Buku Training Digsilent - Stability Fundamentals PDF

Power System Stability
Training Course
DIgSILENT GmbH
General Definitions
Fundamentals on Power System Stability 2
1
Power System Stability
• „Stability“ - general definition:
Ability of a system to return to a steady state after a disturbance.
• Small signal effects

• Large signal effects (nonlinear dynamics)
• Power System Stability - definition according to CIGRE/IEEE:

• Rotor angle stability (oscillatory, transient-stability)
• Voltage stability (short-term, long-term, dynamic)
• Frequency stability
Frequency Stability
Ability of a power system to compensate for a power deficit:

1. Inertial reserve (network time constant)
Lost power is compensated by the energy stored in rotating masses of
all generators -> Frequency decreasing
2. Primary reserve:
Lost power is compensated by an increase in production of primary
controlled units. -> Frequency drop partly compensated
3. Secondary reserve:
Lost power is compensated by secondary controlled units. Frequency
and area exchange flows reestablished
4. Re-Dispatch of Generation
2
Frequency Stability
• Frequency disturbance following to an unbalance in active power
Frequency Deviation according to UCTE design criterion
0,1
t in s
0
-10 0 10 20 30 40 50 60 70 80 90
-0,1
-0,2
-0,3
-0,4
-0,5
-0,6
-0,7
-0,8
dF in Hz
-0,9
Rotor Inertia Dynamic Governor Action Steady State Deviation
Inertial Reserve
• Mechanical Equation of each Generator:

Pm − Pel ∆P
Jω& = Tm − Tel ≈ =
ωn ωn
• ∆P=ω∆T is power provided to the system be each generating unit.
• Assuming synchronism:
J iωnω& = ∆Pi
∆Pi J
= i
∆Pj J j
• Power shared according to generator inertia
3
Primary Control
• Steady State Property of Speed Governors:

1
∆Pi = K i ∆f ⇒ ∆f = ∆Pi = Ri ∆P
Ki
∆Ptot
∆Ptot = (∑ K i )∆f ⇒ ∆f =
• Total frequency deviation:
∑ Ki
• Multiple Generators:
Ri ∆Pi = R j ∆Pj
∆Pi R j
=
∆Pj Ri
• Power shared reciprocal to droop settings
Secondary Control
Set Value PT PG
Turbine 1 Generator 1
Set Value Turbine 2 PT Generator 2 PG Network
Set Value PT PG
Turbine 3 Generator 3
f PA
Contribution
Secondary
Control
• Bringing Back Frequency

• Re-establishing area exchange flows
• Active power shared according to participation factors
4
Frequency Stability
Frequency drop depends on:

• Primary Reserve
• Speed of primary control
• System inertia
Additionally to consider:
• Frequency dependence of load
In case of too severe frequency drops:

• Load shedding
Frequency Stability
DIgSILENT
1.025
1.000
0.975
0.950
0.925
0.900
0.875
0.00 5.00 10.00 15.00 [s] 20.00
G 1: Turbine Power in p.u.
G2: Turbine Power in p.u.
G3: Turbine Power in p.u.
0.125
0.000
-0.125
-0.250
-0.375
-0.500
-0.625
0.00 5.00 10.00 15.00 [s] 20.00
Bus 7: Deviation of the El. Frequency in Hz
Nine-bus system Mechanical Date: 11/10/2004

DIgSILENT Sudden Load Increase Annex: 3-cycle-f. /3
5
Frequency Stability - Analysis
• Dynamic Simulations
• Sometimes possible: Inertial/Primary controlled or secondary

controlled load flows
Rotor Angle Stability
Small signal rotor angle stability (Oscillatory stability)

Ability of a power system to maintain synchronism under small
disturbances
– Damping torque
– Synchronizing torque
Especially the following oscillatory phenomena are a concern:

– Local modes
– Inter-area modes
– Control modes
– Torsional modes
6
Small signal rotor angle stability (Oscillatory stability) is a system

property
Small disturbance -> analysis using linearization around operating

point
Analysis using eigenvalues and eigenvectors
Large signal rotor angle stability (Transient stability)

