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9/19/06 EE532 Lecture 7(Ranade) 1
EXPERT SYSTEMS AND SOLUTIONS

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expertsyssol@yahoo.com
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PAIYANOOR, OMR, CHENNAI
Call For Research Projects Final
year students of B.E in EEE, ECE, EI,
M.E (Power Systems), M.E (Applied
Electronics), M.E (Power Electronics)
Ph.D Electrical and Electronics.
Students can assemble their hardware in our
Research labs. Experts will be guiding the
projects.
EE532
Power System Dynamics and
Transients
Satish J Ranade
Classical Analysis
Numerical Solution & Multi-machine
Systems
Lecture 8
EUMP Distance Education Services
Topics
Closer look at multi-machine System
Advanced Algorithms
Modeling of synchronous generators
Multi-machine Systems Approach 1
Complete Example :Glover/Sarma System Fig. 13.4 modified
0. Event
1
2
3
G1
G2
S3
Initially G1 is set to supply 0.2 pu MW and |V1|=|V2|=1 pu
A three phase fault at Bus 3 is cleared by opening line 1-3 in
10 ~
Is the system first swing stable?
1
2
3
0. System
G1
G2
Zg1=jXd1 = j0.3 Zg2=jXd2 = j0.3
Zt=j0.1 Z12=j0.2 Z13=j0.1 Z23 = j0.2
H1=2 S H2=2 S
Two generators ( No infinite bus)
S3
Load S3=.4+j0.1 pu
1. Find Initial Conditions
1. Power Flow
2. Find internal voltage/angle E` and
2. Expand system impedance diagram to explicitly include
Generator Internal voltage source E` as a bus Represent
Loads as constant impedance
1. For each event or network configuration
1. Build Admittance matrix
2. Reduce network to represent Generator Internal voltage
source (E`) buses only
4. Develop power angle curves for each generator and event
5. Simulate
1
2
3
1. Initial Conditions-- Gauss Seidel Power Flow Gives
G1
G2
-S3
P1+jQ1
P2+jQ2
V1/1
V2/2
V3/3
ZG
1
0.3j .1j + : ZG
2
0.3j :
V
1
1 8.086i 10
3
V
2
1
V
3
0.992 0.032i
S
1
0.2 0.074i + S
2
0.201 0.038i + S
3
0.4 0.1i
I
i
S
i
V
i
:
1. Initial Conditions Generator internal Voltage
ZG
1
0.3j .1j + :
Includes Zt
i 1 2 , 2 .. : I
i
S
i
V
i
: i 1 2 , 2 .. : E'
i
V
i
ZG
i
I
i
+ :
E'
1
1.033
1
arg E'
1
( )
:
1
3.973deg
E'
2
1.013
2
arg E'
2
( )
:
2
3.405deg
+
V
2
-
Zt
jXd1=Zg1
Z12
Z13
Z23
+
E`
-
I
I
+
V1
-
S1
3
2
5 1
jXd2=Zg2
S3
+
E`
-
S2
4
2. Expand System to include generator. Model load as
constant impedance
+
V
2
-
Zt
jXd1=Zg1
Z12
Z13
Z23
+
E`
-
I
I
+
V1
-
S1
3
2
5 1
jXd2=Zg2
YS3
+
E`
-
S2
4
Ys3
S
3
V
3
( )
2
:
Ys3 0.406 0.101i
2. Construct reduced matrices for each event
+
V
2
-
Zt
jXd1=Zg1
Z12
Z13
Z23
+
E`
-
I
I
+
V1
-
S1
3
2
5 1
jXd2=Zg2
YS3
+
E`
-
S2
4
Yr0 Y110 Y120 Y220
1
Y120
T
:
Yr0
0.082 1.249i
0.095 1.186i +
0.095 1.186i +
0.11 1.259i
|
.
`
Prefault
+
V
2
-
Zt
jXd1=Zg1
Z12
Z13
Z23
+
E`
-
I
I
+
V1
-
S1
3
2
5 1
jXd2=Zg2
+
E`
-
S2
4
Fault
Yrf
3.61 10
6
2.1i
4.18 10
6
0.2i +
4.18 10
6
0.2i +
4.84 10
6
2.4i
|
.
`

+
V
2
-
Zt
jXd1=Zg1
Z12
Z23
+
E`
-
I
I
+
V1
-
S1
3
2
5 1
jXd2=Zg2
+
E`
-
S2
4
Post Fault
YS3
Yrp
2.16 10
4
2.093i
1.008 10
3
0.232i +
1.008 10
3
0.232i +
4.703 10
3
2.249i
|
.
`

