Subsynchronous Resonance Damping in Interconnected Power Systems

Nadia Yousif, Majid Al-Dabbagh

Electrical Energy and Control Systems

School of Electrical and Computer Engineering
RMIT University – City Campus
S3026355@student.rmit.au

Abstract

In this paper, the subsynchronous resonance (SSR) for IEEE second benchmark system is investigated
using Matlab based on the Power System Block-set (PSB) in conjunction with Simulink. The effects of
both series compensation level and fault clearing time on SSR are investigated.
The results obtained verify the effect of series compensation level on the subsynchronous frequencies.
These studies are confirmed using both frequency analysis and eigenvalue techniques, which are carried
out based on Matlab control system toolbox. In addition, the influence of both fault clearing time and
series compensation level on maximum magnitudes of the turbine-generator shaft torques have been
analysed using time domain simulation technique.

Introduction:

Series capacitors have been extensively used as a very
effective means of increasing power transfer
capability of transmission system, and improving
transient and steady state stability limits of a power
system. This is due to partially compensating the
reactance of the transmission lines. However, the
application of series capacitors may lead to the
phenomenon of subsynchronous resonance. Under a
disturbance, series capacitors may excite
subsynchronous oscillations, when electrical resonant
frequency (fer) of the network is close to natural
torsional mode frequency of turbine-generator shaft.
Under such circumstance the shaft will oscillate at this
natural frequency.
This oscillation might grow to endurance limit in
seconds resulting in shaft fatigue and possibly damage
and failure. Therefore, there is a need to investigate
and analyse subsynchronous resonance when planning
inclusion of series capacitors for new or existing
power system.
Subsynchronous resonance is addressed in three
categories, i.e., induction generator effect, torsional
interaction and torque amplification. In all cases,
subsynchronous resonance is due to the interaction of
a series capacitor with turbine-generator [1-3]. The
first two types are caused by a steady state
disturbance, while the third is excited by transient
disturbances. Different approaches in subsynchronous
resonance analysis are presented in the literature.
References 1-3 refer to three analytical methods to
analyse SSR: frequency scanning, eigenvalue analysis
and the time domain simulation.
Frequency scanning has been used to study induction
generator effects [4]. The eigenvalue analysis is used
to identify frequencies of subsynchronous oscillations
as well as the damping of each frequency from state
space model of the entire system [1]. This analysis has
been regarded as a good measurement of the proper
operation of SSR countermeasures suggested in [5].
Time domain simulation has been performed in
different types of programs such as EMTP
(Electromagnetic Transient Program). These studies
provide important information regarding peak shaft
that is to be expected when a certain level of series
compensation is applied [6].
In this paper, an important application of the second
benchmark system [4] and Matlab [7] is presented to
study subsynchronous resonance that may occur in
series compensated transmission systems – in
particular, the simulation of the torque amplification
and eigenvalue analysis of the electrical network.
The investigation of the above phenomenon is carried
out using Matlab simulation and analysis tools. The
subsynchronous resonance damping under different
levels of series compensation in the network, and the
effect of fault clearing time on the torque
amplification are investigated.
System configuration:
The system considered in this paper is the IEEE
second benchmark model of which the single line
diagram and data used in this study are shown in
figure 1 [1].
A single generator of 600 MVA, 22kV is connected to
infinite busbar through transformer and two
transmission lines. One line is series compensated
with three different levels (20%, 55% and 90%) of the subsynchronous frequencies (for = fo – fer). If these
transmission line reactance. frequencies are close to one of the mechanical natural
frequencies of the spring-mass system, the turbine –
The transient disturbance considered for torque generator shaft might experience torsional modes of
amplification study is a three-phase to ground fault oscillations that will cause possible fatigue and
applied at t = 0.02 sec and removed after 0.0017 sec. damage.
The spring-mass system is composed of three masses
160
the generator, low-pressure and high-pressure 20%
55%
turbines. 140 90%