Ability of a power system to maintain synchronism during severe
disturbances
– Critical fault clearing time
Large signal stability depends on system properties and the type

of disturbance (not only a system property)
– Analysis using time domain simulations
7
Transient Stability
DIgSILENT
25.00
12.50
0.00
DIgSILENT
200.00
-12.50
100.00
-25.00
0.00 -37.50
0.00 1.00 1.996 2.994 3.992 [s] 4.990
G1: Rotor angle with reference to reference machine angle in deg
Transient Stability Subplot/Diagramm Date: 11/11/2004

DIgSILENT Annex: 1 /3
-100.00
-200.00
0.00 0.65 1.294 1.940 2.587 [s] 3.234
G1: Rotor angle with reference to reference machine angle in deg
Transient Stability Subplot/Diagramm Date: 11/11/2004

Voltage Stability
Voltage stability refers to the ability of a power system to

maintain steady voltages at all buses in the system after being
subjected to a disturbance.
• Small disturbance voltage stability (Steady state stability)

– Ability to maintain steady voltages when subjected to small
disturbances
• Large signal voltage stability (Dynamic voltage stability)
– Ability to maintain steady voltages after following large disturbances
8
Voltage Stability - Analysis
Small-Signal: Large-Signal
- Small disturbance - System fault
- Loss of generation
Long-Term - P-V-Curves (load flows) - P-V-Curves (load flows)

- dv/dQ-Sensitivities of the faulted state.
- Long-term dynamic models - Long-term dynamic models
including tap-changers, var- including tap-changers, var-
control, excitation limiters, etc. control, excitation limiters, etc.
Short-Term - Dynamic models (short-term),

special importance on dynamic
load modeling, stall effects etc.
Small-Signal Voltage Stability –

PV-Curves
DIgSILENT
1.10
1.00
0.90
0.80
0.70
0.60
0.50
88.80 101.30 113.80 126.30 138.80 151.30
x-Axis: U_P-Curve: Total Load of selected loads in MW
AMBOWS51: Voltage, Magnitude in p.u.
ANGONS51: Voltage, Magnitude in p.u.
BELLES51: Voltage, Magnitude in p.u.
BISSES51: Voltage, Magnitude in p.u.
BISSES61: Voltage, Magnitude in p.u.
PV-curves U_P-Curve Date: 11/11/2004

Annex: 1 /1
9
Large-Signal Long-Term
Voltage Instability
DIgSILENT
1.25
Fault with loss of transmission line

1.00
0.75
0.50
0.25
0.00
-0.25
0.00 5.00 10.00 15.00 [s] 20.00
APPLE_20: Voltage, Magnitude in p.u.
SUMMERTON_20: Voltage, Magnitude in p.u.
LILLI_20: Voltage, Magnitude in p.u.
BUFF_330: Voltage, Magnitude in p.u.
Dynamic Voltage Stability
• Dynamic voltage stability problems are resulting from sudden

increase in reactive power demand of induction machine loads.
-> Consequences: Undervoltage trip of one or several machines,

dynamic voltage collapse
• Small synchronous generators consume increased amount of

reactive power after a heavy disturbance -> voltage recovery
problems.
-> Consequences: Slow voltage recovery can lead to undervoltage

trips of own supply -> loss of generation
10
Dynamic Voltage Stability –
Induction Generator (Motor)
DIgSILENT
3.00
2.00
1.00
0.00
-1.00
1.00 1.04 1.08 1.12 1.16 1.20
x-Axis: GWT: Speed in p.u.
GWT: Electrical Torque in p.u.
0.00
-2.00
-4.00
-6.00
-8.00
1.00 1.04 1.08 1.12 1.16 1.20
GWT: Reactive Power in Mvar

DIgSILENT
3.00
2.00
1.008 p.u. Constant Y = 1.000 p.u.

1.00
0.00
-1.00
1.00 1.01 1.02 1.03 1.04
GWT: Electrical Torque in p.u.
Constant X = 1.008 p.u.

