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Impact of excitation system on power system stability

1. INTRODUCTION

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Impact of excitation system on power system stability
HV SYSTEM
THE POWER STATION CONTROL ROOM

STEP UP
TRANSFORMER LV SWITCHGEAR

AC & DC
HV- BREAKER
AUXILIARY
SYSTEMS

CONTROL
AUX. SYSTEMS
PROTECTION
TRANSF
GOVERNOR .
1
GENERATOR
1 BREAKER

PT’s
&
CT’s
SYNCHRONIZING

SYNCHRONOUS EXCITATIO
TURBINE GENERATOR NSYSTEM

STAR
POINT EXCITATION
CUBICLE TRANSFORMER

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Impact of excitation system on power system stability

If Synchronous Ug
Machine Grid

Excitation
System

Controller

The automatic voltage control system

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Impact of excitation system on power system stability

~
=

SM E ~
SM =

1 a 200 A 100 a 10000 A

Rotating exciter Static excitation

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Impact of excitation system on power system stability

Basic Requirements
• Excitation Current up to 10’000 amps
• Input frequency range from 16 Hz to 400 Hz
• Adaptable to different redundancy requirements for controls and
converters
• State of the art man machine interface
• Compatibility with most applied power plant control systems
• Remote diagnostics
• Comfortable commissioning tools

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Impact of excitation system on power system stability
Operational Application

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Impact of excitation system on power system stability
Main Components of an UNITROL 5000 System

AVR

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Impact of excitation system on power system stability
System overview

AVR 2
AVR 1
CONVERTER N
Protection CONVERTER 2
Measuring

CONVERTER 1

Monitoring
Converter
AVR + FCR Control

Logic Control

Field flashing Fieldbreaker

Field suppression
AVR = Autom. Voltage Reg.

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FCR = Field Current Reg.
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Impact of excitation system on power system stability
Main Functions of the AVR
with Field Current Controller

AVR Setpoint
UG, IG -V/Hz limiter PID
- Soft start _
- IQ Compensation
Σ Σ Σ

Min. / max. value priority

UG - IP Compensation
+
Measuring and A/D conversion

Underexcit. limiter
UG, IG, If -Q=F(P,U,UG)
-Stator current lead
-Min. field current

Overexcit. limiter To pulse

UG, IG, If -Max field current generation
-Stator current lag

UG, IG Power System

Stabilizer PSS
PI
Man setpoint _
Σ
If +

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Impact of excitation system on power system stability

2. IMPACT ON POWER SYSTEM STABILITY

• Voltage Control Dynamics ( controller, power stage and power source)

• Limiters

• Power System Stabilizer

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Impact of excitation system on power system stability

2.1 Voltage Control Dynamics ( controller, power stage and power source)

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Impact of excitation system on power system stability
Computer representation of the AVR

from under-excitation from over-excitation UP +

UP + TB1
Limiters UEL Limiters OEL KR Up+∗ UT–Kc∗ If
KR TC 1

LV + 1+sTC2 1+sTC1 1 Uf [p.u.]

HV Σ KR
Generator UT 1 - Gate 1+sTB2 1+sTB1 1+sTs
Σ Gate
voltage [p.u.] +
1+sTR
+ Up- ∗ UT
UST UP − TB1 UP −
UT setpoint + + Stabilizing KR TC 1 KR
Σ signal from PSS
[p.u.]
+ Parameter Description Unit Range
Generator QT 1 TR Measuring filter time constant s 0.020
Reactive KIR
1+sTR Ts Gate control unit and converter time constant s 0.004
Power [p.u.] KIR Reactive power compensation factor p.u. -0.20...+0.20
KIA active power compensation factor p.u. -0.20...+0.20
Generator PT KR Steady state gain p.u. 10...1000
1
Active Kc Voltage drop to commutations and p.u. Acc. Transf.
KIA
Power [p.u.] 1+sTR impedances
TB1 Controller first lag time constant s TB1≥TB2
TB2 Controller second lag time constant s 0<TB2≤TC2
TC1 Controller first lead time constant s 0.01...10
TC2 Controller second lead time constant s 0.01...2
Up+ AVR output positive ceiling value p.u. Fixed
Up- AVR output negative ceiling value p.u. Fixed

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Impact of excitation system on power system stability

IR
UR

IDR

UT
If Uf

IDT
IT

IDS

IS

US

Synchronous machine
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three-phase representation ABB
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Impact of excitation system on power system stability
D axis
ra

Id
Ψd Ud

Stator rdD

Ψ dD
IdD
δ
ω

rf Ψf
Ψq Q axis
Uf If Ψ Q1 Ψ Q2

IQ1

IQ2
rQ1 rQ2
ra

Iq
Rotor

Uq

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Impact of excitation system on power system stability
PM
Torque
TM =
speed

US ⋅ Ep ⋅ sinδ
TE =
Xq + XT + XE
TM

Motion equation:
dω
TM − TE = 2 ⋅ H ⋅
0o 45o 180o dt
δ

The characteristic Dynamic Equation

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Impact of excitation system on power system stability

