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Abstract – Real time transient stability assessment mainly depends on real-time prediction.
Unfortunately, conventional techniques based on offline analysis are too slow and unreliable in
complex power systems. Hence, fast and reliable stability prediction methods and simple stability
criterions must be developed for real time purposes. In this paper, two new methods for real time
determining critical clearing time based on clustering identification are proposed. This article is
covering three main sections: (i) clustering generators and recognizing critical group; (ii) replacing the
multi-machine system by a two-machine dynamic equivalent and eventually, to a one-machine-
infinite-bus system; (iii) presenting a new method to predict post-fault trajectory and two simple
algorithms for calculating critical clearing time, respectively established upon two different transient
stability criterions. The performance is expected to figure out critical clearing time within 100ms-
150ms and with an acceptable accuracy.
Keywords: Critical clearing time, CCS-B, Clustering identification, Post-fault trajectory, Real time
computing, SIME-B, Transient stability
197
Novel Techniques for Real Time Computing Critical Clearing Time SIME-B and CCS-B
of synchronism in a power system originates from the machine to infinite bus) equivalent which can only
irrevocable separation of its machines into two groups: one approximate an actual multi-machine, multi-bus inter-
composed of the “critical machines” (CMs, subscript C), connected electric power system, with lossy components,
which are responsible of the loss of synchronism, the other nonlinearities, high-speed exciters, controllers and stabilizers,
of the “non-critical machines” (NMs, subscript N). regulators, and reactive compensators, having an overall
Proposition 2: The stability properties of an OMIB may considerable contribution to the transient and dynamic
be inferred from Equal Area Criterion (EAC) constructed behavior of the system. Since the above contribution is
for this OMIB. normally beneficial to system stability, the direct methods
Thanks for phasor measurement units (PMUs) presence, can only claim a conservative estimation. With the above
the dynamic progress of disturbed power systems can be conditions, any additional simplification introduced in the
monitor in real time. Measured data from PMUs then are analysis, or in the computational procedure will further
used to analysis to recognize groups of generators with weaken the overall accuracy of the results [12]. Moreover,
similar characters or coherent generator groups. In [5], a the performance of grouping generators depends on the
method to define coherent groups is proposed: when value ε.
t ∈ [0,τ ] , if the relative power angles of generators i and j
do not exceed a given criterion ε 0 > 0 at any time, then the
two generators can be defined as coherent about the time 3. Network Reduction
domain τ, that is
3.1 The multi-machine model
max ∆δ i (t ) − ∆δ j (t ) ≤ ε 0 (1)
t∈[0,τ ]
In the classical simplified model of an n-machine power
system, each generator is represented electrically as a
Usually ε 0 can be chosen as 50 ≤ ε 0 ≤ 10 0 and t, for real constant voltage source behind its transient reactance and
time calculation, must be limited then 30ms ≤ t ≤ 50ms each load as constant impedance. The motion of the
with the rate of PMUs is 10ms-20ms. But simulations ithmachine is accordingly described by:
show that at the beginning of the disturbances the relative
power angles of various generators are not obvious. To get
δɺ i = ωi ; Mi ω
ɺ i = Pmi − Pei = Pai , i=1..., n (4)
the coherent information faster and more precisely, the first
and second derivative of the power angle with respect to where
time (angular velocity and angular acceleration) can be δ i :rotor angle
used as specimens to calculate their space distances. All the ωi : rotor speed
n generators can be grouped into several coherent generator M i : inertia coefficient
groups [5] by using the following index: Pmi : mechanical input power
Pei : electrical output power
dωij (k ) dωɺ ij (k ) Pai : accelerating power
d ij ( k ) = no
d ij ( k ) = no
or (2)
∑ dω
k =1
ij (k ) ∑ dω
k =1
ɺ ij (k )
3.2 The equivalent two-machine model
The OMIB transformation results from the decom-
where position of the system machines into two groups, the
aggregation of these latter into their corresponding center
n0 = n(n − 1) / 2 of angle (COA). Denoting by δ C (t ) the COA of the group of
K CMs, one writes:
dωij (k ) = ∑ (∆ω (t ) − ∆ω (t ))
k =1
i j
2
(3) ∆
K
δ C (t ) = M C−1 ∑ M k δ k (t ) (5)
dωɺ ij (k ) = ∑ (∆ωɺi (t ) − ∆ωɺ j (t ))2 ∆
k ∈C
k =1
Similarly: δ N (t ) = M N−1 ∑ M j δ j (t ) (6)
j∈N
d ij represents the similarity of output trajectory of
various generators, if d ij is less than a certain value ε, it
means that the dynamic behaviors of the two generators are In the above formulas: M C = ∑ M k ; M N = ∑M
j∈ N
j
k ∈C
similar which can be regarded as a coherent generator
group, otherwise they belong to different groups. 3.3 The equivalent OMIB model
Following the above procedure, CMs and NMs are
identified. However, the main drawback of the grouping The expressions of corresponding OMIB parameters
generators is the simplicity of the two-machine (or, one- δ , ω , M , Pm , Pe , Pa are derived as follows.