0.00
-1.00 -1.044 Mvar
-2.00
-3.00
-4.00
-5.00
-6.00
1.00 1.01 1.02 1.03 1.04
GWT: Reactive Power in Mvar
11
DIgSILENT
1.20
1.00
0.80
0.60
0.40
0.20
0.00
0.00 0.50 1.00 1.50 [s] 2.00
G\HV: Voltage, Magnitude in p.u.
MV: Voltage, Magnitude in p.u.
80.00
40.00
0.00
-40.00
-80.00
-120.00
0.00 0.50 1.00 1.50 [s] 2.00
Cub_0.1\PQ PCC: Active Power in p.u.
Cub_0.1\PQ PCC: Reactive Power in p.u.
1.06
1.04
1.02
1.00
0.98
0.00 0.50 1.00 1.50 [s] 2.00
GWT: Speed
Dynamic Voltage Collapse

DIgSILENT
60.00 60.00
40.00
40.00
20.00
20.00
0.00
0.00
-20.00
-20.00
-40.00
-40.00 -60.00
0.00 1.00 2.00 [s] 3.00 0.00 1.00 2.00 [s] 3.00
Cub_0.2\PQ BlueMountain: Active Power in p.u. Cub_1.1\PQ GreenField: Active Power in p.u.
Cub_0.2\PQ BlueMountain: Reactive Power in p.u. Cub_1.1\PQ GreenField: Reactive Power in p.u.
1.125 60.00
1.000
40.00
0.875
20.00
0.750
0.00
0.625
-20.00
0.500
0.375 -40.00
0.00 1.00 2.00 [s] 3.00 0.00 1.00 2.00 [s] 3.00
GLE\1: Voltage, Magnitude in p.u. Cub_0.1\PQ RedSunset: Active Power in p.u.
GLZ\2: Voltage, Magnitude in p.u. Cub_0.1\PQ RedSunset: Reactive Power in p.u.
WDH\1: Voltage, Magnitude in p.u.
12
Voltage Recovery (Synchronous Generators)
DIgSILENT
1.20
1.00
0.80
0.60
0.40
0.20
0.00
0.00 1.00 2.00 [s] 3.00
HV: Voltage, Magnitude in p.u.
MV: Voltage, Magnitude in p.u.
120.00
80.00
40.00
0.00
-40.00
-80.00
-120.00
0.00 1.00 2.00 [s] 3.00
Cub_1\PCC PQ: Active Power in p.u.
Cub_1\PCC PQ: Reactive Power in p.u.
Time Domain Simulation
13
Transients in Power Systems
Fast Transients/Network Transients:

Time frame: 10 mys…..500ms
z Lightening
z Switching Overvoltages
z Transformer Inrush/Ferro Resonance
z Decaying DC-Components of short circuit currents
Medium Term Transients / Electromechanical Transients

Time frame: 400ms….10s
z Transient Stability
z Critical Fault Clearing Time
z AVR and PSS
z Turbine and governor
z Motor starting
z Load Shedding
14
Long Term Transients / Dynamic Phenomena

Time Frame: 10s….several min
z Dynamic Stability
z Turbine and governor
z Power-Frequency Control
z Secondary Voltage Control
z Long Term Behavior of Power Stations
Stability/EMT
Different Network Models used:
Stability: V = jω L I I = jωCV
di dv
EMT: v=L i=C
dt dt
15
Short Circuit Current EMT
DIgSILENT
800.0
600.0
400.0
200.0
0.00
-200.0
0.00 0.12 0.25 0.38 [s] 0.50
4x555 MVA: Phase Current B in kA
Short Circuit Current with complete model (EMT-model) Plots Date: 4/25/2001
Annex: 1 /1
Short Circuit Current RMS

DIgSILENT
300.0
250.0
200.0
150.0
100.0
50.00
0.00
0.00 0.12 0.25 0.38 [s] 0.50
4x555 MVA: Current, Magnitude in kA
Short Circuit Current with reduced model (Stability model) Plots Date: 4/25/2001
Annex: 1 /1
16
RMS-EMT-Simulation
Phenomena RMS-Simulation EMT-Simulation
Critical fault clearing time X (X)

Dynamic motor startup X (X)
Peak shaft-torque 0 X
Torsional oscillations X X
Subsynchronous resonance 0 X
Dynamic voltage stability X (X)
Self excitation of ASM 0 X
Oscillatory stability X ((X))
AVR and PSS dynamics X (X)
Transformer/Motor inrush 0 X
HVDC dynamics (X) X
Switching Over Voltages 0 X
Fundamental Concepts
17
Infinite Source
E0
V
~
-1998.00 MW
87.07 Mvar
2.56 kA
Infinite Bus
500.00 kV 450.41 kV
0.90 p.u.
0.00 deg -1299.40 MW
-698.60 MW
56.62 Mvar 30.44 Mvar
1.67 kA 0.90 kA
Fundamentals on Power System Stability

