Power System Stability

GENERATOR CONTROL AND PROTECTION

 Outline
• Basis for Steady-State Stability
• Transient Stability
• Effect of Excitation System on Stability
• Small Signal Stability
• Power System Stabilizers
– Speed Based
– Integral of Accelerating Power
• Case Studies

GENERATOR CONTROL AND PROTECTION

Mechanical and Electrical Torque
Applied to the Shaft
Te

T G

TM ω

GENERATOR CONTROL AND PROTECTION

Stator, Rotor, and Resultant MMFs and Torque Angle
R F
2
A

B' C' ω

F1

C B

A'

GENERATOR CONTROL AND PROTECTION

Synchronous Machine Tied to Infinite Bus
ET E HV EO
Xg
Infinite Bus
XL

XT
Eg
X E =X T +X L

GENERATOR CONTROL AND PROTECTION

 Steady State Electrical Power
Output

EgET
Pe = sinδ
Xg

GENERATOR CONTROL AND PROTECTION

Phasor Diagram - Generator Tied to
Infinite Bus

Eg

jIXg
δ ET
E0 jIXE
I

GENERATOR CONTROL AND PROTECTION

 Transient Stability

GENERATOR CONTROL AND PROTECTION

 Rubber Band Analogy

Rubber Bands

Weights

GENERATOR CONTROL AND PROTECTION

 Change in Electrical Torque

∆ T e = T s∆ δ + T D ∆ ω

GENERATOR CONTROL AND PROTECTION

 Transient Stability Illustration
PMAX 3
4 Insufficient
P DECEL Retarding
Torque
Stable
PM 1 Turbine
Retarding Power
Power

Torque
P ACCEL
Unstable,
machine loses
2 Synchronism

0
0° δ° 90 ° 180 °
Power Angle- δ
GENERATOR CONTROL AND PROTECTION
 Effect of Fault Clearing Time -
Equal Area Not Possible
P
E

Power PM

Unit pulls out of sync

Breaker
Fault clears

GENERATOR CONTROL AND PROTECTION

 Effect of Fault Clearing Time -
Equal Area Substantial Margin
Rotor decelerates due to P
PE max exceeding E
mechanical power
System returns to
steady state, system stable

Power PM

Equal Area
Fault Breaker
clears faults substantial margin
δ

GENERATOR CONTROL AND PROTECTION

Effect of the Excitation System
on Stability

GENERATOR CONTROL AND PROTECTION

 Steady State Electrical Power
Output

EgET
Pe = sin δ
Xg

GENERATOR CONTROL AND PROTECTION

Effect of High Initial Response
Excitation System
P
E
P
Fast excitation system
E-B
B Maximum field forcing
P
First swing, system recovers
E-A

Power A PM
Machine will lose
synchronism

0 δ

GENERATOR CONTROL AND PROTECTION

 Small Signal Stability

GENERATOR CONTROL AND PROTECTION

 Change in Electrical Torque

∆ T e = T s∆ δ + T D ∆ ω

GENERATOR CONTROL AND PROTECTION

 Inter-Unit Oscillations
Xg1

Eo
Eg1

1.5 - 3 Hertz
Xg2

Eg2

GENERATOR CONTROL AND PROTECTION

 Local Mode Oscillations

Eo
Xg XL

Eg
.7 - 2 Hertz

GENERATOR CONTROL AND PROTECTION

 Inter-Area Oscillations
<0.5 Hertz
Xg1 XL Xg2

Eg1
Eg2

GENERATOR CONTROL AND PROTECTION

 Block Diagram of Generator Under
Voltage Regulator Control
K4
VREF
∆TM
Exciter -
+ ∆Ψfd ∆Te - +
∆E fd + ∆ωr ∆δ
Σ G ex (s)
+
Σ K3
1+sT3
K2 Σ Σ 1
2Hs +KD
ω0
s
- +
Field circuit
∆v 1
K1
K6

