L E E Transactions on Power Apparatus and Systems,Vol. PAS-95, no.

4, JulyIAugust1976

SUBSYNCHRONOUS
OSCILLATIONS
PARp 1- COMPREHENSIVE SYSTEMSTABILITYANALYSIS
J. M. Undrill T. E. Kostyniak

Power Technologies,Incorporated
Schenectady, New York

ABSTRACT

Thispaperdescribes a frequencyresponse method

foranalyzingthestabilityof subsynchronous o s c i l l a -
t i o n s i n power systems, as modeled by a number o f syn-
chronousmachinesandanextensive series compensated
transmissionnetwork.This method a l l o w st h e simulta-
neous detailed modeling of a l l machine shafts andcon-
trol loops, andhencepermit-s i n v e s t i g a t i o n of possible
i n t e r a c t i o n i n t h e subsynchronous oscillation frequency
bandbetweenmachines i nd i f f e r e n tp l a n t s . An example
a p p l i c a t i o n o f t h e method i n d i c a t e s t h a t s u c h i n t e r a c -
t i o n s may, indeed,occur. Figure 1 Simple Configuration For Initial
Discussion
INTRODUCTION
E'UNDAMENTALS
S e r i e cs a p a c i t o r isn power transmission systems
give rise t oc u r r e n tv, o l t a g e andgenerator torque Subsynchronous o s c i l l a t i o n s are b a s i c a l l y o f e l e c -
o s c i l l a t i o n s a t subsynchronous frequencies. These trical origin,althoughthey may beaggravated by t h e
oscillations can pose major problems in both electrical effects o ft o r s i o n a vl i b r a t i o n so fg e n e r a t o rs h a f t s ,
system and generator mechanical design. There is a While our ultimate aim i s t oc o n s i d e rb o t h electrical
strong needfor accurate andcomprehensiveanalysis Of and shaft v i b r a t i o n effects simultaneously, it is use-
system dynamic behaviorinthefrequency band associ- ful t o first c o n s i d etrhbea s iecl e c t r i c a l effect
atedwithsubsynchronousfrequencies. Not t h e l e a s t of alone. The basicsubsynchronousoscillation phenomenon
t h e problems associated with SubSynchronOUS O S C i l l a - may beexplained by r e f e r e n c e t o F i g u r e 1. The genera-
t i o n sh a sb e e nt h e development o fe f f e c t i v e Itlethods t o r should be regarded, for this initial discussion, as
for analyzing the behavior of l a r g e s y s t e m i n t h e Sub- having i n f i n i t e i n e r t i a so t h a t i t s speedandangular
synchronous frequency band. Thisanalysis
requires p o s i t i o nr e l a t i v et ot h ei n f i n i t e bus a r ec o n s t a n t .
consideration of t h e g e n e r a t o r s t a t o r and network tran- The generator is an inductive circuit element, and
sient behavior(as described by the generator "p$" terms, hencethesystemofFigure 1 has a n a t u r a lr e s o n a n t
f o r example) which a r e n e g l e c t e d i n s t a n d a r d transient frequency given by w2 = 2lLC
s t a b i l i t y pmgrams. The studyof SubsynchronOuS Oscil-
l a t i o n (SSO) behaviorhas,therefore,requiredthede-
velopment o f new computerprograms,both fortime do- where wo is ratedangularfrequencyand L, C a r et h e
main s i m u l a t i o na n df o rt h ea n a l y s i so ft h ei n h e r e n t t o t a l per unitinductanceandcapacitanceofthesys-
s t a b i l i t y o f system perturbations. tem. Forpracticaldegreesofcompensation,thisreso-
Thispaperdescribes a method o fa n a l y z i n gt h e nantfrequency is less than rated frequency;that is,
s t a b i l i t y o f subsynchronous o s c i l l a t i o n s on a d e t a i l e d subsynchronous,
basisinsystemsof many generatorsinterconnected by
anextensivetransmissionsystem.This method allows Now consider a synchronous machine whose r o t o r i s
a l l generators on a system, together with their control turning a t rated speed, wo, but whose armature has cur-
and s h a f t dynamics, t o be r e p r e s e n t e d i n d e t a i l simul- rentsoffrequency w imposed upon it. Sincetherotor
taneously,and hence permits the examination of machine- has lowimpedance short c i r c u i t e d c u r r e n t p a t h s on i t s
to-machine interactions and of control loop effects. surface, the generator w i l l behave as aninduction ma-
chineunder t h i sc o n d i t i o n , The s l i po ft h i s induc-
I na d d i t i o nt o its a b i l i t yt op r o v i d ed e t a i l e d
a n a l y s i s o f largesystems,the method presentedhere
t i o n machine
must be
s=-
w wo-
allowsthevarious mechanisms o f subsynchronous o s c i l - w
l a t i o n t o be separated and i l l u s t r a t e d i n a p a r t i c u l a r -
l y clear andstraightforward manner. A companion paper which has a negativevalueforsubsynchronousstator
presents a series of i l l u s t r a t i v e examples based on t h e currentfrequency,
analysis presented here.
Next, assume t h a tt h ec a p a c i t o ri nF i g u r e 1 ac-
q u i r e s a c h a r g et h a t is n o ti d e n t i c a lt o i t s steady
s t a t ee q u i l i b r i u mv a l u e as t h e result of some small
systemdisturbance. The RLC t r a n s m i s s i o nc i r c u i t will
"rin,g-down" a t i t s subsynchronousresonantfrequency,
c a u s i n gc u r r e n t s a t t h i s subsynchronousfrequency to
flow inthegeneratorarmature.But, a t t h i s subsyn-
chronousfrequencythesynchronous machinebehaves as
an induction machine w i t h negativeslipgivenabove;
that is, as an induction generator. It will, t h e r e -
fore, feedenergyintothe RLC c i r c u i t a t t h e subsyn-
Paper F 76 114-9, recommended and approved by the IEEE Power SyStem chronousfrequency,andhence w i l l t e n dt os u s t a i n or
Engineering Committee of the IEEE Power Engineering Society for presentation at
theIEEEPESWinter Meeting and Tesla Symposium, NewYork, N.Y., January amplifythesubsynchronouscurrents. Given unfavorable
25-30, 1976. Manuscript submitted September 2,1975;made available for printing c o n d i t i o n s ,t h i sa c t i o n cancausesubsynchronous cur-
November 4,1975. r e n t s t o g r o w t od i s r u p t i v e magnitudesthroughoutthe

