IEEE Transactions on Energy Conversion, Vol. 6, No.
1, March 1991
DAMPING OF TORSIONAL OSCILLATIONS USING
EXCITATION CONTROL OF SYNCHRONOUS GENERATOR:
THE IEEE SECOND BENCHMARK MODEL INVESTIGATION
Li Wang, Member, IEEE
Department of Electrical Engineering
National Cheng Kung University
Tainan, Taiwan 70101, R.O.C.
ABSTRACT
The paper presents a conventional damping scheme,
the excitation control, to stabilize synchronous
generator torsional oscillations that occur in a power
system containing series capacitor compensation. The
IEEE Second Bdnchmark Model, system-1 is employed in
this study. This system, consists of a
synchronous generator connected to an infinite bus
through two parallel transmission lines, one of which
includesan adjustable series capacitor. A power system
stabilizer (PSS), which is designed by using modal
control theory, is installed in the excitation system to
provide damping torque for the generator. In-order to
demonstrate the effectiveness of the damping enhanced by
the proposed controller, various test results, such
as the torsional mode shapes, eigenvalue
sensitivities for different operating conditions, and
the real parts of torsional modes for distinct degrees
of series compensation, are shown in this paper. In
addition, dynamic responses of the nonlinear system
under pulse torque disturbance are performed. It can'be
concluded from the simulation results that the proposed
excitation controller can effectively stabilize the
torsional oscillations.
Keywords: Torsional oscillations, Torsional modes, Power
system stabilizers, Excitation control.
INTRODUCTION
Since the first two shaft failures due to sub-
synchronous resonance (SSR) in 1970 and 1971, many
contributions have been made in the field of damping of
torsional oscillations which occur in a power system
with series-capacitor compensated lines. For comparing
different study techniques and investigating various SSR
countermeasures, the IEEE SSR Working Group proposed a
standard model known as the IEEE First Benchmark Model
for computer simulations in 1977 [l]. The IEEE First
Benchmark Model has been extensively employed for many
years, although the model is a simple radial form of
power system rarely encountered in practical power
systems. In 1985, another more common type of power
system model, the IEEE Second Benchmark Model, was
recommended by the same Group [2]. The new benchmark
model, which deals with parallel resonance, is divided
into system-1 and system-2. The system-1 model
constitutes a synchronous generator fed to an infinite
bus via two parallel lines, one of the lines is with
series capacitor compensation. The major work of this
paper will concentrate on the Second Benchmark Model,
system-1 for investigating the benefits of using conven-
tional excitation control to damp SSR.
90 SM 417-6 EC A paper recommended and approved by
the IEEE Energy Development and Power Generation
Committee of the IEXE Power Engineering Society for
presentation at the IEEE/PES 1990 Summer Meeting,
Minneapolis, Minnesota, July 15-19, 1990. Manuscript
submitted January 9, 1990; made available for printing
April 24, 1990.
47
Extensive studies have been made of the excitation
control design of SSR since the early seventies. From
an historical point of view, excitation control of
synchronous generator torsional oscillations was one of
the simplest, least expensive, and convenient methods.
Saito, et al. [31 presented a lead-lag compensator using
generator reactive power output (Q) as a feedback signal
to control the field voltage of a static exciter. The
controller named the negative damping stabilizer (NDS)
was essentially an excitation controller for stabilizing
control. Both the 500KV. lOGW simulated system model and
laboratory tests illustrated that the stable regions
were enlarged by the proposed NDS. Since then, various
types of excitation controller have been presented. For
example, Fouad and Khu [41 empLoyed a conventional power
system stabilizer to damp torsional modes in the IEEE
First Benchmark Model but only one mode, mode 2, can be
effectively controlled. Ooi and Sartawi [5] used genera-
tor real power output (AP) and reactive power output
(AQ) as input signals through the NDS to obtain a robust
stable system. In addition, generator terminal voltage
(Vt) feedback from one single loop extended to multiple
loops was proposed by El-Serafi and Shaltout [6]. Yu,
et al. also examined the linear optimal excitation
control (LOEC) 171 as well as output feedback excitation
control [8] for the damping of multi-mode torsional
osciliations. A new pole-placement method using partici-
pation factor analysis for excitation control of SSR in
the IEEE Second Benchmark Model, system-2, was
introduced recently [9]. However, both of the control
schemes in [ 7 ] and [8] were difficult.to implement in
practical power systems since feedback signals were
inaccessible. In [9], the state variables can be trans-
formed into measurable signals for pole-placement
control design. In a previous paper by the author 1101.
a single-input multiple-output (SIMO) scheme using both
the generator output curwnt deviation (AI) and the
shaft speed deviation (Aw) through dynamic compensators
to damp out all torsional modes. was proposed. This
method proved that the designed caseaded lead-lag
controllers can be suitable for stabilizing
torsional oscillations.
In this paper, a simple lead-lag excitation
controller using generator shaft speed deviation (Ah)) as
a feedback signal to damp all of the IEEE Second
Benchmark Model, system-1 torsional oscillations 1s
presented. In order to stabilize all the torsional
modes, modal control theory will be used to determine
the parameters of the dynamic output feedback
controller. Various degrees of series compensation,
different loading conditions, as well as torsional mode
shapes for torsional oscillations study will also be
investigated. In addition, time domain simulations using
a nonlinear system model will be examined to demonstrate
the effectiveness of the proposed countermeasure under
torque disturbance conditions.
SYSTEM DESCRIPTION AND MODELLING
Fig. 1 shows the one line diagram of the IEEE
Second Benchmark Model, system-1 [2]. This model
contains a synchronous generator fed to two parallel
transmission lines, one of which is a series-capacitor
compensated line. The mechanical part of the studied
system is depicted in Fig. 2 which is a mass-spring
system containing four masses. The high-pressure turbine
48