120
The model is built and simulated using Power System
Blockset in conjunction with Simulink. The blockset 100

Im pedance(dB)
uses the Matlab computation engine to simulate and
80
analyse the interaction of the electrical network with
the mechanical part of the system. 60

Both the electrical network and the spring-mass 40

system are represented in Matlab in their differential 20

equations, linearised about an operating point (Bus1)

and arranged in state space for analysis and simulation 0
0 10 20 30 40 50 60 70 80 90 100

purposes [1,7]. Figure 2 shows the Matlab Frequency(Hz)

representation of the second benchmark system. Figure 3

22 kv / 500 kV R1=0.0074 X1=0.0080

R=0.0002 R0=0.022 X0=0.240 E.V. Cs% = 20% Cs% = 55% Cs% =90%
Rsys=0.0014 Xsys=0.030
X=0.020
No. Real part Freq (Hz) Real part Freq(Hz) Real part Freq(Hz)
1 -10989570.93 -3.15E-13 -10989570.92 2.82E-17 -10989570.92 -1.50E-17
G G
2 -8594446.726 -1.87E-17 -8594446.726 1.32E-18 -8594446.726 2.55E-17
3 -315128.3472 3.15E-13 -315128.3122 -3.01E-19 -315128.2772 -2.79E-19
Study Generator
600MVA
4 -10989570.93 -1.08E-10 -10989570.92 2.51E-11 -10989570.92 -4.56E-11
Bus 1 R2=0.0067 X2=0.0739 Bus 2 Infinite Busbar
22 kV R0=0.0186 X0=0.210 5 -315128.3472 -1.66E-12 -315128.3122 7.83E-14 -315128.2772 -2.03E-14
6 -15.9363 -14.0976 -15.9482 23.6272 -15.9509 -30.2944
Figure 1 7 -15.9363 14.0976 -15.9482 -23.6272 -15.9509 30.2944
8 -29.3275 -9.21E-17 -29.3038 -1.16E-09 -17.3074 40.9551
In Scope: turbine
9 -17.2721 -19.1535 -17.2897 31.9701 -17.3074 -40.9551
t1
0 t
1 wref dw_5-2 In
10 -17.2721 19.1535 -17.2897 -31.9701 -29.2986 -1.88E-14
Clock
0.1/600 Pref Tr5-2 In
11 -17.2721 -19.1535 -17.2897 -31.9701 -17.3074 -40.9551
t2
wm gate In
A A a A a A A A
12 -17.2721 19.1535 -17.2897 31.9701 -17.3074 40.9551
d_theta Pm Pm 13
B B b B b B B B N -7.54E-07 0 -7.54E-07 0 -7.54E-07 0
STG
14 -0.037489 0 -0.037489 0 -0.037488 0
C C c C c C C C
1.00358 Vf
voltmeters 600MVA-60Hz Z1-Z0 Cs%
15 -0.037489 0 -0.037489 0 -0.037488 0
Vf m Inductivesource
22kV-500kV withneutral
600MVA-22kV
60Hz-3600rpm A A A

d_theta
ctrl B B B
Table 2
Pe
wm
Pe
m
Timer
C C C 3.2 Eigenvalue analysis:
dw Fault Z1-Z0
Breaker
Machines
Measurement
There is a need to verify subsynchronous conditions
Demux
Figure 2
severity and the distribution of these conditions
between system’s state variables. This can be
3. SUBSYNCHRONOUS RESONANCE
accurately accomplished using eigenvalue analysis,
ANALYSIS:
which can be easily performed using Matlab control
3.1 Frequency analysis:
system toolbox.
The existence of the subsynchronous mode in the
Once the state space model of the system is obtained,
study system can be identified by frequency domain
based on its set of linearised differential equations, the
calculation of network impedance at bus 1.
eigenvalues and eigenvectors can be rapidly calculated
The impedance of the network as function of
as Power System Blockset provides the state space
frequency is computed for different compensation
model for the network and spring mass system
levels. From the network’s frequency spectrum shown
individually.
in figure 3, the natural frequencies (fer) due to parallel
resonance are clearly identified for each level of
Table 1 shows eigenvalue of the electrical network for
compensation suggested. These frequencies appear to
different levels of compensations, where the
the generator rotor as modulations of the fundamental
imaginary part indicates the frequencies of the
frequency of the network (60 Hz), giving
oscillatory modes, while the real part represents the fault clearing time as the maximum torque amplitude
damping factor of these modes. decreases to lower level at 0.04 sec.