1446
transmission system, It may a l s o be shown that t h i s To providecompletefrequencyresponseresults,
subsynchronouscurrentflowinginthearmatureofthe andhence t o p r o v i d e t h e i n s i g h t s on system be-
synchronous machine will give rise t o both a unidirec- h a v i o rt h a t are inherentinfrequencyresponse
t i o n a l componentof a i r gaptorqueand t oa l t e r n a t i n g a n a l y s i s o f feedback systems.
a i r gaptorque components a t frequenciesof (wo W) -
and (wo + w). The subsynchronous a l t e r n a t i n g component To provide a f l e x i b l e and r e a d i l y a d a p t a b l e com-
puter program s t r u c t u r e .
of torque may b el a r g e enough t o damage t h eg e n e r a t o r
or t u r b i n e s h a f t .
The i m p o r t a n t p o i n t t o n o t e from t h i s fundamental
a n a l y s i s , which hasbeendevelopedon a quantitative
b a s i s by Kilgore et.&. ,' is t h a t subsynchronous o s c i l -
l a t i o n s c a n grow andbe sustained by t h i s simple induc-
t i o ng e n e r a t o re f f e c tw i t h o u tt h e effects of generator
rotor speed variations.

MORE: DETAILED ANALYSIS

While t h e above a n a l y s i s i s simpleandgives good Figure 2 Separation O f System For Observation

i n s i g h ti n t ot h eb a s i c phenomenon, it doesnotaccount At Genirator Terminals
for t h e fact t h a t g e n e r a t o r i n e r t i a i s n o t i n f i n i t e and
t h a tr o t o rs p e e d is, t h e r e f o r e ,n o tc o n s t a n t .F u r t h e r , FEEDBACK
TREATMENO
TG
FENERATOR AND TRANSMISSION SYSTEM
it does not allow treatment of saliency effects in de-
ducingtheequivalentinduction motor parameters that Our method o f a n a l y s i s i s b e s t i l l u s t r a t e d by re-
shouldbeused torepresentthe synchronous machine a t f e r r i n gi n i t i a l l yt ot h e systemofFigure 1. We may
t h e subsynchronous armature current frequency. break t h i s system a t t h eg e n e r a t o rt e r m i n a l sa s shown
i n Figure 2 and consider small p e r t u r b a t i o n so tf h e
More detailedrepresentationofthesynchronous c u r r e n t s and voltages on each side of the break.
machine r e q u i r e st h a t h e machine
be modeled by its
fundamental s t a t o r and m t o dr i f f e r e n t i a el q u a t i o n s , We maynow apply standard algebraic manipulations
Thesecould i nt h e o r yb ee x p r e s s e dr e l a t i v et oe i t h e r of
the
synchronous machine andnetwork differential
p h a s ec o o r d i n a t e so rt ot h ed i r e c ta n dq u a d r a t u r ea x i s e q u a t i o ntsod e r i v ter a n s f efru n c t i o nrse l a t i n gt h e
c o o r d i n a t e s ;b u tt h el a t t e rc h o i c e i s u s u a l l yt h e more currentandvoltageperturbations on eachsideofthe
convenient. break.Thesetransferfunctionscouldbederivedin
terms o f p h a s e q u a n t i t i e s o r o f any s u i t a b l e c o o r d i n a t e
Early detailed analysis of
thesingle=chine set based on a transformation of the phase coordinates,
such as:
case2 used a frequency domain t r e a t m e n t t o examine t h e
s t a b i l i t y p r o p e r t i e s o f t h e system equations and t o re- Rotorbased sum and difference frequency quanti-
v e a lt h er o l eo f systemresistance i n damping subsyn-
chronousoscillations.Reference 3 a p p l i e dt h e method t i e s ; c o g . , i0' it, i-.
of reference 2 t o l a r g e systemsandaddedtreatmentof
generator shaft torsionalvibrations.Reference U of- Rotorbaseddirect and quadratureaxisquanti-
