Copyright P.

Kundur
This material should not be used without the author's consent

1539pk

In power system stability studies, turbine-generator

rotor is assumed to be made up of a single mass
Accounts for oscillation of entire rotor
Frequency in the range of 0.2 to 2.0 Hz

In reality, a steam turbine-generator rotor has a very

complex structure consisting of several predominant
masses (rotors of turbine sections, generator, and
exciter) connected by shafts of finite stiffness
When perturbed, torsional oscillations result
between different sections of turbine-generator rotor

Torsional oscillations in the subsynchronous range

could, under certain conditions, interact with the
electrical system in an adverse manner:
Subsynchronous resonance with series capacitor
compensated lines
Torsional interaction with power system controls

SO - 1

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Figure 15.3 shows the torsional characteristics of a

555 MVA, 3600 RPM fossil-fuel-fired generating unit
with a static exciter

Since rotor has five masses, there are five modes of

oscillation:
1.67 Hz mode represents oscillation of the entire
rotor against the power system. All five masses
participate equally in this mode. This is the mode
normally considered in rotor angle stability studies.
16.3 Hz mode is the first torsional mode. Has one
polarity reversal in the mode shape, with the rotors
of generator and LPA oscillating against rotors of
LPB, IP and HP sections.
24.1 Hz is the second torsional mode. Its mode
shape has two polarity reversals.
30.3 Hz and 44.0 Hz torsional modes have three and
four polarity reversals, respectively

SO - 2

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Figure 15.3 Rotor natural frequencies and mode shapes of a 555 MVA,
3,600 r/min steam turbine generator
SO - 3

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Torsional oscillations are inherently lightly damped

Normally, not affected by generating unit or network

controls

However, there have been several instances of

instability of torsional modes due to interactions with
Generator excitation controls
Prime-mover controls
Controls of nearby HVDC converters

SO - 4

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Torsional mode destabilization by excitation control was first

observed in 1969 while applying PSS at Lambton GS in Ontario,
Canada
PSS using speed signal at generator end of shaft excited
lowest torsional mode
PSS transfer function designed to provide nearly zero phase
shift at system mode frequency of 1.6 Hz and produce pure
damping torque
At torsional frequency of 16 Hz, PSS results in 135 phase lag
and hence, negative damping

Problem solved by using torsional filter and sensing speed

between the two LP turbine sections
Close to the "node" of 16 Hz torsional mode
Other torsional modes also have very low amplitude

SO - 5

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Examine effect of PSS on torsional stability of a 889

MVA, 1,800 RPM generating unit with a tandem
compound turbine and static exciter

Each double flow LP turbine section is represented by

two masses:

Figure E15.1 Shaft system representation

Objective is to examine the system performance with

different forms of PSS

SO - 6

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Delta-omega stabilizer with shaft speed (-a) as input

signal with speed measured at
the generator end
at coupling B
coupling C
both couplings B and C

Excitation system model

Figure E15.3 Thyristor exciter with delta-omega stabilizer

Results shown in Table E15.1

SO - 7

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Speed signal at generator end causes instability or

decreased damping of torsional modes while damping
system mode

Sensing at B adversely affects 23 Hz torsional mode

Sensing at C adversely affects 9 Hz torsional mode

No single speed sensing location suitable for all

torsional modes

Combination of B and C best for torsional modes

System mode is insensitive to sensing location;

depends only on gain

Exciter mode is heavily damped in all cases

SO - 8

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KSTAB

Speed
Sensing
Location

9 Hz

0.0

-0.05j56.2

9.5

Generator

9.5

Torsional Modes

System
Mode

Exciter Mode

-0.07j105.7 -0.10j146.1 -0.17j151.2

+0.23j5.7

+0.31j57.6 +0.20j106.0 +0.24j146.4 -0.06j151.3

-0.73j5.0

-13.7j13.1

Coupl-B

-0.25j55.3

-0.17j105.6 -0.01j146.2 -0.19j151.2

-0.75j5.0

-16.713.9

19.0

Coupl-B

-0.47j54.3

-0.28j105.5 +0.07j146.3 -0.20j151.2

-1.20j4.2

-14.5j19.7

9.5

Coupl-C

+0.06j56.6 -0.26j105.5 -0.21j146.1 -0.18j151.2

-0.74j5.0

-15.5j13.7

19.0

Coupl-C

+0.20j57.0 -0.46j105.3 -0.31j146.1

-0.19 j151.2

-1.20j4.2

-12.8j18.5

9.5

Both B and C

-0.10j56.0

-0.22j105.5 -0.11j146.1 -0.19j151.2

-0.74j5.0

-16.1j13.8

19.0

Both B and C

-0.16j55.7

-0.37j105.4 -0.12j146.1 -0.20j151.2

-1.20j4.2

-13.6j19.1

28.5

Both B and C

-0.22j55.5

-0.52j105.2 -0.13j146.1 -0.21j151.2

-1.36j3.6

-11.9j22.9

17 Hz

23 Hz

SO - 9

24 Hz

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Stabilizer as in Case A, but with a torsional filter

having a notch at 9 Hz and substantial attenuation at
the higher torsional natural frequencies.