Fundamentals on Power System Stability
CCT1
CCT 2
Type CCT
100.00 km
Type CCT
186.00 km
DIgSILENT
X
PowerFactory 12.1.178
1299.40 MW 698.60 MW
221.99 Mvar
412.90 Mvar 0.90 kA
1.67 kA
HT
500.00 kV 472.15 kV
0.94 p.u.
20.12 deg
-1998.00 MW
-634.89 Mvar
2.56 kA
Trf
500kV/24kV/2220MVA
1998.00 MW
967.92 Mvar
53.41 kA
Example
Pe
LT
One Machine Problem

One Machine Problem
24.00 kV 24.00 kV
1.00 p.u.
28.34 deg
One Machine Problem
1998.000 MW
967.920 Mvar
53.408 kA
1.163 p.u.
-0.000 p.u.
Power System Stability and Control
G
~
G1
Gen 2220MVA/24kV(1)
Annex:
Graphic: Grid
1
Project: Training
Date: 4/19/2002
EG'
DIgSILENT
36
35
18
One Machine Problem
• Power transmission over reactance:
E0 EG'
Pe = sin (ϕG )
X
E'
(
Qe = G EG' − E0 cos(ϕG )
X
)
• Mechanical Equations:
Pm − Pe Pm − Pe
Jω& = ≈
ω ω0
ϕ&G = ω − ω 0
One Machine Problem
• Differential Equation of a one-machine infinite bus bar system:
Pm Pmax Pm Pmax ⎛P ⎞
Jϕ&&G = − sin ϕ G ≈ − sin ϕ G 0 − ⎜⎜ max cos ϕ G 0 ⎟⎟∆ϕ G
ω0 ω0 ω0 ω0 ⎝ ω0 ⎠
• Eigenvalues (Characteristic Frequency):
Pmax
λ1/ 2 = ± − cos ϕ G 0
Jω 0
• Stable Equilibrium points (SEP) exist for:
cos ϕ G 0 > 0
19
Small Signal Stability
DIgSILENT
4000.
3000.
SEP UEP
Pini y=1998.000 MW
2000.
1000.
0.00
-1000...
0.00 36.00 72.00 108.0 144.0 180.0
x-Axis: Plot Power Curve: Generator Angle in deg
Plot Power Curve: Power 1 in MW
Single Machine Problem P-phi Date: 4/19/2002

Transient Stability
• Energy Function:
ϕ
G
( P − Pe )
J (ϕ& G ) + ∫ m
1
dϕ = Ekin + E pot = 0
2
2 ϕ0 ω
• At Maximum Angle:
ϕ& G max = 0 (E kin

= 0)
ϕG max
( Pm − Pe )
E pot =
ϕ0
∫ ω
dϕ = 0
20
Equal Area Criterion
DIgSILENT
4000.
3000.
SEP UEP
E2
Pm
2000.
ϕ max ϕ crit
1000. E1
0.00
ϕ0 ϕc
-1000...
0.00 36.00 72.00 108.0 144.0 180.0
x-Axis: Plot Power Curve: Generator Angle in deg
Single Machine Problem P-phi Date: 4/19/2002

ϕc
1
ω ϕ∫
E1 = Pm dϕ
0
ϕ max
∫ϕ (P − Pmax sin(ϕ ) )dϕ

1
E2 =
ω
m
c
Stable operation if: E1 = − E2
21
1
E1 = Pm (ϕ c − ϕ 0 )
ω
Pm Pmax
E2 = (ϕ max − ϕ c ) + (cos ϕ max − cos ϕ c )
ω ω
Setting ϕ crit = π − ϕ 0 and equating E1 and -E2:
cos ϕ c = (π − 2ϕ 0 ) sin ϕ 0 − cos ϕ 0
Critical Fault Clearing Time
• During Short Circuit:

Pe = 0
• Differential Equation:
Pm
Jϕ&&G =
ω0
• Critical Fault Clearing Time:
Pm 2
ϕc = tc + ϕ 0
2 Jω 0
22
Voltage Stability
Voltage Stability
X Qe
E0 EG'
E0 EG'
Pe = sin (ϕG )
X
Qe =
EG'
X
( EG' − E0 cos(ϕG ))
23
Voltage Stability – Q-V-Curves
DIgSILENT
1.40
1.20
1.00
P=2000MW
P=1800MW
P=1600MW
0.80
P=1400MW
0.60
const. P, variable Q
0.40
262.64 562.64 862.64 1162.64 1462.64 1762.64
x-Achse: SC: Blindleistung in Mvar
SC: Voltage in p.u., P=1400MW
Voltage Stability – P-V-Curves