fers a na l t e r n a t i v et ot h ef r e q u e n c y domain method; it t i e s , e x p r e s s e dr e l a t i v et og e n e r a t o rr e f e r e n c e
b u i l d s up t h ee q u a t i o n so ft h ee n t i r es y s t e mi n first axes, d,q.
order form andcomputes thesystemeigenvalues.This
form of result i s more r e a d i l yi n t e r p r e t e dt h a nt h e System baseddirectandquadratureaxisquanti-
c r i t i c a l branchcapacitancevaluesgiven by references t i e s expressedrelativetosynchronousrefer-
2 and 3; b u tu, n f o r t u n a t e l yt,hsey s t e m m a t r i ixn - ence axes, D,Q.
volved i n t h e e i g e n v a l u e a n a l y s i s has two axes for each
inductive and capacitiveelementinthetransmission The f i r s t andsecond s e t sa r ec o n v e n i e n tf o rs i n -
network.This limits t h e method t o q u i t e small numbers
g l e machine a n a l y s i s ,b u ts i n c eo u ra n a l y s i s i s t o be
ofgenerators and t o very simple network configura- applied to multi-machine systems, the l a s t set, D,Q, i s
t ions.
t h e most convenienthere. The D,Q a x e s a r e t h e n a t u r a l
choice fornetwork modeling on a 2-axes b a s i st;h e
The a n a l y t i c a l methods o fr e f e r e n c e s 2 , 3 and 4
transformation of
the machine equations f r o m t h e i r
'natural' d,qaxis form t o t h e D,Q axes is i l l u s t r a t e d
combine t h e e q u a t i o n s o f b o t h t h e e l e c t r i c a l s y s t e m a n d
t h eg e n e r a t o rs h a f t si n t o a s i n g l el a r g ef u l l y - c o u p l e d i nr e f e r e n c e 9. The terminology used i nt h ea n a l y s i s
s e t . A l l information on systemperformance i s obtained i s given in Appendix I.
by t h e a p p l i c a t i o n o f computer p r o c e s s i n g t o t h i s s i n -
g l es e to fe q u a t i o n s ,a n dt h e results give l i t t l e i n - The current and voltage perturbations, Av ( 5 )
JL-,
A i (SI, Av (SI A i (s) are r e l a t e d by transfer-function
s i g h t on thepropertiesofindividualelements of t h e
system o r on thecoupling between e l e c t r i c a l o s c i l l a - m+cesd%
t i o n s a n dt o r q u ep u l s a t i o n si nt h et u r b i n e - g e n e r a t o r
shaftelements. A seconddisadvantageofthese methods
is t h a t t h e i r computerprogramimplementations are not
i n h e r e n t l y f l e x i b l e and tend not t o alloweasymodifi-
cation of equipment modeling once the initial selection
of componentmodels has been b u i l t i n t o t h e program, f o r t h e g e n e r a t o r , and
The o b j e c t i v e s o f t h e a n a l y t i c a l method presented
here are
To a l l o w t h ae p p l i c a t i o o
nhf i g h l d
yetailed
g e n e r a t o r , s h a f t , and a n c i l l a r y equipmentmodel-
i n gi ns t u d i e so fl a r g es c a l et r a n s m i s s i o ns y s - f o r t h e network.
tem r e p r e s e n t a t i o n s w , h i l er e t a i n i n ge f f i c i e n t
use of computer resources.
1447
 Thesesecond order matrix equations are henceforth perturbation frequency is varied from z e r o t o i n f i n i t y .
w r i t t e n i n t h e compactform
The Z ( 5 ) and %(SI matrices may bederived by
G -
- --
AvG(s) = -Z,(s) AiG(s) (3) algebraic manxpulation of b a s i c component equations for
some basic generatoroperatingconditionsandnetwork
2 (s) f o r a generator run-
-- -
arrangements.Forexample,
- -
A ~ ( s )= YN(s)
[AvN(s) A%(s)] (4)
ning a t no loadand
G
c o n s t a n v e e d i s e a s i l yd e r i v e d
f r o m t h e b a s i c Park6 equations
Note thateachelementof
quotient of rational polynomials
~,(SI
?iiT
-
andYN(s) is the

