ECE 330

POWER CIRCUITS AND ELECTROMECHANICS

LECTURE 20
STABILITY OF ELECTROMECHANICAL
SYSTEMS

Acknowledgment-These handouts and lecture notes given in class are based on material from Prof. Peter
Sauer’s ECE 330 lecture notes. Some slides are taken from Ali Bazi’s presentations

Disclaimer- These handouts only provide highlights and should not be used to replace the course textbook.
11/6/2017
Copyright © 2017 Hassan Sowidan
 LINEARIZATION
• When we write the equations on the electrical and
mechanical side, we have complete dynamic
description of the system.
• Then we put them in the state space form as a set of
first-order equations for analysis x  f ( x, u )
• Setting x  0 , we get the algebraic equations
0  f (x , uˆ ) , which may have several solutions
e e
x , x ,.... called static equilibrium solutions.
1 2

11/6/2017 2
Copyright © 2017 Hassan Sowidan
 LINEARIZATION
• By integrating x  f ( x, u ) , x (0)  x 0 we can obtain
the time domain response.
• a linearized analysis is helpful to determine if the
equilibrium point is stable or not by merely
computing the eigenvalues of a matrix.
• For large disturbances, a direct method using energy
functions can in some cases be used to assess
stability without time-domain simulations
11/6/2017 3
Copyright © 2017 Hassan Sowidan
 LINEAR CIRCUIT MODELING
FIRST-ORDER EXAMPLE

t=0 + R
i
L
E V

-
di
• The circuit differential equation is: v  i R  L
dt
• State space form di R 1
 i v
dt L L
i (0)  0, v (0)  0 for t  0, v  E for t  0
t
Solution: i (t )  ae  i ss
11/6/2017 4
Copyright © 2017 Hassan Sowidan
 FIRST-ORDER EXAMPLE

• DC steady state (equilibrium):

E
R 1
0 i E , iss 
L L R
• How to solve for λ (eigenvalue)?
R R R
| A   I ||  I  A ||   |      
L L L
• How do we solve for a ? By using initial condition.
E E
i (0)  0  a  a
R R
E  RL t E
 i (t )   e 
R R
11/6/2017 5
Copyright © 2017 Hassan Sowidan
 SECOND-ORDER EXAMPLE
C
t=0 R +v-
i L
E

• The circuit differential equations are:

di dv
E i R L v , i 
dt dt
di R 1 1
 i v E
dt L L L
dv 1 i (0)  0
 i
dt C v (0)  V0
11/6/2017 6
Copyright © 2017 Hassan Sowidan
 SECOND-ORDER EXAMPLE

Then,
 di   R 1
 dt    L   1
L i   
    L E
 dv   1   v  
 dt   C
0
  0

The solutions become:

1t 2t
i (t )  ae  be  iss
1t 2t
v(t )  ce  be  vss
The system is stable if Re{λ1, λ2}<0
11/6/2017 7
Copyright © 2017 Hassan Sowidan
 SECOND-ORDER EXAMPLE
At equilibrium: R 1 1 1
0 i  v  E, 0 i
L L L C
iss  0, vss  E
Finding the eigenvalues:
R 1

L L R 1
|  I  A |   
2
0
1 L LC
 
C
R 1  R 
2
4
1,2     
2L 2  L  LC
The eigenvalues are stable since the real part is <0.
11/6/2017 8
Copyright © 2017 Hassan Sowidan
 SECOND-ORDER EXAMPLE
At t  0 : a  b  i (0), 0  c d  E
di R 1 1
  i (0)  v (0)  E  a1  b 2
dt 0 L L L
dv 1
 i (0)  c 1  d 2
dt 0 C
Solve the following equations to find a, b, c, and d
 0  ,  1 1   c  V  E 
1 1  a   
      d    0 
0
2  b    0 
E V
 1  1 2   
L L 
11/6/2017
9
Copyright © 2017 Hassan Sowidan
 LINEARIZATION
A nonlinear system can be expressed as:
x  f ( x, u )

