2010/01/14

Power System Dynamics

Graduate School of Science and Technology

Single-machine infinite-bus (SMIB) power system

H. Bevrani

Fall Semester, 2009

Swing equations
d

dt
d
M  D  Pm  Pe
dt
E g Eb
Pe  sin 
x g  xe

System response for a fault during 1 to 10 seconds

Power System Control A Historical Review

SMIB power system control
Power system control recognized as
an important problem in the 1920s.
Frequency stability problems and
related control solutions (1970s and
1980s)

Since the 1980s, several control

design approaches for power system
oscillation damping and voltage
regulation

1

Since 1990s, supplementary control
of excitation systems: Static Var
Compensator (SVC), High Voltage
Direct Current (HVDC) converters ,
Flexible AC Transmission System
(FACTS), …
Since the 2000s, using Phasor
Measurement Units (PMUs), wide-area
power system stabilizers, and control
coordinators
Power System Stability
“is the ability of an electric power
system, for a given initial operating
condition, to regain a state of operating
equilibrium after being subjected to a
physical disturbance, with most system
variables bounded so that practically
the entire system remains intact”
Rotor angle instability
“is the inability of the power system to
maintain synchronisation after being
subjected to a disturbance”
Solution: using Power System
Stabilizers (PSSs), thyristor exciters,
fast fault clearing, and other stability
controllers and protection actions such
as generator tripping
2010/01/14
Some new important issues
• Appropriate lines of defence,
• More effective dynamic modelling,
assessments/predictions, and optimal
allocations,
• Proper consideration of DG units,
• Robust control design for stabilizing
power systems
• RESs impacts on systems dynamics/
stability, and possible control solutions
Instability phenomena: Classification
Classification
Transient (large disturbance) angle
instability, a severe disturbance does
not allow a generator to deliver its
output electricity power into the
network
network.
Small signal (steady state) angle
instability is the inability of the power
system to maintain synchronisation
under small disturbances.
2
 2010/01/14

Voltage instability Conventional AVR-PSS Scheme

“is the inability of a power system to
maintain steady acceptance voltages
at all system’s buses after being
subjected to a disturbance from an
q
assumed initial equilibrium p
point”
Possible results: Loss of load in an
area, tripping of transmission lines, and
other protected equipments
Solution: AVR, Reactive power
compensators

AVR-PSS Coordinator Frequency instability

“is the inability of a power system to

maintain system frequency within the
specified operating limits”

Solution: Primary and Supplementary

loop controls, Special protection plans

Important factors to determine the

instability form:
The size of disturbance, physical
nature of the resulting instability, the
dynamic structure, and the time span

Each instability form does not always

occur in its pure form. One may lead to
the other, and the distinction may not
be clear.

3
 2010/01/14

Controls configuration
Control types: generation excitation
controls, prime mover controls,
generator/load tripping, fast fault
clearing, high speed re-closing,
dynamic braking,
braking reactive power
compensation, LFC, current injection,
fast phase angle control, HVDC special
controls, ...
Classification:
continuous and discontinuous controls

Continuous controls: generator

excitation controls (PSS and Automatic
Voltage Regulator-AVR), prime mover
controls, reactive power controls,
HVDC controls, …
Discontinuous controls: discrete
supplementary controls, special
stability controls, emergency
control/protection schemes, ...
Controls and protections on
transmission and distribution sides:
Switching capacitor/reactors, tap-
changing/phase shifting transformers
transformers,
HVDC controls, synchronous
condensers, static var compensators,
...

Controls at different operating states Operating states

Controls objective: return the system in

off-normal operating states to a normal
state
Operating states:
Normal,
Alert,
Emergency,
In extremis,
Restorative

4
 2010/01/14

power system controls: Dynamics and control Timescales

Normal/preventive controls (for the
normal and alert states) Rotor angle stability (short-term stability
Emergency controls (for emergency problem):
or in extremis state) Transient (large disturbance) stability
studies:
Normal/preventive controls: 3 to 10 seconds
Automatic Frequency and Voltage Steady state (small signal) studies:
controls 10 to 20 seconds
Emergency controls: UFLS, UVLS,
and Special system protection plans

Timescales

Voltage stability (short-term or long-term

stability problem):
few seconds to several minutes

Frequency stability (a long-term stability

problem):
few seconds to several minutes