Now, becausethe same coordinatesystem has been

used f o rt h e machineandnetworkequations,there is
AiG(s) = &(SI.
-Equations ( 3 ) and (4) correspond,
w o r e , t o t h e feedbackandforwardpathequations
while Appendix I11 shows t h a t , f o r t h e t r a n s m i s s i o n
"
of
of the multivariable closed-loop system shown i n Figure
3. The closedloop characteristic o ft h i s system i s Figure 1 2

[I [R+js +
wwO
I [jL - uO
I
--- --
+ YN(s) Z,(s)] AiG(s) -YN(s)A%(s)(5) ' 0j c ( wj c: )( w o )

IqGy I
P o rp r a c t i c a l l y all generatorandnetworkrepresenta-
tions ofgreatercomplexitythanthese,thealgebraic
constructionof Z (8) Z (6) Z (jw) o r Z (jw) is a
H
v i r t u a l l y ins-+&e&: h s important t o
A%& n o t e t, h e r e f o r e t, h a t h eN y q u i s st t a b i l i t ya n a l y s i s
requiresonlythenumericalvaluesoftheelementsof
2 (jw)and Z ( j w ) f o r a s u i t a b l e sequenceofperturba-
At@--> b e q u u e k The d i g i t a l computer p r o g r a m i n go f
Figure 3 Feedback Relationship Between t h ec a l c u l a t i o no ft h e s ev a l u e s i s d e s c r i b e d i n Appen-,
Generating Unit And System d i c e s I1 and 111.