Table 1 System eigenvalues (rad/sec) at: Vt=l.O P.u.,

?
PG=0.9 P.u., PF=0.9 lagging, and XC/XL=55%
........................................................
RT, XT r v
MODES WITHOUT CONTROL WITH EXCITATION CONTROL
GEN ........................................................
MODE 3 -0.0492 + j 321.194 -0.0908 +_j 321.203
MODE 2 -0.0454 + j 203.457 -0.7089 +j 203.160*
MODE 1 0.4666 +j 155.608 -3.1731 +j 137.680*
MODE 0 -0.3772 t j 10.338 -1.6653 k j 10.607
........................................................
-16.2828 t j 610.463 -16.3253 +j 610.448
-24.8436 + _ j376.448 -24.7313 L j 376.300
-14.2139 + j 144.272 -14.5521 + j 100.604

3
-12.9766 +j 32.632 -12.1994 + j 156.024
OTHER -205.9476 -2.7841 tj 28.691
MODES -51.741 -290.5703
-36.843 -40.8706
-0.9393 -51.7413
-6.7853 -0.9393
-0.6659
........................................................
* denotes the desired eigenvalues for controller design

i i
WITHOUT C O N T R O L
xlo

Fig. 1 The one line diagram of the IEEE Second Benchmark

Model, system-1.
0.8

0.6

0.4
1
rI
I

HP LP GEN EX 0.2
I
t-

-0.2

Fig. 2 The mass-spr/ng system for system modelling. -0.4

-0.6
(HP), the low-pressure turbine (LP), the generator
(GEN), and the exciter (EX) are coupled on the same -0.8
shaft. It can be easily found that there are three
torsional mod%s in addition to an electro-mechanical
mode in the mechanical system. All the system data are
listed in the Appendix for conciseness. After selecting
proper KV bases and MVA base; the actual parameters
-It
-1.21
U I
shown in 121 can be trasnformed into the per unit (P.u. ) 0 50 100
values ill]. In this paper, system MVA base is chosen as
7OOMVA and KV bases are 500KV for the transformer high-
voltage side and 22KV for low-voltage side, XC/XL(%)
respectively.
The eigenvalues of the system with no compensators 3 The real parts of eigenvalues of SSR modes versus
are listed in the second column of Table 1. To have a XC/XL (without control).
clear understanding of the characteristics of the SSR
modes varying with the degrees of series compensation,
the real parts of the eigenvalues and complex plane loci
of the three torsional modes as well as one electro-
mechanical mode as a function of XC/XL without control DESIGN OF EXCITATION CONTROLLER
are illustrated in Fig. 3 and Fig. 4, respectively. As USING MODAL CONTROL THEORY
can be seen from Table 1, Fig. 3 and Fig. 4 only mode 1
and mode 2 will be unstable for some XC/XL compensation In this section, a unified approach for excitation
degrees while mode 0 and mode 3 give positive dampings controller design is presented. Modal control theory is
for all series compensation degrees. In addition, mode 1 employed to determine the parameters of the compensator.
is the most vulnerable to high degrees of series compen- From the previous section, it is known that only two
sation and accordingly it will be the most difficult one torsional modes, mode 1 and mode 2, need to be
to be suppressed. From the above discussion, therefore, stabilized for some degrees of series compensation since
only two torsional modes need to be damped out by the negative dampimgs may occur in this range. A dynamic
proposed excitation controller which will be designed by compensator, consequently, is necessary to stabilize
using modal control theory as shown in the next section. these unstable modes under such operating conditions.
 49

n
MODE 0 203.55
11.5I I
4J
!-I

a
h
2 203.5
G
4
D
E
4

203.45
-1.5 -1 -0.5 0 -0.1 -0.05 0 0.05
real part real part

1
MODE 1 MODE 3
156 1 I 322.196
i4

a
2$I
.rl
D
321.1951
I , -
2
?i

154.5' I 320.194
-0.5 0 0.5 1 -0.05 -0.049 -0.048 -0.047
real part real part

Fig. 4 The root loci of eigenvalues of SSR modes versus

increasing (without control)

