Small-Signal Stability and Power System Stabilizer

Dynamics and Control of Electric Power Systems

Contents
Review: Closed-Loop Stability Third-Order Model of the Synchronous Machine Heffron-Phillips Model Dynamic Analysis of the Heffron-Phillips Model
Split between damping and synchronizing torque SMIB with classical generator model SMIB including field circuit dynamics SMIB including excitation system

Power System Stabilizer

Block diagram Effect on system dynamics

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Review: Closed-Loop Stability

State space formulation of dynamical system Autonomous dynamical linear system with initial condition:

= Ax, x(= 0) x0 x t =
Rate of change of each state is a linear combination of all states:
x1 a11 a12 x1 x = a 2 21 a22 x2 = a11 x1 + a12 x2 x1 = a21 x1 + a22 x2 x2

Transformation to diagonal form in order to derive solution easily:

z1 = 1 z1 = z1 (0) e1t z1
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Review: Closed-Loop Stability

State space formulation of dynamical system Our aim is to transform the equation to the easy form:
z1 1 0 z1 z = 0 z z = z 2 2 2 Linear coordinate transformation:

x = z x = z
This is equivalent to:

z= A z
1 z = A z

z = z

=[1 , 2 .....n ] =diag (1 , 2 ....., n )

i i = A i ( A i I ) i = 0 det( A i I ) = 0

i ........eigenvalues i .........right eigenvectors

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Review: Closed-Loop Stability

Eigenvalues, stability, oscillation frequency and damping ratio Let 1 be a real eigenvalue of matrix A . Then holds: 1 < 0 : The corresponding mode is stable (decaying exponential). 1 > 0 : The corresponding mode is unstable (growing exponential). 1 = 0 : The corresponding mode has integrating characteristics.

= Let 1,2 j be a complex conjugate pair of eigenvalues of A . Then: Re 1,2 < 0 : The corresponding mode is stable (decaying oscillation). Re 1,2 > 0 : The corresponding mode is unstable (growing oscillation). Re 1,2 = 0 : The corresponding mode is critically stable (undamped osc.).
The following dynamic properties can be established: Oscillation frequency: f = Damping ratio:

2 + 2

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Third-Order Model of the Synchronous Machine

Voltage deviation in d- and q-axis:

with Linearized swing equation:

1 (Tm Te ) 2 Hs + K D

2 f 0 = s

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Heffron-Phillips Model
Purpose: Simplified representation of synchronous machine, suitable for stability studies: Small Signal Stability linearized model Basis: Electrical torque change Third-order Model of synchronous machine Starting point for derivation: Single-Machine Infinite-Bus (SMIB) System Linearized generator swing equation:

1 (Tm Te ) = 2 Hs + K D

2 f 0 = s
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Singel Machine Infinite Bus (SMIB)

Generator terminals

Power line Generator

eF

AVR
set t

ut

Infinite bus
(Voltage magnitude and phase constant)

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Heffron-Phillips Model
Purpose: Simplified representation of synchronous machine, suitable for stability studies: Small Signal Stability linearized model Basis: Electrical torque change Third-order Model of synchronous machine Starting point for derivation: Single-Machine Infinite-Bus (SMIB) System Linearized generator swing equation:

1 (Tm Te ) = 2 Hs + K D

2 f 0 = s
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Heffron-Phillips Model

Electrical torque change

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Heffron-Phillips Model
including the composition of the electric torque:

Approximation of torque with power:

After linearization and some substitutions:

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Heffron-Phillips Model
including the effect of the field voltage equation:

Influence of torque angle on internal voltage

Field voltage equation:

After linearization and some substitutions:

with:
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Heffron-Phillips Model
including the model of the terminal voltage magnitude:
eF + K 4

Influence of torque angle on internal voltage

eF

eF

Terminal voltage: Linearization and substitution:

with
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Heffron-Phillips Model
Full model:

Influence of torque angle on internal voltage

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Heffron-Phillips Model
Simulink implementation

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Dynamic Analysis of the Heffron-Phillips Model

Splitting between synchronizing and damping torque

K Damp

Te

Exercise 3!

K Sync

Te K Sync + K Damp =

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Dynamic Analysis of the Heffron-Phillips Model

SMIB with classical generator model (mechanical damping torque KD = 0)

Eigenvalues on imaginary axis system is critically stable

Eigenvalues

1,2
s

Real 0

Imaginary

Damping Ratio -

f [Hz] 1.016

6.385
Kdamp 0
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Synchronizing and damping torque coefficients

1,2

Ksync 0.757

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Dynamic Analysis of the Heffron-Phillips Model

SMIB including field circuit dynamics

Eigenvalues moved to the left because field circuit adds damping torque

Eigenvalues

1,2 3

Real 0.109 0.204

Imaginary

Damping Ratio 0.0170 1.0 s Ksync 0.0008 0.7651

f [Hz] 1.020 Kdamp 1.5333 0

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6.411
0

Synchronizing and damping torque coefficients due to field circuit

1,2 3

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Dynamic Analysis of the Heffron-Phillips Model

SMIB including excitation system
Eigenvalues

Real 0.8837 33.8342 18.4567

Imaginary

Damping Ratio 0.0816 1.0 1.0

f [Hz] 1.7167 0 0

1,2 3 4

10.7864
0 0

Synchronizing and damping torque coefficients due to exciter

1,2 3 4

Ksync 0.2731 19.8103 7.0126

Kdamp -10.6038 0 0

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Dynamic Analysis of the Heffron-Phillips Model

SMIB including excitation system

Generator tripping might eventually result in Blackout!

Eigenvalues moved to the right by the excitation system System is unstable!

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Power System Stabilizer

Purpose: provide additional damping torque component in order to prevent the system from becoming unstable Approach: insert feedback between angular frequency and voltage setpoint Block diagram:
Gain: Tuning parameter for damping torque increase Washout filter: Suppress effect of low-frequency speed changes Phase compensation: Provide phase-lead characteristic to compensate for lag between exciter input and el. torque

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Power System Stabilizer

Block diagram

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Power System Stabilizer

Effect on the system dynamics

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Power System Stabilizer

Effect on the system dynamics
Eigenvalues

Real 1.0052 19.7970 39.0969 0.7388

Imaginary

Damping Ratio 0.1504 0.8394 -

f [Hz] 1.0516 2.0406 -

1,2 3,4 5 6

6.6071 12.8213
0 0

Synchronizing and damping torque coefficients due to exciter

Synchronizing and damping torque coefficients due to PSS

1,2 3,4 5 6

Ksync 0.21 1.27 1.16 0.30

Kdamp 8.69 13.00 0 0

1,2 3,4 5 6

Ksync 0.145 10.838 30.306 1.072

Kdamp 22.761 290.163 0 0

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Coming up
Exercise 3: Power System Stabilizer Contents: Stability analysis of Heffron-Phillips Model, PSS design and testing Date and time: Tuesday, 29 May 2012 Handouts will be sent around one week in advance. Please prepare the exercise at home, timing is tight! Attendance is compulsory for the Testat. Please notify us in case you cannot attend substitute task.

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