For stable conditions all eigenvalues must be at the State variables of the electrical network Right hand eigenvector for Right hand eigenvector for
Eigenvector No. 8 Eigenvector No. 10
left of imaginary axis. If the locus of a particular Uc_Cs 55%/Cs = 55%/Series RLC
Branch1 0.22199+0.77801i -0.79864-0.20136i
eigenvalue approach or cross the imaginary axis, then Uc_Cs 55%/Cs = 55%/Series RLC
a critical conditions is identified that requires the Branch 2
Uc_Cs 55%/Cs = 55%/Series RLC
0.22199+0.77801i 0.39905+0.10054i

application of one or more countermeasure. Branch 3 0.22199+0.77801i 0.3996+0.10082i

IL_winding1 Z1-Z0/Mutual Inductance 0.00015687+0.00054979i 0.0006424-0.0039527i

In addition, the state variables that have important role IL_winding2 Z1-Z0/Mutual Inductance 0.00015687+0.00054979i -0.00032063+0.0019749i

to contribute to a given mode of oscillation are IL_winding3 Z1-Z0/Mutual Inductance 0.00015687+0.00054979i -0.00032177+0.0019777i
identified using eigenvectors. This often tells the IL_winding1 Z1-Z0/Mutual Inductance -0.038773-0.13589i -0.00064347+0.0039488i
engineer exactly those variables that need to be
IL_winding2 Z1-Z0/Mutual Inductance -0.038773-0.13589i 0.00032116-0.001973i
controlled in order to damp a subsynchronous
oscillation. IL_winding3 Z1-Z0/Mutual Inductance -0.038773-0.13589i 0.00032231-0.0019758i

IL_600MVA-60 Hz 22 kV-500 kV 0.038616+0.13534i 6.8498e-007+3.8137e-006i

Every eigenvalue has its own right-hand eigenvector IL_600MVA-60 Hz 22 kV-500 kV -1.3037e-008-4.5693e-008i -1.5145e-005+4.3989e-005i

that determines the distribution of the mode of IL_600MVA-60 Hz 22 kV-500 kV 0.038616+0.13534i -3.4256e-007-1.9054e-006i

response through the state variable. IL_600MVA-60 Hz 22 kV-500 kV -1.3037e-008-4.5693e-008i 7.5633e-006-2.1979e-005i

Table 2 shows the right-hand eigenvectors for IL_600MVA-60 Hz 22 kV-500 kV 0.038616+0.13534i -3.4241e-007-1.9083e-006i
eigenvalues No. 8 and 10 for 55% level of IL_600MVA-60 Hz 22 kV-500 kV -1.3037e-008-4.5693e-008i 7.582e-006-2.2009e-005i
compensation, where U_Cs% is the voltage across the
series capacitor and IL is the current through an Table 2
inductor.

3.3 Time domain simulation using PSB:

Fault Peak torque (p.u.) Speed deviation %
This program uses step-by-step numerical integration clearing
time Gen-LP LP-HP Gen LP HP
to solve set of differential equations representing the 0.017 4.05 1.91 1.51 0.7 2.42
overall system under study. 0.03 3.00 1.20 1.27 0.5 1.62
Power System Blockset allows detailed modelling of 0.05 1.44 1.18 0.79 0.25 1.1
machines and network as well as circuit breakers 0.06 3.00 1.29 1.2 0.4 1.8
action and transient faults.
Table 3
Time simulation is most useful to study torque
amplification, where maximum turbine-generator shaft 4

stress for predicting fatigue life expenditure of the 2

LP-HP
Gen-LP

shaft and the risk of dynamic conditions can be

Torque(p.u.)