Fig. 5 shows the block diagram of the IEEE type 1

excitation system [14] with proposed excitation
controller included. The synchronous generator shaft
speed deviation Aw, employed as a feedback signal, is
fed through a lead-lag compensator to obtain a modulated
signal UE in order to generate a damping torque for the
generator itself. The entire control scheme constitutes
a single-input single-output ( S I S O ) control system,
hence, a feedback compensator by using modal control
theory can be designed.
The procedure to employ the modal control theory in
excitation controller design is first to linearize the
system equations about its operating points. The
linearized system dynamic equations can be written as UEmin
Fig. 5 Block diagram of the IEEE type 1 excitation
system (with excitation controller).

where W(s1 is the Laplace transformation of Aw and H ( s )

where x =[xi, x2, x3, x4iT
is the transfer function of dynamic output compensator,
X1= [ Aid,AiF,Aikd,Ai ,Ai ,Aikq]
shown in Fig. 5 , as follows
X2=[Aec ,Aec , A i ~ ~ , 8 i c ~ : ~
X3=[AVRg,AEF8,AV31
X4=[Ayip,Atl~p,AwLp,ABLp,Aw, A68 A w E X , ~ ~ E ~ I
H(s) = --
sKw

1+ sTw
l+sT2

l+sT1
(7)
X is the state vector and X1, X2, X3, X4 are sub-state
vectors referred to the synchronous generator, the
series capacitor, the excitation system, and the mass- On the right hand side of eqn. (7). the first term
spring system, respectively. The output vector is represents the washout term used to eliminate the
steady-state offset while the second one is a first-
y = L Aw I (3) order lead-lag network. Obviously, there are four
unknown parameters in eqn. ( 7 ) and the system has only
and A, B, and C are all constant matrices. The system two unstable torsional modes which need to be controlled.
equations in the s-domain is The controller's parameters can be determined by left
shifting the unstable modes, mode 1 and mode 2, to the
14) desirable locations on the complex plane. To perform
(5) this, the characteristic equation of the closed-loop is
constructed, that is:
The input signal is from the output vector and can be
expressed as det [ s I - ( A + B H(s) C ) 1 = 0 (8)

U ( s ) = H ( s ) W(s) = H ( s ) Y(s) (6) where I is an identity matrix. When the two desired
eigenvalues for mode 1 and mode 2 are substituted into
 50

WITH CONTROL MODE 0

0 11.5 I 1
MODE 3

-1

-2

-3 9.5
-4
' -3 -2 -1
I
0
r e a l part
-4
MODE 1
160
c,
-5
2a 150
h
-6 t;r 140
C
.rl
130
-7 E
4

120
B -6 -4 -2 0
-8 r e a l part
0 50 100
MODE 2
203.5 1
XC/XL( %) c, 1
Fig. 6 The real parts of eigenvalues of SSR modes versus
XC/XL (with control). >I
203
eqn. (8). two algebraic equations with four unknown
parameters result. By seperating the real parts and the
imaginary parts of the two equations, the controller's
parameters can be obtained by solving these nonlinear
equations using a conventional Newton-Raphson algorithm. 202.5
The results are shown in the third column of Table 1 and -1.5 -1 -0.5
the controller's parameters are listed in the Appendix. r e a l part
It is worth noting that the prespecified
eigenvalues for mode 1 and mode 2 are prcperly chosen. 'Ihe
constraints for selecting these eigenvalues are:
(1) The resulting controller's paremeters should be 321.21
reasonable. For example, the gain Kw should be as c,
Ll
small as possible and the time constants Tw, T1,
and T2 must be positive for a practical network. a
321.205
(2) The entire closed-loop system eigenvalues should be
Ll
completely placed on the left half of the complex
plane. C
From the above description, it is necessary to
verify whether the designed results satisfy the
constraints. Obviously, it can be concluded from the
third column of Table 1 and the controller's parameters 321.195' I
shown in the Appendix that the damping for all system -0.105 -0.1 -0.095 -0.09
eigenvalues are quite satisfactory and the controller's r e a l part
parameters are also adequate. Fig. 7 The root loci of eigenvalues of SSR modes versus
The real parts of the eigenvalues and the root loci XC/XL increasing (with excitation controller).
on the complex plane for the SSR modes with the designed
excitation controller included under different degrees
of series compensation are shown in Fig. 6 and Fig. 7,
on which our controller design is based, the system
respectively. It is found that the proposed excitation
gives adequate damping for the system provided that the
controller can effectively damp all torsional modes for
proposed excitation controller is included. Torsional
a l l XC/XL series compensation degrees.
mode shapes, with and without control, and eigenvalue
sensitivities of the system SSR modes under various
ANALYSIS OF TORSIONAL MODE SHAPES operating conditions will be carried out in this section
AND EIGENVALUE SENSITIVITIES to investigate the influence of the excitation
controller on the torsional modes.
An examination of the system eigenvalues in the For torsional mode shapes study, Table 2 lists the
third column of Table 1 and the real parts as well as normalized eigenvectors of the system corresponding to
root loci of the eigenvalues of SSR modes shown in Fig. each eigenvalue of the torsional modes while Fig. 8 is
6 and Fig. 7 reveals that, under the operating condition the torsional mode shapes plot of Table 2 data. It is
 51