Results shown in Table 15.2

Filter makes torsional modes insensitive to speed

signal stabilization

Damping of system mode with filter is about the same

as without

Filter has adverse effect on "exciter mode"

Filter characteristics increase gain in the frequency
range associated with exciter mode
Stabilizer gain has to be limited to low values
limits the effectiveness of PSS in damping system
mode

SO - 10

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KSTAB

Speed
Sensing
Location

9 Hz

17 Hz

0.0

-0.05j56.2

-0.07j105.7

-0.10j146.1 -0.17j151.2 +0.23j5.7

9.5

Generator

-0.06j56.2

-0.07j105.7

-0.11j146.1 -0.17j151.2

-0.91j5.1

-10.4j15.8

9.5

Coupl-B

-0.05j56.2

-0.07j105.7

-0.10j146.1 -0.17j151.2

-0.94j5.0

-8.114.1

19.0

Coupl-B

-0.05j56.2

-0.06j105.7

-0.10j146.1 -0.17j151.2

-1.42j4.1

-1.9j20.5

9.5

Coupl-C

-0.06j56.2

-0.07j105.7

-0.10j146.1 -0.17j151.2

-0.92j5.0

-10.5j20.0

19.0

Coupl-C

-0.06j56.2

-0.06j105.7

-0.10j146.1

-0.17 j151.2

-1.41j4.2

-3.2j20.0

Both B and C -0.05j56.2

-0.07j105.7

-0.10j146.1 -0.17j151.2

-0.93j5.0

-9.4j21.3

19.0 Both B and C -0.05j56.2

-0.06j105.7

-0.10j146.1 -0.17j151.2

-1.42j4.2

-2.5j20.4

28.5 Both B and C -0.05j56.2

-0.06j105.7

-0.10j146.1 -0.17j151.2

-1.54j3.5

+0.5j20.6

9.5

Torsional Modes
23 Hz

SO - 11

24 Hz

System
Mode

Exciter
Mode
-

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Stabilizer with electrical power deviation (delta-P) as

stabilizing signal

Similar to previous one, except that an equivalent

speed (-aeq) derived from electrical power is used
instead of actual shaft speed

Figure E15.4 Thyristor exciter with delta-P stabilizer

Results shown in Table E15.3

PSS does not cause instability of torsional modes

Exciter well damped

High stabilizer gain can be used, resulting in a well

damped system.

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Torsional Modes

System
Mode

Exciter
Mode

-0.07j105.7 -0.10j146.1 -0.17j151.2

+0.23j5.7

-0.05j56.2

-0.07j105.7 -0.10j146.1 -0.17j151.2

-0.75j5.0

-15.6j13.7

19.0

-0.05j56.2

-0.07j105.7 -0.10j146.1 -0.17j151.2

-1.20j4.2

-13.118.6

28.5

-0.05j56.2

-0.07j105.7 -0.10j146.1 -0.17j151.2

-1.40j3.6

-11.3j22.0

KSTAB

9 Hz

0.0

-0.05j56.2

9.5

17 Hz

23 Hz

SO - 13

24 Hz

1539pk

Problem first came to light on Square Butte HVDC

system in North Dakota
Consists of 250 kV, 500 MW dc link
Rectifier station located adjacent to Milton Young
GS with two units: 234 MW and 410 MW

Converters employ equidistant firing system

Normal regulator control modes are constant
current control at the rectifier and constant voltage
at the inverter
In addition, a supplementary "frequency sensitive
power controller" (FSPC) is provided for damping
system oscillations

Field tests showed that

The supplementary damping controller destabilized
the first torsional mode (11.5 Hz) of 410 MW
generating unit
Normal constant current control, without damping
controller, could cause instability of 11.5 Hz
torsional mode