Complete Example Glover/Sarma System Fig. 13.4 modified
4. Power angle curves
Notation X is a vector of generator speeds and angles
h step size
n step number ( so nh=time in sec)
d vector of rotor angles used to pass argument
to power angle formulas written as functions
Pei*(d) Power angle equation for generator I ,
during interval *
Pei(d,n) Power from generator i during interval n
as a function of rotor angles d
Notation X is a vector of generator speeds and angles
X
1
= speed of generator 1
X
2
= angle of generator 1
X
3
= speed of generator 2
X
4
= angle of generator 2
F(X,n) Vector of derivatives, I.e., swing equations
Formulas for mechanical power and electric power angle curve as a
function of angles d, for the prefault(0), fault(f) and post fault(p)
intervals
Pm1 n ( ) Re S
1
( )
: Pm2 n ( ) Re S
2
( )
: pu
Pm1 1 ( ) 0.2 Pm2 0.2 ( ) 0.201
Pe10 d ( )
1
2
n
E'
1
E'
n
Yr0
1 n ,
cos d
1
d
n
arg Yr0
1 n ,
( )
( )
:
Pe20 d ( )
1
2
n
E'
2
E'
n
Yr0
2 n ,
cos d
2
d
n
arg Yr0
2 n ,
( )
( )
:
Formulas for mechanical power and electric power angle curve as a
function of angles d, for the prefault(0), fault(f) and post fault(p)
intervals
Pm1 n ( ) Re S
1
( )
: Pm2 n ( ) Re S
2
( )
: pu
Pm1 1 ( ) 0.2 Pm2 0.2 ( ) 0.201
Pe10 d ( )
1
2
n
E'
1
E'
n
Yr0
1 n ,
cos d
1
d
n
arg Yr0
1 n ,
( )
( )
:
Pe20 d ( )
1
2
n
E'
2
E'
n
Yr0
2 n ,
cos d
2
d
n
arg Yr0
2 n ,
( )
( )
:
Formulas for electric power angle curve as a function of angles d,
and time
pu
Pe1 d n , ( ) Pe10 d ( ) n h .1 < if
Pe1f d ( ) .1 n h .1
1
6
+ < if
Pe1p d ( ) otherwise
:
Pe2 d n , ( ) Pe20 d ( ) n h .1 < if
Pe2f d ( ) .1 n h .1
1
6
+ < if
Pe2p d ( ) otherwise
:
pu
H 2 :
Derivatives ( Swing Equations) and Initial conditions
F X n , ( )
f
H
.
`
,
Pm1 n ( ) Pe1
X
2
X
4
|
.
`
,
n ,
]
]
]
D X
1
syn ( )
]
]
]
X
1
syn
f
H
.
`
,
Pm2 n ( ) Pe2
X
2
X
4
|
.
`
,
n ,
]
]
]
D X
3
syn ( )
]
]
]
X
3
syn
]
]
]
]
]
]
]
]
]
]
:
Initial conditions ( Subscript 1 corresponds to time t=0-
1
377 :
2
377 :
1
arg E'
1
( )
:
2
arg E'
2
( )
:
5. Simulation using Euler Method
x
1
2
|
.
`
,
:
Euler
n 2 3 , 10000 .. :
x
n
x
n 1
h F x
n 1
n ,
( )
+ :
Separate Variables for Plotting
n 2 3 , 10000 .. :
1
n
x
n
( )
2
: 2
n
x
n
( )
4
:
1
n
x
n
( )
1
: 2
n
x
n
( )
3
:
0 0.1 0.2 0.3 0.4 0.5
376
378
380
382
384
386
384.48
377
1
n
2
n
0.5
1 10
4
n h
0 0.1 0.2 0.3 0.4 0.5
0.005
0
0.005
0.01
9.904 10
3
2.895 10
3
1
n
2
n
0.5
1 10
4
n h
Speeds Stay
Together but
Increase
Relative angle
Swings back
F C
0 0.1 0.2 0.3 0.4 0.5
376
378
380
382
384
386
384.48
377
1
n
2
n
0.5
1 10
4
n h
0 0.1 0.2 0.3 0.4 0.5
0.005
0
0.005
0.01
9.904 10
3
2.895 10
3
1
n
2
n
0.5
1 10
4
n h
In a strict sense
system is first swing
stable
In the long term speeds
continue to increase
in fact load exceeds
maximum power transfer
capability with line out
(steady state unstable)
F C
5. Simulation a closer look
What does the voltage at buses look like?