The growth o r damping c h a r a c t e r i s t i cosf any APPLICATION TO LARGE SYSTEMS

t r a n s i e n tv a r i a t i o no f i (s) and i ( 8 ) may bedeter-
D Q While t h e a b o v e d e r i v a t i o n o f t h e s t a b i l i t y a n a l y -
mined by examining t h es t a b i l i t yo ft h es o l u t i o n so f
theclosedloopequation (5). A most convenient method
sis method was made w'th reference to Figure 1 for sim-
p l i c i t y ,t h e method \s d i r e c t l ya p p l i c a b l et ol a r g e
f o r doing t h i s is t h er e c e n t l y developed' generaliza- scale systems i n which many generators are represented
t i o no tf h e familiar Nyquist s t a b i l ci r i t e r i o n . The
g e n e r a l i z e sdt a b i l i t cyr i t e r i o n
3 i s t h atthcel o s e d
in full detail.

loopsystemdescribed by F i g u r e 3 is s t a b l e i f , working The a p p l i c a t i o n o f t h e method t o a complete system

in the frequency domain, the determinant of the complex starts witheachbranchofthetransmissionnetwork
2 x 2 matrix beingrepresentedwithreferencetothe D,Q axes by a
2x2 complex admittancematrix,y..(ju),havingthe
[& +
--
YN(jw)Z,(jw)l form (2). The corresponding equa*11) for
each
branch may then be combined i n t h e s t a n d a r d way accord-
satisfies the Nyquist criterion with respect to the or- i n g t o Kirchoff's laws t o b u i l d a complex nodal admit-
i g i n o f t h e complex plane. Further, as long as t h e n e t - tance matrix o f t h e form
work giving rise t o Y (s) involvesonlyelementsof
N
7

p o s i t i v er e s i s t a n c e a l l eigenvalues of
YN(s) itself
havenegative real p a r t s , and then it is convenient t o
-
premultiplyequation(5) by t h e network impedance ma-
trix,

Using t h i sp u t st h ec l o s e dl o o p characteristic inthe

form

-
A d s ) = [ZN(s) + ZG(s)] AiG(s)
--- k (7 1 k
where A i (jw)and Av (jw) are t h e two elementvectors
N N
c o n t a i n i n g t h e D and Q a x i s q u a n t i t i e s f o r e a c h node of
Now we may examine t h e s t a b i l i t y o f t h e system by exam- t h e network.
ining the Nyquist plot of the determinant of the 2 x2
complex matrix
We next recognize that each machine on t h e system
---
ZcL(jw) = [zN(jw) + z,(jw)] (8) may be represented in f u l l d e t a i l by using equation ( 3 )
i n t h e f r e q u e n c y domain
for ~ t a b i l i t y , ~t h eo r i g i no ft h e complex plane must
l i e t ot h el e f to ft h ed e t e r m i n a n to f ZcL(jw) as t h e Avm(jw) -Z:(jw) Ai:(jw)
- G -- (12)

1448
Zm(jw) i s e a s i l yi n v e r t e df o re a c hv a l u eo f w t o pro-
G
vide

= ?(ju) Avm(jw) (13)

-
Ai:(jw) G G
Again,because(13)and(11) are e x p r e s s e d r e l a t i v e t o
t h e same reference axes, equation (13) for each machine
canbe combined withequation (11) t o y i e l d an o v e r a l l
frequency doamin admittance transfer function matrix of
t h e g e n e r a l form
-

I \ I I A-

U ’n(ju) Jd(fo)- -

where generators are connected t o nodes 1 thru

- - - -
\

a.
Y,(jo)