(pu) real imag real imag real imag real imag 1

........................................................
0.8 -0.1 8.6 -3.9 138.6 -0.63 203.2 -0.087 321.2 0.5
0.9 -0.9 9.6 -3.5 138.1 -0.67 203.2 -0.089 321.2
'1.0 -1.7 10.6 -3.2 137.7 -0.71 203.2 -0.091 321.2
1.1 -2.5 11.6 -2.8 137.3 -0.75 203.2 -0.093 321.2 0
1.2 -3.2 12.7 -2.4 137.0 -0.78 203.2 -0.094 321.2
-0.5
Table 4 Torsional mode eigenvalues for various PG's.
-1
PG MODE 0 MODE 1 MODE 2 MODE 3
--------------------------------------------------------
(pu) real imag real imag real imag real imag

Table 5 Torsional mode eigenvalues for distinct PF's.

........................................................
PF MODE 0 MODE 1 MODE 2 MODE 3

o*kLl
(lag) real imag real imag real imag real imag
........................................................
0.5 -0.4 8.3 -1.4 138.7 -0.65 203.3 -0.079 321.2
0.6 -0.7 9.2 -1.9 138.5 -0.66 203.3 -0.082 321.2
0.7 -1.1 9.8 -2.3 138.3 -0.68 203.4 -0.084 321.2
0.8 -1.4 10.2 -2.7 138.1 -0.69 203.2 -0.087 321.2
*0.9 -1.7 10.6 -3.2 137.7 -0.71 203.2 -0.091 321.2 MODE 3
-------------------------------------------------------- -0.5
denotes operating point on which excitation controller Fig. 8 Torsional mode-shapes of SSR modes.
design is based. (-: without control,-----: with control)

readily found from Fig. 8 that the system with control
can reduce the shaft twists between masses from that
without control. However, there is always some torsional
stress at mode 0 since the mechanical torque to drive
l2-e synchzmtw genemtar is contributed by the high-
pressure turbine (HP) and the low-pressure turbine (LP).
For eigenvalue sensitivities analysis, Table 3,
Table 4, and Table 5 are the variations of SSR modes
under different operating conditions. Table 3 gives the
torsional mode eigenvalues for different generator
terminal voltage (Vt). Table 4 and Table 5 are those
modes under various values of real power generation (PG)
and output power factor (PF) of the synchronous
generator, respectively. From the three Tables, it is
found that mode 0 is more sensitive to the variation of
operating conditions, mode 1 is sensitive only to the
power factor, and mode 2 and mode 3 are both less
sensitive to the change of operating points. It can be
concluded that with the proposed excitation controller
included in the system, the torsional mode eigenvalues
are insensitive to drastic changes in operating
conditions and it also guarantees stable operation for
these widely changed conditions.
NONLINEAR MODEL SIMULATION OF DYNAMIC RESPONSES
Linear tests of eigenvalues and eigenvectors shown
in the last section were performed to investigate the
performance of excitation control in both distinct
conditions of operation and torsional mode shapes. In
order to further demonstrate the effectiveness of the
proposed excitation controller, which is designed based
upon a linearized system around a particular operating
point, computer simulations of the system under torque
disturbance on generator shaft are performed on a
nonlinear system model. All system nonlinearities, such
as exciter ceilings and control signal limiters, etc.,
52

1.2 0.85
HP-LP ..*. HP-LP 1
0.8

0.75

, I.