DIgSILENT
1.00
0.90
pf=1
0.80
pf=0.95
0.70
pf=0.9
0.60
const. Power factor, variable P

0.50
100.00 350.00 600.00 850.00 1100.00 1350.00
x-Achse: U_P-Curve: Total Load of selected loads in MW
Klemmleiste(1): Voltage in p.u., pf=1
Klemmleiste(1): Voltage in p.u., pf=0.95
Klemmleiste(1): Voltage in p.u., pf=0.9
24
Dynamic Stability / Eigenvalue Analysis
Small signal analysis
• Linear model automatically generated by linearizing the stability model.
• Calculation of eigenvalues, eigenvectors and participation factors
• Calculation of all modes using QR-algorithm -> limited to systems up to

500..1000 state variables
• Calculation of selected modes using implicitly restarted Arnoldi method ->

application to large systems (released in Summer 2001)
25
Small signal analysis
• Linear System Representation: x& = Ax + b
• Transformation: x = T~
x
• Transformed System x& = TAT −1~

~ x + Tb
• Diagonal System x& = D~

~ x + Tb
26

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Power System Stability

Fundamentals on Power System Stability 2

• „Stability“ - general definition:

Ability of a system to return to a steady state after a disturbance.

• Small signal effects

• Power System Stability - definition according to CIGRE/IEEE:

Fundamentals on Power System Stability 3

Ability of a power system to compensate for a power deficit:

Fundamentals on Power System Stability 4

• Frequency disturbance following to an unbalance in active power

Frequency Deviation according to UCTE design criterion

Rotor Inertia Dynamic Governor Action Steady State Deviation

Fundamentals on Power System Stability 5

• Mechanical Equation of each Generator:

• Power shared according to generator inertia

Fundamentals on Power System Stability 6

• Steady State Property of Speed Governors:

• Power shared reciprocal to droop settings

Fundamentals on Power System Stability 7

Set Value Turbine 2 PT Generator 2 PG Network

• Bringing Back Frequency

Fundamentals on Power System Stability 8

Frequency drop depends on:

In case of too severe frequency drops:

Fundamentals on Power System Stability 9

Nine-bus system Mechanical Date: 11/10/2004

Fundamentals on Power System Stability 10

• Sometimes possible: Inertial/Primary controlled or secondary

Fundamentals on Power System Stability 11

Rotor Angle Stability

Small signal rotor angle stability (Oscillatory stability)

Especially the following oscillatory phenomena are a concern:

Fundamentals on Power System Stability 12

Small signal rotor angle stability (Oscillatory stability) is a system

Small disturbance -> analysis using linearization around operating

Analysis using eigenvalues and eigenvectors

Fundamentals on Power System Stability 13

Rotor Angle Stability

Large signal rotor angle stability (Transient stability)

– Critical fault clearing time

Large signal stability depends on system properties and the type

– Analysis using time domain simulations

Fundamentals on Power System Stability 14

Transient Stability Subplot/Diagramm Date: 11/11/2004

Transient Stability Subplot/Diagramm Date: 11/11/2004

Fundamentals on Power System Stability 15

Voltage stability refers to the ability of a power system to

• Small disturbance voltage stability (Steady state stability)

• Large signal voltage stability (Dynamic voltage stability)

– Ability to maintain steady voltages after following large disturbances

Fundamentals on Power System Stability 16

Long-Term - P-V-Curves (load flows) - P-V-Curves (load flows)

Short-Term - Dynamic models (short-term),

Fundamentals on Power System Stability 17

Small-Signal Voltage Stability –

PV-curves U_P-Curve Date: 11/11/2004

Fundamentals on Power System Stability 18

Fault with loss of transmission line

Fundamentals on Power System Stability 19

Dynamic Voltage Stability

• Dynamic voltage stability problems are resulting from sudden

-> Consequences: Undervoltage trip of one or several machines,

• Small synchronous generators consume increased amount of