+
∆E t +
1
1+sTR Σ K5

Voltage transducer

GENERATOR CONTROL AND PROTECTION

 Power System Stabilizers

GENERATOR CONTROL AND PROTECTION

 The "Swing Equation"
2
2H d δ
2
= Tm
− Te
− K D
∆ω r
ω 0 dt

GENERATOR CONTROL AND PROTECTION

 Small Signal Version of "Swing
Equation"
∆Te = Ts ∆δ + TD ∆ω

GENERATOR CONTROL AND PROTECTION

 Response of Speed and Angle
to Small Disturbances
∆δ ∆ω
Stable
• PositiveTs ∆ TD ∆ Te
• PositiveTD
∆δ
∆ Ts
0

∆δ Oscillatory ∆ω ∆ Ts ∆δ
Instability
• PositiveTs
• NegativeTD ∆ TD ∆ Te

GENERATOR CONTROL AND PROTECTION

 PSS with AVR, Exciter and
Generator
∆ωr
G P S(s)

∆δ
K4

∆vs ∆TM
-
+ ∆Ψfd ∆Te - +
+ ∆E fd + ∆δ
K3 ω0
VREF Σ G ex (s)
+
Σ 1+sT3
K2 Σ Σ 1
2Hs +KD ∆ωr s
- +
Exciter Field circuit
∆v 1
K1
K6

+
∆E t +
1
1+sTR Σ K5

Voltage transducer

GENERATOR CONTROL AND PROTECTION

GENERATOR CONTROL AND PROTECTION
 PSS Theory of Operation
Speed Based Stabilizers

GENERATOR CONTROL AND PROTECTION

 Speed-Based Stabilizer
High-Pass Filter Torsional Filter Stabilizer Gain & Phase Lead Limits
Vstmax

1
1 s T5 1 + s T1 1 + s T3
Speed 1 + s T5 1 + A1 s + A2 s
2 Ks1 Output
1 + s T6 1 + s T2 1 + s T4

Vstmin

GENERATOR CONTROL AND PROTECTION

 PSS Theory of Operation
Dual Input Stabilizers

GENERATOR CONTROL AND PROTECTION

 Small Signal Version of "Swing
Equation"
∆Te = Ts ∆δ + TD ∆ω

GENERATOR CONTROL AND PROTECTION

 Speed Deviation from Net
Accelerating Power
d 1
∆ω r = (Tm − Te − K D ∆ω r )
dt 2H

GENERATOR CONTROL AND PROTECTION

 Accelerating Power Based on
Integral of Mechanical and
Electrical Power

1
∆ω = [∫ ∆ Tm − ∫ ∆ Te ]
2H

GENERATOR CONTROL AND PROTECTION

 Block Diagram of Dual-Input
Power System Stabilizer
High-Pass Filters Ramp-Tracking Limits
Stabilizer Gain & Phase Lead
Filter Vstmax

sTw1 sTw2 N + 1+sT1

Freq 1 + sTw1 1 + sTw2
+
Σ 1+sT8
(1+s T9 )
M Σ Ks1 1+sT
2
1+ sT3
1+ sT4 Output
+ -
Vstmin

High-Pass Filters & Integrator

sTw3 Ks2
Power
1+sTw3 1+sT7

GENERATOR CONTROL AND PROTECTION

Speed Derived from VT and CT Signals
EI Generator

q-axis
jXqI t
It
Et

d-axis

GENERATOR CONTROL AND PROTECTION

 Accelerating-Power Design (Speed
Input)
High-Pass Filters

s Tw1 s Tw 2
Compensated Frequency Generator Speed Deviation
Equivalent to Rotor Speed 1 + s Tw1 1 + s Tw2 Signal (i.e. no steady state component)

GENERATOR CONTROL AND PROTECTION

 Integral of Electrical Power Block
Diagram
High-Pass Filters & Integrator

s Tw3 K 2 Integral-of-Power
Active Power 1 + s Tw3 1 + s T7 Deviation

GENERATOR CONTROL AND PROTECTION

 Output Stage of PSS to AVR
Limits
Stabilizer Gain & Phase Lead Vstmax

Filtered 1 + s T1 1 + s T3
Speed Ks1 Output to AVR
1 + s T2 1 + s T4

Vstmin

GENERATOR CONTROL AND PROTECTION

 Case Studies

GENERATOR CONTROL AND PROTECTION

Case 1 - Hydro Generator without PSS

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

• Time (seconds)

GENERATOR CONTROL AND PROTECTION

 Case 1 - Hydro Generator with PSS

1 2 3 4 5 6 7 8 9 10 11 12
• Time (seconds)