198
Hung Nguyen Dinh, Minh Y Nguyen and Yong Tae Yoon
∆
δ (t ) = δ C (t ) − δ N (t ) (7)
∆
ω (t ) = ωC (t ) − ωN (t ) (8)
−1
where: ωC (t ) = M C ∑M ω k k (t ) ; ω N (t ) = M N−1 ∑ M j ω j (t )
k ∈C j∈ N
Pa (t ) = Pm (t ) − Pe (t ) (10)
In the above expressions, M denotes the equivalent Fig. 1. OMIB P − δ and T-D representation with te =
OMIB inertia coefficient
117ms , unstable case
MC M N
M =
MC + M N Adec < Aacc . In such a case, the curve PeP crosses Pm or,
equivalently, the accelerating power Pa passes by zero
and continues increasing. From a physical point of view,
4. Proposed Methods Pa = 0 takes place at δ = δ u and marks the OMIB loss of
synchronism. An unstable OMIB trajectory reaches the
4.1 SIME-based method (SIME-B) unstable angle δ u at time tu as soon as:
a) SIME revisited dP
Pa (tu ) = 0 , Pɺa (tu ) = a >0 (12)
dt t = tu
Literature [9] investigated on SIME. SIME is a transient
stability method based on a generalized OMIB. The
fundamental difference between the original version of - Conditions of stable OMIB trajectory
Extended Equal-Area Criterion (EEAC) and SIME is that A stable case corresponds to η > 0 , i.e., to Adec > Aacc .
EEAC relies on a time-invariant OMIB that constructs by Inspection of Figs. 1 or Fig. 2 suggests that in such a case,
assuming the classical simplified machine and network the acquired kinetic energy is less than the maximum
modeling and by “freezing” once and for all the machine potential energy: PeP stops its excursion at δ = δ r , before
rotor angles at t 0 , the initial time of the disturbance crossing Pm . Stated otherwise, at δ = δ r , ω = 0 with Pa < 0 ,
inception. δ stops increasing then decreases. The above reasoning
yields the following statement: a stable OMIB trajectory
- Equal Area Criterion revisited reaches the return angle δ r ( δ r = δ u ) at time tr as soon as
EAC relies on the concept of energy. In short, it states
that the stability properties of a contingency scenario may ω (tr ) = 0 , with Pa (tr ) < 0 (13)
be assessed in terms of the stability margin, defined as the
excess of the decelerating over the accelerating area of the
b) Proposed method based on SIME (SIME-B)
OMIB Pa − δ plane:
SIME-B method is developed based on angular velocity
η = Adec − Aacc (11) prediction and a new transient stability assessment derived
from conditions of stable OMIB trajectory. Furthermore,
- Conditions of unstable OMIB trajectory the criterion is made simpler from an interesting
An unstable case corresponds to η < 0 , i.e., to observation. Since the new criterion is quite simple,
199
Novel Techniques
Techniques for Real Time Computing Critical Clearing Time SIME-B
SIME B and CCS
CCS-B
ω (t ) = kt , tO ≤ t ≤ t A (15)
1 1 (16)
δ (t ) = at 3 + bt 2 + ct + d
3 2
ωɺ (t ) = 2at + b (17)
t ≥ tA
Once a, b and c are determined and commencing data of
angle are available, angle curve δ (t ) and angular
acceleration curve ωɺ (t ) for t ≥ t A are resolved as well.
Taking three points on angular acceleration curve ωɺ (t ) and
combining with swing equation:
M ωɺ = Pa (18)
200
Hung Nguyen Dinh, Minh Y Nguyen and Yong Tae Yoon
Remarks:
- The proposed method is faster than the existing SIME
due to its simple interpolation and criterions. The difference
becomes clearer when the CCT-finding procedures are used
repeatedly. The larger number of iterations, the more
computationally interesting the proposed method becomes
with respect to the existing one
- With respect to the very high non-linear issue, we
observe that while the electric power outputs behave in a
highly on-linear way particularly at the moment of fault
clearance, the angle dynamics and the angle velocity
dynamics remain “nice”, which allows for an accurate Fig. 4. Trajectories in a phase plane for a single machine to
extrapolation using a quadratic function. This phenomenon infinite bus system with damping.
