POWER SYSTEM STABILITY

Volume I
Elements of Stability Calculations
 IEEE Press
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 POWER
SYSTEM
STABILITY
Volume I
Elements of Stability Calculations

Edward Wilson Kimbark

AIEEE
'V PRESS

roWILEY-
\:'l9INTERSCIENCE
A JOHN WILEY & SONS, INC., PUBLICAnON

IEEE Press Power Systems Engineering Series

Dr. Paul M. Anderson, Series Editor
© 1995 by the Institute of Electrical and Electronics Engineers, Inc.
345 East 47th Street, New York, NY 10017-2394

©1948 by Edward Wilson Kimbark

This is the IEEE reprinting of a book previously published by John Wiley &
Sons, Inc. under the title Power System Stability, Volume I: Elements of
Stability Calculations.

All rights reserved. No part ofthis book may be reproduced in any form,
nor may it be stored in a retrieval system or transmitted in any form,
without written permission from the publisher.

Printed in the United States of America

10 9 8 7 6 5 4 3 2

ISBN 0-7803-1135-3

Library of Congress Cataloging-in-Publication Data

Kimbark, Edward Wilson

Power system stability I Edward Wilson Kimbark.
p. cm. - (IEEE Press power systems engineering series)
Originally published: New York : Wiley, 1948-1956.
Includes bibliographical references and index.
Contents: v.I. Elements of stability calculations - v. 2. Power
circuit breakers and protective relays - v. 3. Synchronous
machines.
ISBN 0-7803-1135-3 (set)
1. Electric power system stability. I. Title. II. Series.
TKI010.K56 1995
621.319--dc20 94-42999
CIP
 To my wife
RUTH MERRICK KIMBARK
FOREWORD TO THE 1995 REISSUE

The IEEE Press Editorial Board for the Power Systems Engineering
Series has, for some time, discussed the possibility of reprinting clas-
sic texts in power system engineering. The objective of this series is to
recognize past works that merit being remembered and to make these
older works available to a new generation of engineers. We believe
many engineers will welcome the opportunity of owning their own
copies of these classics.
In order to come to an agreement about which text to reprint, a num-
ber of candidates were proposed. After a discussion, the board took a
vote. The Kimbark series was the overwhelming choice for the first
books in the IEEE Power Systems Engineering Classic Reissue Series.
The subject of power system stability has been studied and written
about for decades. It has always been a challenge for the engineer to
understand the physical description of a system described' by a huge
number of differential equations. The system modeling is central to an
understanding of these large dynamic systems. Modeling is one of the
central themes of Kimbark's Power System Stability books. His dis-
cussion of the system equations remains as clear and descriptive today
as it was when first published. Many engineers have seen references to
these works, and may have had difficulty in finding copies for study.
This new printing presents a new chance for these engineers to now
have copies for personal study and reference.
Kimbark presents a method of solving the system equations that was
used in the days of the network analyzer. This method has been re-
placed by digital computer techniques that provide much greater
power and speed. However, the older methods are still of historical
interest, moreover, these step-by-step methods provide a convenient
way of understanding how a large system of equations can be solved.
Edward Kimbark was noted during his long career as an excellent
writer and one who had the unique capability of explaining complex
topics in a clear and interesting manner. These three volumes under
the general title Power System Stability, Volumes I, II, and III were
originally published in the years 1948, 1950, and 1956. Kimbark's
book, Electrical Transmission of Power Signals, published in 1949,

vii
provided a general treatment of electric power networks and signal
propagation.
Kimbark studied Electrical Engineering at Northwestern University
and at the Massachusetts Institute of Technology, where he received
the Sc.D. degree in 1937. He then began a career in teaching and re-
search at the University of California, Berkeley, MIT, Polytechnic
Institute, Brooklyn, Instituto Tenologico de Aeronautica (San Jose
Campos Brazil) and, finally, as the Dean of Engineering at Seattle Uni-
versity. In 1962 Kimbark joined the Bonneville Power Administration
as head of the systems analysis branch, where he remained until his re-
tirement in 1976. He continued to work on special tasks at Bonneville
until his death in 1982.
Kimbark is well-known for his excellent books and also his many
technical papers. He was formally recognized for his achievements by
being elected a Fellow in the IEEE, to membership in the National
Academy of Engineering, and was the recipient of the IEEE Harbishaw
Award. He was awarded a Distinguished Service Award and a Gold
Medal for his service to the U.S. Department of the Interior.
The IEEE Power Engineering Society is proud to present this
special reprinting of all three volumes of Power System Stability by
Edward Kimbark.

Paul M. Anderson
Series Editor, IEEE Press
Power Systems Engineering Series

viii
 PREFACE

This work on power-system stability is

intended for use by power-system engineers and by graduate
students. It grew out of lectures given by the author in a
graduate evening course at Northwestern University during the
school year 1941-2.
For the convenience of the reader, the work is divided into
three volumes. Volume I covers the elements of the stability
problem, the principal factors affecting stability, the ordinary
simplified methods of making stability calculations, and illus-
trations of the application of these methods in studies which
have been made on actual power systems.
Volume II covers power circuit breakers and protective
relays, including material on rapid reclosing of circuit breakers
and on the performance of protective relays during swings and
out-of-step conditions. Such material belongs in a work on sta-
bility because the most important means of improving the tran-
sient stability of power systems in the improvement of circuit
breakers and of protective relaying. It .is expected, however,
that the publication of this material in a separate volume will
make it more useful to persons who are interested in power-
system protection, even though they may not be particularly
concerned with the subject of stability.
Justification of the simplifying assumptions ordinarily used in
'stability calculations and the carrying out of calculations for the
extraordinary cases in which greater accuracy than that afforded
by the simplified methods is desired require a knowledge of the
somewhat complicated theory of synchronous machines and of
their excitation systems. This material is covered in Volume
III, which is expected to appeal to those desiring a deeper under-
standing of the subject than is obtainable from Volume I alone.
ix
x PREFACE

It is my hope that this treatise will prove useful not only to

readers seeking an understanding of power-system stability but
also to those desiring information on the following related topics:
a-c. calculating boards, fault studies, circuit breakers, protective
relaying, synchronous-machine theory, exciters and voltage regu-
lators, and the step-by-step solution of nonlinear differential
equations.
I wish to acknowledge my indebtedness to the following
persons:
To my wife, Ruth Merrick Kimb ark, for typing the entire
manuscript and for her advice and inspiration.
To Charles A. Imburgia, A. J. Krupy, Harry P. St. Clair, and
especially Clement A. Streifus for supplying and interpreting
information on stability studies made on actual power systems.
To J. E. Hobson, W. A. Lewis, and E. T. B. Gross for review-
ing the manuscript and for making many suggestions for its
improvement.
To engineers of the General Electric Company and of the
Westinghouse Electric Corporation for reviewing certain parts
of the manuscript pertaining to products of their companies.
To manufacturers, authors, and publishers who supplied
illustrations or gave permission for the use of material previ-
ously published elsewhere. Credit for such material is given at
the place where it appears.

Enw ARD WILSON KIMBARK

Evanston, Illinois
June, 1947
 CONTENTS

CHAPTER PAGE
I The Stability Problem 1
II The Swing Equation and Its Solution 15
III Solution of Networks 53
IV The Equal-Area Criterion for Stability 122
V Further Consideration of the Two-Machine
System 149
VI Solution of Faulted Three-Phase Networks 193
VII Typical Stability Studies 253

INDEX 349