Problem solved by modifying converter controls

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Basic Phenomenon

Torsional mode oscillations cause phase and

amplitude modulation of generated voltage waveform
modulated voltage has frequency components equal
to fo-ft

Modulated voltage impressed on the dc system

commutating bus

With equidistant firing angle control

a shift in voltage phase due to a torsional mode
causes a similar shift in firing angle
results in corresponding changes in direct current,
voltage and power

SO - 15

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Closed-loop current control responds to correct these

changes
reflected as a change in the generator power

If the net phase lag between the variation in shaft

speed at the torsional frequency and the resulting
change in electrical torque of the generator exceeds
90,
torsional oscillations become unstable

SO - 16

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SO - 17

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Occurs mainly in series capacitor compensated

transmission systems

First experienced in 1970 resulting in shaft failure of

units at Mohave Plant in Southern California
Not until the second failure in 1971 was the real cause
of failure recognized as SSR

Consider a simple radial system:

Figure 15.9 Radial series compensated system

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Natural frequency fn of the circuit inductance and

capacitance:

or

In an uncompensated transmission system, faults and

other disturbances result in dc offset components in
generator stator windings:
result in a component of air-gap torque at slip
frequency equal to fo
necessary to avoid torsional frequencies very near
the fundamental frequency fo

In a series capacitor compensated system, instead of

the dc component, the offset transient current is an
alternating current of frequency equal to the natural
frequency fn
induce rotor currents and torques of slip frequency
(fo-fn) Hz

SO - 19

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Table 15.1 shows the natural and slip frequencies as a

function of the degree of compensation (with f0 = 60 Hz)

Table 15.1
Percent Compensation
(XC/XL) x 100 (%)

Natural Frequency
fn (Hz)

Slip Frequency
60-fn (Hz)

10

18

42

25

30

30

30

32.6

27.4

40

38

22

50

42.4

17.6

SO - 20

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Here we have considered a simple radial system. For a

complex network, the frequency-dependent
characteristic of the effective impedance seen by a
generator may be determined by a frequency scanning
program

A series compensated network can cause sustained or

negatively damped subsynchronous oscillations by
two distinctive mechanisms:
a) Self-excitation due to induction generator effect
b) Interactions with torsional oscillations (SSR)

A shunt compensated transmission system normally

has natural frequencies in the supersynchronous
range
Subsynchronous oscillations normally do not pose
a problem
Exceptions are situations involving very long lines
and a high degree of shunt compensation

SO - 21

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Since fn < f0, slip is negative.

Depending on fn, Reff can be negative

At high degrees of compensation, the apparent

negative resistance of the generator may exceed the
transmission network resistance,
Effectively results in an RLC circuit with negative
resistance

Will result in self-excitation causing electrical

oscillations of intolerable levels

Purely electrical phenomenon; not dependent on shaft

torsionals

SO - 22

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If the complement of fn (i.e., f0 - fn) is close to one of the

torsional frequencies, torsional oscillations are excited
Results in a strong "coupling" between electrical and
mechanical systems
Condition referred to as "subsynchronous resonance"
A small voltage induced by rotor oscillations can result
in large subsynchronous currents
Will produce torque whose phase is such that it
enhances rotor oscillations

Consequences of SSR can be dangerous

If oscillations build up, shaft will break
Even if oscillations not unstable, system disturbances
can cause shaft torques of high magnitude and loss of
shaft fatigue life

Countermeasures to SSR:
Static filter
Dynamic filter
Dynamic stabilizer
Excitation system damper
Protective relays
NGH scheme

SO - 23

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Illustrates the two forms of instability of

subsynchronous oscillations associated with series
capacitor compensated systems
SSR and self-excitation

Test system considered is shown below

consists of a 555 MVA, 24 kV, 3,600 RPM turbinegenerator feeding power through a series capacitor
compensated transmission system to an infinite bus

Shaft system parameters and the torsional

characteristics of the generating unit are as shown in
Figure 15.3

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Power flow condition is as follows:

Pt = 519.5 MW

Et = 1.08

EB = 1.0

Degrees of compensation (i.e., XC/XL) is varied and the

reactive power output of the generator varies
accordingly

Focus is on the interaction between the lowest

torsional (16 Hz) mode and the subsynchronous
natural frequency oscillation of the network for the
following values of load at the HV bus:
a) PL = 166.5 MW,

QL = 0

b) PL = 0

QL = 0

SO - 25

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Case (a): With PL = 166.5 MW, QL = 0

Eigenvalue analysis used to analyze the modal interaction

system model includes the dynamics of the
transmission network and the generator stator circuits.
The complete system equations are expressed in the dq
reference frame

Table E15.4 gives eigenvalues, frequencies, and damping

ratios of lowest torsional mode and network mode

Participation factors associated with generator speed

deviation and voltage across the series capacitor are also
given
help identify extent of interaction between the two
modes

Network is in dq reference frame (rotates at generator

speed)
frequency of network mode is the complement of the
network natural frequency

With no compensation, torsional mode has frequency of

16.29 Hz and small positive damping

With 25% compensation, frequency and damping

increase slightly
little interaction between modes

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% Comp.