201
Novel Techniques for Real Time Computing Critical Clearing Time SIME-B and CCS-B
equilibrium point (UEP) for a single machine infinite bus where PC , PN : electric output of CMs and NMs,
system. In this section, the authors propose critical respectively
condition for synchronism which suffices in general multi- δ C , δ N : electric output rotor angle of CMs and NMs,
machine systems. It is known in a single machine case that respectively
∂P We define:
the synchronizing force disappears when = 0 , where
∂δ
P is the synchronizing power. A natural extension of the P δ
P = C ;δ = C (26)
condition for multi-machine case may be written based on PN δ N
singularity condition of synchronizing force coefficient ∂PC ∂PC
matrix as follows:
∂P ∂δ C ∂δ N
=
∂δ ∂P (27)
∂PN
∂P
N
∂δ .ν = 0 , with ν ≠ 0 (22)
∂δ C ∂δ N
δɺ
δɺ = C (28)
where ν ∈ R n is the eigenvector corresponding to zero
δ N
ɺ
∂P
eigenvalue of matrix ∈ R , and n is the number of
nxn
202
Hung Nguyen Dinh, Minh Y Nguyen and Yong Tae Yoon
In order to illustrate the effectiveness of SIME-B When the systems become larger, much time for
Method, we have carried out numerical examinations using handling the big data and running the T-D program will
203
Novel Techniques for Real Time Computing Critical Clearing Time SIME-B and CCS-B
slow down the CCT determining process. Parallel [5] Yujing Wang; Jilai Yu, “Real Time Transient Stability
computing in case of centralized control scheme or Prediction of Multi-Machine System Based on Wide
distributed computing in case of distributed control scheme Area Measurement”, Power and Energy Engineering
should be applied in order to reduce the computing time Conference, 2009, APPEEC 2009, Asia-Pacific, pp.
needed and make the proposed methods becomes even 1-4, March 2009.
more attractive to real-time applications. [6] Wang Fangzong, Chen Deshu, He Yangzan, “On-line
transient stability simulation and assessment of large-
scale power system”, Proceedings of the CSEE, Vol.
6.Conclusion 13, No. 6, pp. 13-19, 1993.
[7] Fouad A A, Vittal V, “Power system transient stability
This paper proposed two new methods for transient analysis using the transient energy function method”,
stability assessment: SIME-B and CCS-B with introduction Prentice Hall, Inc., 1992.
of PMUs. CTT is determined in extremely short time, [8] Maria G A, Tang C, Kim J., “Hybrid transient
obviously, is eligible for real time analysis. The new model stability analysis”, IEEE Transactions on PWRS., Vol.
applied for predicting post-fault trajectory based on angular 5, No. 2, pp. 384-393, 1990.
velocity prediction successfully overcomes problem of [9] Mania Pavella, Damien Ernst, Daniel Ruiz-Vega,
accelerating power estimation, which is unsmooth. SIME- “Transient Stability of Power System A Unified
B method can be executed even faster sincethe time Approach to Assessment and Control”, Kluwer
angular velocity reaches the maximum, t B , is fixed. Academic Publishers, 2000
However, in some cases, a large deviation of Pa will lead [10] M. Takahashi, K. Matsuzawa, M. Sato, et al. “Fast
to inaccurate results. On the other hand, CCS-B seems to generation shedding equipment based on the observa-
be a promising method because of its precision and rapid tion of swings of generators.” IEEE Transactions on
convergence. Power Systems, Vol. 3, No. 2, pp. 439-446, May 1988.
[11] Yorino, N.; Priyadi, A.; Kakui, H.; Takeshita, M., “A
New Method for Obtaining Critical Clearing Time for
Acknowledgements Transient Stability”, Power Systems, IEEE Transactions,
Vol. 25, Issue: 3, pp. 1620-1626, Aug. 2010.
This work is inthe research project (2011T100100152) [12] Y. Xue, Th. Van Cutsem, M. Ribbens-Pavella, “A
which has been supported by Korean Electrical simple direct method for fast transient stability
Engineering & Science Research Institute (KESRI) and assessment of large power systems”, IEEE Trans. on
Korean Institute of Energy Technology Evaluation and Power Systems, Vol. 3, No. 2, May 1988.
Planning (KETEP), which is funded by Ministry of
Knowledge Economy (MKE). Hung Nguyen Dinh was born in
Vietnam on May 06, 1986. He received
the B.S. degrees in Electrical Engi-
References neering from Hanoi University of
Technology, Vietnam, in 2009. Currently,
he is pursuingM.S. degree in Electrical
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Minh Y Nguyen was born in Vietnam
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Electrical Engineering from Hanoi
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[4] Kundur, P.; Paserba, J.; Ajjarapu, V.; Andersson, G.;
from Seoul National University, Korea
Bose, A.; Canizares, C.; Hatziargyriou, N.; Hill, D.;
in 2009. Currently, he is pursuing
Stankovic, A.; et al. “Definition and classification of
Doctoral Degree in Dept. of Electrical
power system stability IEEE/CIGRE joint task force
Engineering and Computer Science, Seoul National
on stability terms and definitions”, Power Systems,
University, Korea. His research fields of interest include
IEEE Transactions, Vol. 19, Issue:3, pp.1387-1401,
restructured electric power industry, micro-grid, smart-grid
Aug. 2004.
and integration of alternative energy sources.
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Hung Nguyen Dinh, Minh Y Nguyen and Yong Tae Yoon
205