CHAPTER 2

Steady-state stability (small disturbance)

2.1 Steady-state (small-disturbance) stability is concerned with

the ability of the power system to maintain synchronism
after small disturbances such as varying in system load. The
disturbances are considered small enough to linearize the
system equations for analysis purposes.

 We consider the dynamic behavior of a one machine

system connected to an infinite bus bar as shown in the
following figure
 CHAPTER 2
Steady-state stability (small disturbance)

(2-1)
 CHAPTER 2
Steady-state stability (small disturbance)

(2-1)
 CHAPTER 2
Steady-state stability (small disturbance)

Roto swing equation:

H d 2
2
 Pm  Pem sin   PD (2  1)
180 f 0 dt

 Assume a small deviation in power angle from the initial

operating point  0

   0  
 For small disturbances, the swing equation can be
linearized with little loss of accuracy. Neglected the
damping power, swing equation as:
 CHAPTER 2
Steady-state stability (small disturbance)

H d 2 ( 0   )
 Pm  Pem sin( 0   ) (2  2)
f 0 dt 2

Or :
(2-1)
H d  0 H d 
2 2
  Pm  Pem (sin  0 cos   cos  0 sin  ) (2  3)
f 0 dt 2
f 0 dt 2

Since  is small, we have:

H d 2 0 H d 2 
  Pm  Pem (sin  0   cos  0 ) (2  4)
f 0 dt 2
f 0 dt 2
 CHAPTER 2
Steady-state stability (small disturbance)

At the operating state, we have:

H d 2 0
2
 Pm  Pem sin  0
180 f 0 dt
The eq (2-4) reduces to the following equation :
(2-1)
H d 
2
 Pem  cos  0  0 (2  5)
f 0 dt 2

 dP 
Ps  Pem cos  0   
 d  0
 CHAPTER 2
Steady-state stability (small disturbance)

H d 2 
 Ps   0 (2  6)
f 0 dt 2

Laplace transform: 2 f 0
s  P ( 2  7)
H
 CHAPTER 2
Steady-state stability (small disturbance)

f 0
n  Ps (2  8)
H

(2-1)
 CHAPTER 2
Steady-state stability (small disturbance)

(2-1)
 CHAPTER 2
Steady-state stability (small disturbance)

If damping is accounted for, the linearized swing equation

becomes:
H d 2  d
D  Ps   0 (2  9)
f 0 dt 2
dt
d 2  f 0 d f 0
2
D Ps   0 (2  10)
 (2-1)
dt H dt H
In terms of the standard second-order differential equation,
the equation (2-10) is expressed as:
d 2  d 2
2
 2 n   n   0 ( 2  11)
dt dt
D f 0

2 HPs
 CHAPTER 2
Steady-state stability (small disturbance)

The characteristic equation is:

2
s  2 n s   n  0 (2  12)
2

For normal operating condition:

D f 0 (2-1)
 1
2 HPs

The roots of the characteristic equation are complex:

s1, 2   n  j n 1   2   n  j d

d : the damped frequency of oscillation
 CHAPTER 2
Steady-state stability (small disturbance)

(2-1)
 CHAPTER 2
Steady-state stability (small disturbance)

Eq (2-11) is written in state variable form:

.
x1    x2     
. .

x  x 2 x 2    n 2 x1  2  n x 2
Writing the above equation in matrix:
 . 
 x1  0 1   x1 
(2-1)
 .  2    (2  13)
x   n   2 n   x2 
 2
When the rotor is suddenly perturbed by a small angle  0
x1(0)=  0 and x2(0) =  0  0 .Roots of Eq (2-9) or (2-10):

( s   n ) 0
 ( s)  2
s  2 n s   n
2
 CHAPTER 2
Steady-state stability (small disturbance)

 n 2  0
 ( s)   2
s  2 n s   n 2
Taking inverse Laplace transforms:
 0   n t
  e sin((2-1)
d t   ) ( 2  14)
1 2
  ar cos 

 n  0  n t
   e sin  d t (2  15)
1  2
 CHAPTER 2
Steady-state stability (small disturbance)

 0
  0  e  nt sin( d t   ) (2  16)
1 2

 n  0 (2-1)
  0  e  nt sin  d t (2  17)
1 2
1
2H
T 
 n f 0 D
(2-1)
 30

25

20


15

10
0 0.5 1 1.5 (2-1) 2 2.5 3
t, sec

60.1

60.05

60
f, Hz

59.95

59.9

59.85
0 0.5 1 1.5 2 2.5 3
t, sec
 Investigate the system response to small power
impacts:
Assume the power input is increased by a small power: P
The linearized swing equation becomes:

H d 2  d (2-1)
D  Ps   P (2  18)
f 0 dt 2
dt
Or
d 2  f 0 d f 0 f 0
2
D  Ps   P (2  19)
dt H dt H H
 d 
2
d 2
2
 2 n   n   U (2  20)
dt dt
f 0 (2-1)
U  P
H
Taking the Laplace transform and solve Eq (2-20), we
have:

U
 ( s ) 
s( s 2  2 n s   n 2 )
 U
 ( s )  2 2
s  2 n s   n
Taking inverse Laplace transforms results in:
U  1  n t

  2 1  e sin( d t   ) (2  21)
 n  1  2


  ar cos 
U
  e  nt sin  d t (2  22)
n 1 2
The motion of rotor relative to the synchronously
revolving field in electrical radian becomes:
f 0 P  1  n t

  0  2
1  e sin( d t   ) (2  23)
H n  1 2 
The rotor angular frequency in (2-1)
radian per second is:

f 0 P
  0  e  nt sin  d t (2  24)
H n 1   2
A power system as shown in Fig.1. Inertia constant of generator H = 6.2 MJ/MVA,
transient reactance X'd = 0.20 per unit, Damping power coefficient D=0,140. the
generator is connected to an infinite bus system f =60 Hz, Xs = 0.25 per unit.
Reactance of transformer T1 and lines L1, L2 as: XT1 = 0.30 per unit, XL1 = XL2 =
0.25 per unit. The generator is delivering real power of P = 0.65 per unit. The bus 1
at a voltage of V= 1,08 per unit. (2-1)
The input power is increased by a small amount P = 0.1 per unit, Obtain equations
describing the motion of the rotor angle and the generator frequency.

Figure 1
 26

24

22


20

18

16 (2-1)
0 0.5 1 1.5 2 2.5 3
t, sec

60.1
Frequency, Hz

60.05

60

59.95
0 0.5 1 1.5 2 2.5 3
t, sec
(2-1)
(2-1)
 (2-1)

Stable unstable
zone zone
 CHƯƠNG 2
ỔN ĐỊNH TỈNH
Steady-state stability (small disturbance)

(2-1)

The critical power PEq-Cr = Pmax is the pull-out power and

refers to as the steady-state stability limit and can be used
to determine the steady-state stability margin as:
 CHƯƠNG 2
ỔN ĐỊNH TỈNH
Steady-state stability (small disturbance)

Steady – state stability reserve

index:

(2-1)