Remember, |E`1| and |E2| are assumed constant
Back to the network reduction step started with
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
]
0
0
0
I
I
2 I
1 I
5 / 5 V
4 / 4 V
3 / 3 V
/ ' E
1 / ' E
2 V
1 V
2 V
1 V
22 Y 21 Y
12 Y 11 Y
2 I
1 I
2
1
1
1
Remember, |E`1| and |E2| are assumed constant
I2= Y21V1+Y22V2 = 0 => V2= -Y22
-1
Y21 V1
I1= Y11V1+Y12V2 => I1= (Y11-Y12Y22
-1
Y21) V1
So once the simulation is done we can calculate the voltage
At the eliminated buses as
V2= -Y22
-1
Y21 V1
Vs d n , ( ) Y220
1
Y120
T
E'
1
e
1j d
1
E'
2
e
1j d
2
.
`
]
]
]
]
n h .1 < if
Y22f
1
Y12f
T
( )
E'
1
e
1j d
E'
2
e
1j d
2
.
`
]
]
]
]
]
]
]
]
.1 n h .1
1
6
+ < if
Y220
1
Y12p
T
E'
1
e
1j d
1
E'
2
e
1j d
2
.
`
]
]
]
]
otherwise
:
0 0.1 0.2 0.3 0.4 0.5
0
0.5
1
0.993
4.191 10
6
V3
n
0.5
1 10
4
n h
Voltage at bus 3 drops to a low value even after
clearing load as constant impedance => load power
decreases
F
C
0 0.1 0.2 0.3 0.4 0.5
0.05
0
0.05
0.1
0.15
0.2
0.25
0.201
2.063 10
3
Pe1
1
n
2
n
|
.
`
,
n ,
]
]
]
Pe2
1
n
2
n
|
.
`
,
n ,
]
]
]
0.5
1 10
4
n h
Since load power decreases and Pm is constant speed increases
F
C
5. Simulation a closer look Maximum Power
0 0.5 1 1.5 2 2.5 3 3.5
0.1
0
0.1
0.2
0.243
4.372 10
4
Pe1p
delta
0
|
.
`
,
|
.
`
,
3.14 0 delta
5. Simulation a closer look Maximum Power
P
0. Event
1
2
3
G1
G2
S3
Initially G1 is set to supply 1 pu MW and |V1|=|V2|=1 pu
S1=0.4+j 0.1 S2=0.8
A three phase fault at Bus 3 is cleared by opening line 1-3 in
and reclosing at 3-30~
Is the system first swing stable?
S4
1
2
3
G1
G2
S3
S4
The load flow implementation does not change but now
2
3.36deg
2
arg E'
2
( )
: E'
2
1.02
1
26.023deg
1
arg E'
1
( )
: E'
1
1.12
E'
i
V
i
ZG
i
I
i
+ : i 1 2 , 2 .. : I
i
S
i
V
i
: i 1 2 , 2 .. :
Includes Zt
ZG
1
0.3j .1j + :
S
2
0.199 0.062i + S
2
S
2
Sload4 + : S
1
1.001 0.115i +
V
2
1 V
1
0.996 0.088i +
ZG
2
0.3j :
Sload4 .8 :
1
2
3
G1
G2
S3
S4
Power angle curve formulas do not change (values do)
Sequence changes. Pe1 shown below;similar for Pe2
Pe1 d n , ( ) Pe10 d ( ) n h .1 < if
Pe1f d ( ) .1 n h .1
1
20
+ < if
Pe1p d ( ) .1
1
20
+ n h .1
1
2
+ < if
Pe10 d ( ) otherwise
:
pu
1
2
3
G1
G2
S3
S4
0 0.1 0.2 0.3 0.4 0.5
375
380
385
390
395
390.894
377.001
1
n
2
n
0.5
1 10
4
n h
WRONG
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
375
380
385
390
395
394.649
376.612
1
n
2
n
1.5
1 10
4
n h
1
2
3
G1
G2
S3
S4
Corrected
3~ Reclose
1
2
3
G1
G2
S3
S4
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
1
0
1
2
1.781
0.502
1
n
2
n
1.5
1 10
4
n h
Corrected
3~ Reclose
1
2
3
G1
G2
S3
S4
30 Cycle reclose
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
360
380
400
420
416.837
368.686
1
n
2
n
1.5
1 10
4
n h
Corrected
1
2
3
G1
G2
S3
S4
30 Cycle reclose
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
0
10
20
30
40
33.602
0.396
1
n
2
n
1.5
1 10
4
n h
Corrected
Glover and Sarma (635-636)
Note text orders load buses first and generators