Freq.
(Hz)

Torsional Mode
Participation
Factors

vc

Network Mode
Freq.
(Hz)

Participation Factors
1

vc

0.0

16.29

0.0004

0.90

25.0

16.32

0.0006

0.90

0.002

35.20

0.0130

0.03

1.00

50.0

16.41

0.0010

0.90

0.01

24.75

0.0288

0.02

0.99

60.0

16.50

0.0012

0.90

0.04

21.80

0.0231

0.01

1.00

65.0

16.61

0.0010

0.91

0.09

20.09

0.0230

0.05

1.00

70.0

16.90

-0.0027

0.91

0.31

18.27

0.0273

0.26

1.00

75.0

16.85

-0.0468

0.93

0.77

16.88

0.0721

0.65

0.95

80.0

16.28

-0.0590

0.93

0.75

16.05

0.0858

0.63

0.95

SO - 27

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As compensation is increased
frequency of the torsional mode varies slightly
damping increases slightly at first, then decreases

At 70% compensation, torsional mode is just unstable

and noticeable interaction between torsional and
network modes

Further increase in compensation strengthens

"coupling"
pulls modes together in frequency but apart in
damping

At 75% to 80% compensation, coupling is strongest

and frequencies are nearly equal

Effect of "interaction" of torsional and network mode

on characteristics of network mode can be seen in
Table E15.5
provides frequency and damping of network mode
with and without multimass representation

SO - 28

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% Comp. of
line 2-3

Network mode with

multimass representation of
the turbine-generator rotor

Network mode with single

lumped mass representation
of the turbine-generator rotor

Freq. (Hz)

Damp.

Freq. (Hz)

Damp.

0.0%

0.95

0.0280

0.95

0.0244

25.0%

35.20

0.0130

35.32

0.0133

50.0%

24.75

0.0288

25.13

0.0185

60.0%

21.80

0.0231

21.82

0.0205

65.0%

20.09

0.0230

20.27

0.0215

66.0%

19.74

0.0230

19.96

0.0217

68.0%

19.04

0.0241

19.37

0.0221

70.0%

18.27

0.0273

18.78

0.0224

71.3%

17.70

0.0376

18.39

0.0227

72.0%

17.49

0.0460

18.20

0.0228

74.0%

17.06

0.0658

17.63

0.0231

75.0%

16.88

0.0721

17.35

0.0233

77.0%

16.51

0.0814

16.74

0.0237

78.0%

16.23

0.0850

16.27

0.0239

80.0%

16.05

0.0858

15.96

0.0241

SO - 29

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Case (b): With PL = QL = 0

Results are summarized in Table E15.6

With the load removed, the effective resistance of the

network is reduced significantly. Consequently, the
network mode becomes unstable due to the induction
motor effect

As the frequency of the network mode approaches the

torsional mode frequency, the coupling between the
two modes increases
The effect of the interaction is to increase the
damping of the torsional mode and to decrease the
damping of the network mode

SO - 30

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% Comp.
of line 2-3

Freq.
(Hz)

Torsional Mode
Participation
Factors

vc

Network Mode
Freq.
(Hz)

Participation Factors
1

vc

0.0

16.28

0.0003

0.896

25.0

16.32

0.0004

0.898

0.002

35.20

0.0088

0.03

1.00

70.0

16.94

0.0050

0.909

0.34

18.25

-0.0058

0.33

1.00

75.0

16.79

0.0570

0.940

0.88

16.94

-0.0611

0.78

1.00

80.0

16.14

0.0681

0.930

0.88

16.20

-0.0758

0.78

1.00

85.0

15.53

0.0500

0.871

0.83

15.46

-0.0639

0.71

1.00

93.7

15.80

0.0013

0.870

0.13

12.9

-0.0241

0.07

1.00

SO - 31

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A generating unit encounters multitude of switching

duties during its lifetime
can produce high levels of oscillatory shaft torques
the resulting cyclic stress variations on the shaft
may cause loss of "fatigue life"
a cumulative process with each incident using a
portion of the total fatigue life