AVR - Voltage control dynamic

• System type (Static excitation, Brush-less, DC Exciter)

• Settings of control algorithm

• Response time “Excitation system nominal

response”
• Ceiling capabilities
IEEE 421.1
ce-ao
NR=
(ao)(oe)
c

UF ceiling b

UF nominal
a d

ABB
o
e=0.5s

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Impact of excitation system on power system stability

Comparison of Excitation System Types

DC-Exciter AC-Exciter AC-Exciter Stat. Exciter
stat. diodes rot. diodes stat. thyristors
Mechanical
- Conversion of yes yes yes main machine
mech. to electr.
Energy

- Size of exciter power and speed power and speed power and speed power

- Sliprings yes yes no yes

Electrical
- Rectifier not required static external static rotary static

- Direct possible possible not possible possible

measuring
of field current

- Fast field possible possible not possible possible

suppression

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Impact of excitation system on power system stability

Comparison of Exciter Characteristics

DC-Exciter AC-Exciter AC-Exciter Stat. Exciter
stat. diodes rot. diodes stat. thyristors
Dynamic
Performance
- Major time Td’L+TE Td’L+TE Td’L+TE Td’L
constant of control circuit

- Ceiling factor limited not limited limited not limited

- Negative field possible not possible not possible possible

current

Reliability (MTBF)
- Machine, Transformer good good good better

- Converter good better better better

Maintenance
- Machine, Transf. at standstill at standstill at standstill at standstill

- Converter at standstill during at standstill during

operation operation

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Impact of excitation system on power system stability

Ceiling limit

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Impact of excitation system on power system stability

2.2 LIMITERS

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Impact of excitation system on power system stability
Setpoint building
Automatic
channel
-Setpoint
-Soft start effective setpoint
-V/Hz limiter
-Q influence
-P influence Power system
Follow up
Automatic stabilizer
(PSS)
Ug +
Ucmax
AC -
Transducer Ug actual
and filter Σ Gain
HV + DC +
Gate Gain Uc AVR
HF gain
Under excitation LV +
Σ
+
Σ Uc
limiters (UEL) Gate P gain
α

Over excitation 1/TA 1/TB ω

limiters (OEL)
Ucmin Ucmax

Gain
DC
Gain
IF -
Transducer
and filter
Σ P gain
Uc FCR

1/TA 1/TB ω
AVR
Manual set point
FCR
Follow up Manual Ucmin
Uc AVR
Follow up
Follow up control Uc FCR
Automatic

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Impact of excitation system on power system stability
Practical stability Declared rated
Theorectical limit operation point of
stability limit P [p.u.] generating unit

Turbine ouput
power limit

Thermal limit of
stator

IF
r≈

Sn
we
ϕn

wer
po
on

nt po
ati
Thermal limit

cit
of rotor

Ex

pare
LEADING LAGGING
(underexcited) (overexcited)

d ap
-1.0 p.u. U2 U2 Minimum FieldRate 1.0 Q [p.u.]
Xq Xd current limit
Safe operation range

The Power Chart of a solid pole

synchronous machine

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Impact of excitation system on power system stability
Synchronous machine operation Limits

Max. field current limiter

Min. field current limiter
Stator current limiter
P
Under excitation P,Q limiter

Theoretical
stability limit

-Q 1/Xd +Q

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Impact of excitation system on power system stability

Main duty of the limiters:

Keep the synchronous machine operating within

the safe and stable operation limits, avoiding
the action of protection devices that may trip
the unit.

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Impact of excitation system on power system stability

ABB
VOLTAGE REGULATOR WITH LIMITERS

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Impact of excitation system on power system stability
Supply
Voltage
setpoint

LOWER VAL. GATE

~ - +
=
-

+
Ifth setpoint

∫ I dt max
2

Ifact Ifmax
-
+ ∫ I dt COMP
2
=/~ U
= /#

SM =

THE OPERATING PHILOSOPHY OF Ifmax LIMITER

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Impact of excitation system on power system stability

Ceiling limit
Field current x IFN

thermal limit

setpoint
switch time

Time [s]

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Impact of excitation system on power system stability
Machine
frequency V / Hz Limiter
fT [p.u] 1 x y
y=KVHZ.x+U_fn-KVHZ UTMAX
1+ sTR
Machine
-
U_V/HZ
terminal KVHZ Σ x>0 Delay Volt/Hz
voltage + T_V_Hz 0
UT [p.u] U_fn influence
UTMAX signal
to AVR
Machine field
current
[p.u.]
IF [p.u.]
Max. field current limiter
1 -
Σ KIFmax
1+ sTR
+ +
Σ x2 π
EmaxF
- y
KCF
1 x
KHF s x>y
x>0 0
IFmax1
IFmax2
IFth1
Setpoint 2 for IFth2
IF max limiter
(option)
LV
Gate
Stator
Current Stator current limiter
IT [p.u.]
1 -
1+ sTR
Σ KITind
+ +
Σ x2 π
EmaxS
- y To OEL limiter
KCS gate of AVR
1 x
KHS s x>y
x>0 0
ITmax
To UEL limiter
ITth gate of AVR