second.
So Y11 and Y22 are reversed

Y11 V+Y12 E=0 Loads
Y12
T
V +Y22 E=I Generators
Method Calculates V at each step
Run power flow
Build expanded Y and get Y11, Y12, Y22
At each time step
Calcuate Pe = Re (EnIn*) for each generator n
Find new speed and rotor angle
Solve Y11 V+Y12 E=0
If load is included in Y11 this linear
If load is not included use the Gauss Nolinear Iteration
E is known
Solve Y12
T
V +Y22 E=I for I
Method Calculates V at each step
Run power flow
Build expanded Y and get Y11, Y12, Y22
At each time step
Calcuate Pe = Re (EnIn*) for each generator n
Find new speed and rotor angle
Solve Y11 V+Y12 E=0
If load is included in Y11 this linear
If load is not included use the Gauss Nolinear Iteration
E is known
Solve Y12
T
V +Y22 E=I for I
Kundur Differential Algebraic Equation(DAE)

dX/dt = F(X , V) dX/dt = F(X , V)
I(X,V)= YN V 0 = G(X, V)
Swing Equation
+Device Diff. Eq.
Network or Power Flow Equation

dX/dt = F(X , V)
Apply Trapezoidal Rule
Xn+1 = Xn + (h/2) ( F(Xn, Vn)+F(Xn+1, Vn+1)

At each time step n+1 solve simultaneously
0 = Xn+1 - Xn + (h/2) ( F(Xn, Vn)+F(Xn+1, Vn+1)
0 = G(Xn+1, Vn+1)
The Newton Raphson Technique is one solution approach

Start with a guess Xn+1
e
, Vn+1
g
Define
R1 = Xn+1
g
- Xn + (h/2) ( F(Xn, Vn)+F(Xn+1
g
, Vn+1
g
)
R2 = G(Xn+1
g
, Vn+1
g
)
Taylor expansion of equation gives
V ) V / G ) 2 / h (( X ) X / G ) 2 / h (( 2 R 0
V ) V / F ) 2 / h (( X ) X / F ) 2 / h ( 1 ( 1 R 0
+ +
+ + +

Start with a guess Xn+1

e
, Vn+1
g
Compute correction and new guess

]
]
]
+
+
+
]
]
]
]
]
]
+
+
]
]
]
]
]
]

+

]
]
]
g
g
new
new
1 Vn
1 Xn
V
X
1 Vn
1 Xn
2 R
1 R
V / G ) 2 / h ( X / G ) 2 / h (
V / F ) 2 / h ( ) X / F ) 2 / h ( 1 (
V
X
Iterate to convergence
Go to next step
Summary
Developed Simulation Techniques for
First Swing Stability
Multimachine System
Looked at interpretation of results

Next
Modeling of synchronous generators
Advanced stability studies
Modeling machine in more detail
Modeling controls
Exciter/Voltage Regulator
Results from more detailed modeling


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9/19/06 EE532 Lecture 7(Ranade) 1

EXPERT SYSTEMS AND SOLUTIONS

9/19/06 EE532 Lecture 7(Ranade) 12

9/19/06 EE532 Lecture 7(Ranade) 13

Glover and Sarma (635-636)

Note text orders load buses first and generators

So Y11 and Y22 are reversed

Method Calculates V at each step

Run power flow

Build expanded Y and get Y11, Y12, Y22

At each time step

Calcuate Pe = Re (EnIn*) for each generator n

Find new speed and rotor angle

Solve Y11 V+Y12 E=0

If load is included in Y11 this linear

If load is not included use the Gauss Nolinear Iteration

Method Calculates V at each step

Run power flow

Build expanded Y and get Y11, Y12, Y22

At each time step

Calcuate Pe = Re (EnIn*) for each generator n

Find new speed and rotor angle

Solve Y11 V+Y12 E=0

If load is included in Y11 this linear

If load is not included use the Gauss Nolinear Iteration

Kundur Differential Algebraic Equation(DAE)

Kundur Differential Algebraic Equation(DAE)

Kundur Differential Algebraic Equation(DAE)

Kundur Differential Algebraic Equation(DAE)

Kundur Differential Algebraic Equation(DAE)

Start with a guess Xn+1

Compute correction and new guess

Developed Simulation Techniques for

First Swing Stability

Looked at interpretation of results

Modeling of synchronous generators

Advanced stability studies

Modeling machine in more detail

Results from more detailed modeling

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