In the early 1970s, it was recognized that networkswitching operations could contribute to shaft fatigue
damage

Problem examined by an IEEE Working Group, and

general recommendations made to industry
concerning:
a) steady-state switching
b) successive network switching

SO - 32

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Fatigue is a cumulative process in which additional events add

to previous life expenditure

Observable defects such as cracks will not be formed until all

the fatigue life is consumed

Typical fatigue characteristics:

Figure 15.11 A typical fatigue characteristic showing cycle life curve for fully
reversed stress

High-cycle fatigue limit (HCFL) is the limiting value of cyclic

stress to which shaft can be subjected such that no
cumulative fatigue damage occurs

SO - 33

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Most severe switching operation, with the network

initially under steady state, is the reclosing of lines
across a large breaker angle
unsynchronized closing of breaker
Depending on network impedances, the resulting
sudden increase in generator torque of a nearby
generator could be very large
If resulting torques are high, this may result in loss
of shaft fatigue life

For planned switching operations, such as a simple

line restoration, IEEE Guidelines recommend that
switching be conducted so that it does not contribute
significantly to cumulative shaft fatigue
Magnitude of cycle shaft stress, should be kept
mostly below HCFL
This way, nearly all of fatigue capability will be
preserved to withstand impact of unplanned and
unavoidable disturbances, such as faults

SO - 34

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A detailed investigation, involving assessment of shaft

torques and loss of fatigue life, for all possible lineswitching duties would be impractical

Reference 32 prepared by an IEEE Working Group

provides general guidelines to permit utilities to
screen switching operations
assume a simple line restoration from steady state
hence, applicable only for delayed (10 seconds or
more) reclosing
based on detailed studies of a number of cases

Breaker angle is not by itself useful in judging severity

of a switching operation
circuit impedances play a major role

Therefore, severity is measured in terms of the sudden

change in the generator power (P), as computed by a
conventional transient stability program

SO - 35

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A rule-of-thumb limit for P is:

0.5 pu of generator MVA rating

A line-switching case resulting in P of less than 0.5

pu considered safe
no contribution to loss of fatigue life

Switching operations resulting in P greater than the

0.5 pu limit have to be studied in detail to assess the
shaft duty

Reference 32: IEEE WG Report, "IEEE Screening Guide for Planned SteadyState Switching Operations to Minimize Harmful Effects on Steam Turbine
Generators", IEEE Trans., Vol. PAS-99, No. 4, pp. 1519-1521, July/August
1980.

SO - 36

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Successive network disturbances, such as automatic

high-speed line reclosing following a fault,
can result in dangerously high torques

Concern is for the compounding effects of the different

switching operations
torsional oscillations due to successive impacts
may reinforce the initial oscillations
risk of amplifying torsional oscillations to damaging
levels is a function of the type of disturbance and
the timing of subsequent switching operations

Reference 33 prepared by the IEEE Working Group

gives a summary of the predicted range of fatigue life
expenditure for various types of disturbances:
different type faults, fault clearing, successful
reclosing, unsuccessful reclosing

cont'd

SO - 37

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Automatic high speed reclosing of multiple faulted

lines near thermal generating plants pose significant
risks of shaft fatigue life expenditure
where contemplated, a study of shaft fatigue duty
recommended

The following are possible alternative reclosing

strategies with reduced risk of shaft damage:
Delayed reclosing, with a delay of 10 seconds or
more
Sequential reclosing: automatic reclosing from the
remote end, followed by synchro-check reclosing of
the plant end
Selective reclosing: limiting high-speed reclosing to
L-G faults and L-L faults

Reference 33: IEEE Working Interim Report, "Effects of Switching

Network Disturbances on Turbine-Generator Shaft System", IEEE
Trans., Vol. PAS-101, No. 9, pp. 3151-3157, September 1982

SO - 38

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Rotor of a hydraulic generating unit consists of a

turbine runner and a generator rotor
If unit has a shaft-driven exciter, there is an
additional rotor mass
There are at most two torsional modes of oscillation

Inertia of generator rotor about 10 to 40 times that of

turbine runner (waterwheel)

No reported cases of adverse dynamic interaction with

electrical network

Principal reasons for absence of adverse interaction:

a) High generator rotor inertia relative to turbine runner
effectively shields the rotor mechanical system

from the electrical network

b) Viscous waterwheel damping

torsional oscillations inherently highly damped

SO - 39

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