on the parameters local to the generating station. This
transforms the large power system state feedback controller designs to small
decentralized state feedback controller designs. In the following chapters it is
shown that the LQR and pole placement designs based on this model result in
coordinated controllers.