• Dual Input Stabilizer, Phase Lead=(1+0.05s)/(1+0.01s), Gain=40

GENERATOR CONTROL AND PROTECTION

 Case 2 - On-line Step Response Frequency Type PSS

Ks=6, 92MW
Hydro Turbine
Generator

A single input
PSS measures
only frequency,
power or speed

GENERATOR CONTROL AND PROTECTION

 Case 2 - On-line Step Response Dual input PSS
Ks=7.5, 92MW
Hydro Turbine
Generator

The
PSS monitors
frequency and
power for superior
performance

GENERATOR CONTROL AND PROTECTION

Case 3 – Step
Response
All generators
in service,
Stabilizer OFF

GENERATOR CONTROL AND PROTECTION

Case 3 –
Step Response
All generators
in service,
Stabilizer Gain = 1

GENERATOR CONTROL AND PROTECTION

 Case 4 - 1165MW Nuclear Unit - Baseline
WATTS POSTLIM OUT
0.875 1

0.87
0.5
0.865
0
0.86
-0.5
0.855

0.85 -1
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20

GEN TERM V PSS OUT

0.975 0.01

0.008
0.97
0.006

0.004
0.965
0.002

0.96 0
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20

x10-4 GEN TERM F TEST OUT

-1.5 0.01

-2 0.008

-2.5 0.006

-3 0.004

-3.5 0.002

-4 0
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20
Time (Sec) Time (Sec)

GENERATOR CONTROL AND PROTECTION

Case 4 - 1165MW Nuclear Unit - Final Setting
-3
WATTS x10 POSTLIM OUT
0.87 2

0.865
1
0.86
0
0.855
-1
0.85

0.845 -2
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20
-3
GEN TERM V x10 PSS OUT
0.98 15

0.975 10

0.97 5

0.965 0

0.96 -5
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20

x10-4 GEN TERM F TEST OUT

6 0.01

4 0.008

2 0.006

0 0.004

-2 0.002

-4 0
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20
Time (Sec) Time (Sec)

GENERATOR CONTROL AND PROTECTION

 300

Case 5 – 280
53 MW
41 MW
28 MW
14 MW
260

SCT/PPT 240
7 MW
stabilizer phase compensation

Phase 220

200
Compensation 180

Phase (degrees)
Requirements 160

140

120

100

80

60

40

20

0
0.1 1 10

Frequency (Hz)

GENERATOR CONTROL AND PROTECTION

 Case 5: 14.2

Terminal V
14.1

(kV)
14.0

On-Line Step 13.9

13.8

57

Active Power
Test 55

(MW)
53

with PSS Off 51

Reactive Power
(MVAr)
-4

-8

-12

60.02

Gen Freq
60.01

(Hz)
60.00

59.99

240

160
(Vdc)
Field

80

330
310
(Adc)
Field

290
270
250
0 5 10 15

Time (seconds)

GENERATOR CONTROL AND PROTECTION

 Case 5:
14.4

Terminal V
14.3

(kV)
14.2
14.1

On-Line Step 14.0

60

Active Power
59

Test with PSS

(MW)
58
57
56
55

On 8

Reactive Power
4

(MVAr)
0
-4
-8

60.03

Gen Freq
60.02

(Hz) 60.01

60.00

250
200
(Vdc)

150
Field

100
50
0

1
PSS+Test

0
(%)

-1
-2
-3
0 5 10 15

Time (seconds)

GENERATOR CONTROL AND PROTECTION

Case 6: Off-Line Step of Reference Test

GENERATOR CONTROL AND PROTECTION

Case 6: On-Line Step of Reference Test - PSS Off

GENERATOR CONTROL AND PROTECTION

Case 6: Off-Line Step of Reference Test – PSS On

GENERATOR CONTROL AND PROTECTION

 Power System Stability
– A function of fast protective relaying
– PSS is used to provide damping to prevent
power system oscillations
– Provide damping via excitation control
– PSS has little effect on first swing stability, but
restores damping lost by adding high initial
response excitation systems
– Many different stabilizing schemes exist - focus
on integral of accelerating power

GENERATOR CONTROL AND PROTECTION

 QUESTIONS?

GENERATOR CONTROL AND PROTECTION