-
+
Σ KITcap

Min. field current limiter

+ HV
Σ KIFmin Gate
-
IFmin
Generator
reactive
power
1
P/Q limiter
QT [p.u.] -
1+ sTR
Σ KPQ
Generator +
terminal
voltage
UT [p.u.]
x2

ABB
Generator
active power
PT [p.u.] Look-up
1
Table π
1+ sTR yn = f (xn)

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Impact of excitation system on power system stability

2.3 Power system Stabilizer

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Impact of excitation system on power system stability
I
Xq(s) XT XE

Ep UG US
XT+XE Infinite
Bus
Ep

δEp-S = I. Xq

Ep’
H
=I.Xq’
1 + sTq' 1 + sT q''
UG X q(s ) = X q ⋅ ⋅
1 + sT q o ' 1 + sT q o ''
= I. (XE+XT)
US

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Stationary and transient air gap voltages ABB
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Impact of excitation system on power system stability

Ep
Pe ω UG
US

90o

∆ω

phasor
rotation

∆PE
Transient behavior of ∆ω and ∆PE
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Impact of excitation system on power system stability

Infinite Bus
A) H
XT+XE

B) H1 ⋅ H2
H1 H2 Equivalent Inertia Heq =
XT+XE H1 + H2

dω d2 δ
taking
TM − TE = 2 ⋅ H ⋅ TM − TE = 2 ⋅ H ⋅ 2
dt dt
For small oscillations keeping the driving
torque constant the dynamic equation
linearized can be written as: 2 ⋅ H d2 δ D dδ
⋅ 2 + ⋅ + K1∆δ = 0
ωn dt ωn dt
Inertia. Ang. Acc. Damping Synchronizing
torque Torque

Dynamic equation of synchronous

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machine+grid for small oscillations ABB
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Impact of excitation system on power system stability
Oscillation frequency Ω
K1 ⋅ ωn
phasor rotation Ω≅ rad/s
2⋅H

Negative Damping ∆UG D/ws*∆ω Positive Damping

(Unstable Region) (Stable Region)
Damping axis
∆ω
∆δ
Torque K1=synchronizing coefficient
operating point

∆T Ep'.Us
K1 = slope = = ⋅ cos δo'
∆Te=K1.∆δ ∆δ Xq'+ XE + XT
Resulting
Torque
δo 90o δ
Synchronizing Axis 0o

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Phasor diagram of machine+grid
for small oscillations ( without AVR) ABB
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Impact of excitation system on power system stability

2 ⋅ H d2δ D dδ
⋅ 2 + ⋅ + K1 ⋅ ∆δ + K2 ⋅ ∆Ep' = 0
ωn dt ωn dt
Inertia.Ang. Acc. Damping Synchron. Add .Torque
torque Torque from exc. system

phasor rotation
Negative Damping ∆UG
D/ws*∆ω
(Unstable Region) Positive Damping
(Stable Region)
K2.∆Ep’ ∆ω
-∆UG

Resulting torque component

without excitation system

Resulting torque component

∆Te=K1.∆δ with excitation system

Synchronizing Axis

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Phasor diagram of machine+grid+excitation system
for small oscillations ABB
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Impact of excitation system on power system stability

FINAL
CTRL
ELEMENT
ALTERNATIVE

AVR PSS

U
G

P ,Q

Fig3: PSS in the excitation system

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Impact of excitation system on power system stability

Main Target of PSS:

• It provides an additional torque component in order to get:

1) A positive resulting torque component on damping axis, even for the

highest possible rotor oscillation frequency.

2) A positive torque component on synchronizing axis for partial

compensation of generator terminal voltage variations even for
the highest possible oscillation frequency

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Impact of excitation system on power system stability
PSS2A acc. IEEE 421.5 1992 ∆PM
1 + s.2.H

∆PA
1 + s.2.H VSTmax VSTmax

+ N
+
s.TW1 s.TW2  (1 + s ⋅ T 8)  1+s.T1 1+s.T3 VST
ω Σ  (1 + s ⋅ T 9)M  Σ Ks1
1 + s.TW1 1 + s.TW2   1+s.T2 1+s.T4
+ -
VSTmin VSTmin
Ks3

PE s.TW3 s.TW4 Ks2

1 + s.TW3 1 + s.TW4 1 + s.T7

∆PE
1 + s.2.H

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Impact of excitation system on power system stability
Adaptive PSS (APSS) – Alternative to PSS2A

Driving Power Pa

UG , IG
Uf Synchronous
Uref + + GRID
AVR Generator
+
+ -
Measurement
UG
P

Filter
APSS 3rd Order System Model

∆P
Estimator

White + Regulator
noise +

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Impact of excitation system on power system stability
Multi Band PSS (MBPSS)

FB1(s)
+
Σ Kb
-
FB2(s)

+ Output
FI1(s) Limit
+ To
∆ω AVR
Σ K i Σ
-
FI2(s)
+

FH1(s)
+
Σ Kh
FH2(s) -

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