0
determined.
-2
Figures 4 and 5 show the effect of series
compensation level on the magnitude of the torque -4
0 0.1 0.2 0.3 0.4 0.5

oscillation between generator and low-pressure turbine 0.02

and between low pressure and high-pressure turbine. 0.01

HP
LP
Speed Deviation%

Gen

For every case of compensation the fault clearing time 0

is 0.017 sec. The increase in maximum magnitude of
-0.01
the torques of the two shaft segments Gen-LP and LP-
HP is evidenced when the compensation level is -0.02
0 0.1 0.2 0.3 0.4 0.5

changed from 20% to 55%. 200

Ph C
Ph B
100 Ph A

The fault clearing time has significant effect on the

VCs (kV)

0
magnitudes of torque’s oscillation. Figure 6 shows the
-100
oscillation of the torques, the percentage speed
deviation and the voltage across the capacitor when -200
0 0.1 0.2 0.3 0.4 0.5

the fault clearing time is 0.05 sec for 55% level of Time (s)

compensation. Table 3 shows the results of four

Matlab time domain simulation cases for different Figure 4
fault clearing times and for 55% series compensation.
The worst torque amplification is observed at 0.017
 4. CONCLUSION
5. REERENCES:
From the results presented in this paper, it is clearly
seen that the network frequencies depend on series 1. Anderson, P.M, Agrwal, B.L., Van Ness,
compensation level. Further, the fault clearing time J.E., ‘Subsynchronous Resonance in Power
has a significant role in the dynamic behaviour of the System’, IEEE Press, 1990, New York.
system. From such investigation as in this paper,
planners will be able to establish acceptable series 2. Farmer, R.G., Agrawal, B.L., ‘ Power System
compensation levels and switching arrangements for a Dynamic Interaction with Turbine-
specific stage of system design and development Generators’, The Electric Power Engineering
taking into account power quality and system’s Handbook, 1990.
reliability.
The existence of subsynchronous conditions and their 3. Subsynchronous Resonance Working Group
severity can be verified using Matlab and PSB as a of the System Dynamic Performance
simulation and analytical tool. Subcommitee, ‘ Reader Guide to
The cases investigated in the paper provide Subsynchronous Resonance’, IEEE
comparison between the analytical techniques Transaction on Power System, Vol. 7, No. 1,
corresponding to different types of subsynchronous February 1992.
resonance and the evaluation of appropriate
countermeasure. 4. Subsynchronous Resonance Working Group
of the System Dynamic Performance
Subcommitee, ‘ Second Benchmark Model
7
LP-HP
for Computer Simulation of Subsynchronous
Gen-LP
Resonance’, IEEE Transaction on Power
Torque(p.u.)

0 apparatus and Systems, Vol PAS-104, No. 5,

May 1985.
-7
0 0.1 0.2 0.3 0.4 0.5

0.06
HP
5. Hossiani, S.H., Mirshekar, O., ‘ Optimal
Control of SVC for Subsynchronous
Speed Deviation%

LP
Gen

0 Resonance Stability in Typical Power

System’, IEEE Transaction on Power
-0.06
0 0.1 0.2 0.3 0.4 0.5
Apparatus and Systems, 2001.
500

6. Lie, X., Jaing, D., Yang, Y.T., ‘ Analysing

Ph C
Ph B
Ph A

Subsynchronous Resonance Using a

V Cs (kV)

Simulation Program’, IEEE Transaction on

-500
0 0.1 0.2 0.3 0.4 0.5
Power Apparatus and Systems, 2000.
Time (s)

7. MathWorks, Matlab, version 6.1.0.450,

Figure 5 release 12.1, May 2001.

4
LP-HP
Gen-LP
2
Torque(p.u.)

-2

-4
0 0.1 0.2 0.3 0.4 0.5

0.025
HP
LP
Speed Deviation%

Gen

-0.025
0 0.1 0.2 0.3 0.4 0.5

500
Ph C
Ph B
Ph A
VCs (kV)

-500
0 0.1 0.2 0.3 0.4 0.5

Time (s)

Figure 6