The power system may be subjected to small

disturbances which may lead to oscillations of power
in transmission lines. If not properly damped it may
lead to cascading outages and major disturbances
(faults).
11/6/2017 10
Copyright © 2017 Hassan Sowidan
 LINEARIZATION
• Linearization is applied around an equilibrium point
x e and an input û .
• For a scalar x and u , the Taylor series expansion is:
x  x  x e
u  u  uˆ
i .e ., x  x  x ,
e
and u  uˆ  u
f f
f (x ,u )  f (x ,uˆ ) 
e
(x  x ) 
e
(u  uˆ )  h .o .t .
x xe u xe

11/6/2017 11
Copyright © 2017 Hassan Sowidan
 LINEARIZATION
• Then, f f
x  x  u
x xe u xe

• For a second-order system:

x 1  f 1 (x 1 , x 2 , u )

x 2  f 2 (x 1 , x 2 , u )
Let x 1  x 1  x , x 2  x 2  x , u  u  uˆ .
e
1
e
2

11/6/2017 12
Copyright © 2017 Hassan Sowidan
 LINEARIZATION
• Linearizing around the equilibrium point, we get:

 f 1 f 1   f 1 
   
 x 1   x 1 xe
x 2 x e   x 1   u xe 
 x    
  x   f 
u
 2   f 2 f 2   2 
 
2

 x 1 xe
x 2 x e   u xe 

• For an n th- order system, a similar approach is

followed.
11/6/2017 13
Copyright © 2017 Hassan Sowidan
 LINEARIZATION
• The eigenvalues of A determine the stability for
small disturbances around the equilibrium point, and
obtained by solving for det[ A   I ] =| A   I |= 0 .
• If all the eigenvalues lie in the left-half plane (i.e.,
real parts < 0 ), we say the system is stable. If an
eigenvalue lies in right-half plane, then the system is
unstable. If a pair of complex eigenvalues lies on the
imaginary axis, the system is marginally stable.
11/6/2017 14
Copyright © 2017 Hassan Sowidan
 EXAMPLE 1
• Linearize the following nonlinear system:
x1  x2
x2  sin( x1 )  0.866  x2
• X2e = 0, x1e = sin-1(0.866) = 60o, 120o, etc. ; and:
 x1   0 1   x1 
 x   cos( x ) 1  x 
 2  1  2
• Eq. pt. 1: Unstable Eq. pt. 2: Stable
 1  1
 0 1
A   , A  I  1 A  I   1
cos(x 1 ) 1   1   1
2 2
1  0.366  0, 2  1.366  0 1  0.5  0.5 j, 2  0.5  0.5 j
11/6/2017 15
Copyright © 2017 Hassan Sowidan
 EXAMPLE 2
• Linearize the following nonlinear system:
x1  x 2
x 2  6sin x 1  4x 2  3
• Equilibrium points x 2e  0
0  x 2e x 1e  sin 1 0.5
0  6sin x 1e  3 
5
 ,
6 6
Linearization
x 1  x 2
x 2  (6sin x e )x 1  4x 2
11/6/2017 16
Copyright © 2017 Hassan Sowidan
 EXAMPLE 2

 0 1
A  
 6 cos(x ) 4 
e

Compute eigenvalues
 1
A  I    2  4  6 cos x e
6 cos x e 4

Characteristic equation

 2  4  6 cos x e  0
11/6/2017 17
Copyright © 2017 Hassan Sowidan
 EXAMPLE 2

4 1 2
  4  24 cos x e
2 2
Check stability of two equilibrium points:

1- x  , x 0
e
1
e
2 2- e 5 e
x1  , x2 0
6 6
1  1 5
  2  16  24 cos   2  16  24 cos
2 6 2 6
5 38
 2  j stable  2  j unstable
2 2
11/6/2017 18
Copyright © 2017 Hassan Sowidan