0.4 I 0.7 1 I
0 5 0 5

2, 1.4
LP-GEN

1.2

0.8 1
0 5 0 5

xio-3 w DEVIATION ~10-3 w DEVIATION

r I
m

-4 '
0 5 0 5

~10-3 vr DEVIATION
0.05
VT DEVIATION
I

s
h

a
Y
0
4J

"-0.0 5

U
I -0.1 L I
0 5 0 5

GEN. OUTPUT POWER 1.1, GEN. OUTPUT POWER

1
I

-$ 0.95
s
h

0.9 a
Y

U c1
a 0.85

0.8
0
' 5
J
TIME ( S E C ) TIME (SEC)

Fig. 9 Dynamic responses of the system without control. Fig. 10 Dynamic responses of the system with excitation
controller.
 53

( 2 ) Eigenvalues of the system torsional modes can be

CONTROL INPUT SIGNAL
0.2 located at the desired positions on the complex

-. 0.1
plane by
controller's
using modal
parameters
control
can be
theory. The
simultaneously
derived by solving the closed-loop characteristic
3. equation.
YI
& 0 (3) From the eigenvalue sensitivities analysis, it is
w shown that the proposed excitation controller can
effectively control the torsional modes under a wide
-0.1 range of operating conditions.
(4) The proposed excitation controller can also minimize
the shaft twists between the masses as shown in Fig.
-0.2
8 of the torsional mode shapes which correspond to
0 5
the normalized eigenvectors of the system.
' TIME ( S E C ) (5) The dynamic responses of the system with and with-
out control have verified the effectiveness of the
excitation controller in damping of the torsional
UE SPECTRUM oscillations.
15 I I

h NOMENCLATURE
cn
m
d
v General
A, B, C system matrix
H(s) transfer function of the compensator
w. e, speed and angle of the mass-spring system
6 generator torque angle

R. X resistance and reactance

VRE per unit output of voltage regulator
0 20 40 60 EFD per unit output voltage of exciter
ec, ic per unit capacitor voltage and current
FREQUENCY (HZ) xc, XL reactances of capacitor and inductance in
the series compensated line
PG, Vt generator real power output and terminal
Fig. 11 Control signal UE and its spectrum analysis. volatge
Subscript
d. 9 d-axis and q-axis stator quantities
are included in this model for a complete and detailec F field circuit quantities
simulation. fd, fq, kd damper winding quantities
Dynamic responses shown in Fig. 9 and Fig. 10 are HP high-pressure quantities
the simulated results of the system subject to a 10% LP low-pressure quantities
(0.1 p.u.) pulse torque disturbance on the shaft of the EX exciter quantities
synchronous generator. The torque disturbance input Prefix
duration lasting for four cycles (60 Hz base) starts at A linearized or deviation quantities
t=0.2 second. Fig. 9 shows the responses of the system
without any control while Fig. 10 depicts the system REFERENCES
with the .proposed excitation controller included. It is
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Q.H. Li, D.Z. Zhao, and Y.N. Yu, "A New Pole- X12L=0.0739 p.u. X12R=XL=0.08 P.U.
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PAS-104, No. 6, pp. 1326-1334, June 1985.
BIOGRAPHY
Y.N. Yu, Electric Power System Dynamics, Academic
Press, New York, 1983.
Li Wang (S187-M'88) was born in
P.M. Anderson and A.A. Fouad, Power System Control
Chung Hwa, Taiwan, Republic of China
and Stability, .Iowa State University Press, Iowa,
on December 20, 1963. He graduated
1977.
from National Kaohsiung Institute of
IEEE Committee Report," Computer Representation of
Technology, Kaohsiung, Taiwan, in
Excitation Systems," IEEE Transactions on Power
Apparatus and Systems, Vol. PAS-87, pp. 1460-1464, 1983 and received Ph.D degree from
National Taiwan University, Taipei,
1968.
Taiwan, in 1988, all in electrical
engineering. In addition, he worked
APPENDIX: SYSTEM PARAMETERS as an electronic engineer to design
software and hardware of micro-
processor systems in 1983. And he passed the Higher
Civil Examination of Republic of China and worked as an
electrical engineer at the Division of Heavy Machinery,
China Engineering Corporation (BES), Taipei in 1985.
Since 1988, he has been an Associate Professor at
the Department of Electrical Engineering, National Cheng
Kung University, Tainan, Taiwan. At present, his
interests not only include the science research of
electrical engineering such as power system stability,
dynamics, and control but also the field of philosophy
and science of religion, such as Buddhist study and the
teachings of Taoism.