Since
each
-
$(ju) m a t r irxe p r e s e n t s
electromechanical system and is generally non-symmetric,
a complex

equation (12) doesnothavethe symmetry property of

equation (11) which r e p r e s e n t so n l yt h e electric net-
work.
Equation (12) may be recognized as the closed loop Fipure 4 Feedback Representation O f Large
transfer function expression of a very large multiloop System
feedbacksystem. The s t a b i l i t yo ft h i so v e r a l l system i n c l u d i n gi n t e r a c t i o n s of all mechanicalandcontrol
may beexamined by openinganysuitable set of loops subsystems with the electrical system. Consideration
and applying the generalized Nyquist .criterion. In of Z (jw)and Y ( j w ) t h e r e f o r e ,r e v e a l s all dynamical
h e p i n g w i t h F i g u r e s 2 and 3, we chose t o open t h e P a i r i n t eHr a c t l o n s &out t h e system as a whole includ-
of loops associated with the terminals of anyone gen- i n g ,f o r example, possible s i g n i f i c a n to s c F l l a t o r y . e x -
e r a t o r .T h i s is shown schematicallyinFigure 4. changingofenergybetween shafts o f g e n e r a t o r s i n d i f -
fwent plants.
The two matrices r e q u i r e d t o r e d u c e t h i s system t o
thefeedback form ofFigure 3 can now beobtained by Since the computer implementation of t h i s a n a l y s i s
the following steps: works with numerical values, rather than with algebraic
m a n i p u l a t i o ns, t e p sa t) h r u f ) must b er e p e a t e df o r
a ) Constructthe (: j w ) matrices for a l l genera-
Z eachvalueof w for which a point is needed i nt h e
tors. Nyquistplot. The o v e r a l l f l o w c h a r t o f t h e s t a b i l i t y
a n a l y s i s program is shown i n F i g u r e 5 . The majority of
b ) Record t h e Zp(jw) matrix as the feedback trans- thecomputationalburden is i ns t e pf ) ;t h i ss t e p is
fer functio?i%Erix, Z (ju) ofFigure 3. handled very efficiently by theoptimallyordered tri-
G’
a n g u l a rf a c t o r i z a t i o nt e c h n i q u e 7 , b u tt h e computing
c ) I n v e r t all otherZm(jw) matrices toobtainthe
G time is s t i l l s u f f i c i e n tt ow a r r a n te f f i c i e n c yi n se-
$(ju) matrices. l e c t i n gv a l u e so f w f o rp o i n t s on t h e Nyquistlocus.
The s e l e c t i o n of values of w i s handled i n i n t e r a c t i v e
d ) Buildequation (11)f o r t h e network withloads mode; t h e program plots each point automatically as it
represented by impedance branches t o ground ( o r
some o t h e r s u i t a b l e c h a r a c t e r i s t i c ) . Pick up wired loadflow
Eale specifying network
e ) Append t h e? ( j w ) matrices t o t h e networkad- and OptMting condition
G
mittance matrlx to obtain equation (12) includ- 1
ing a l l generators except generator p. Set up all machine operating

-
pointconditions
f ) Invert or otherwiseprocessequation (12) t o 1
o b t a i nt h e 2 x 2 self-impedancematrix z (jw) select parturbation muency, 0)

f o r bus p. PP 1
Execute steps a ) thru f)
for thirr value of A!
The i n v e r s eo f z (jw) is t h e YG(jw) matrix of
Figure 3. This is n o h e d , h o w e v c s i n c e Nyquist
1
Calculate ddtnG(jo) t %(jw)/
a n a l y s i s is based on
equation (8); ( j w ) is, there-
fore, thedesiredmatrix 2 (ju)foruse
zpp
m theNyquist
and plot in coaplex plane
analysis. N
I t i s t o be n o t e d t h a t t h e YN( j u ) and $(ju) ma-
t r i c e s y i e l d e d by t h i s p r o c e s s c o n t a i n i n t e l l i g e n c e on FIsure 5 OverallFlowchart O f Stablllty
a l l dynamical e f f e c t sr e p r e s e n t e di nt h es y s t e m model, Analysis Process For Large Systeu

1449
is calculated, and henceallowstheengineerto select
thespacingoffrequency points t oo b t a i n an adequate
specification of the Nyquist locus with a minimum num-
ber of passes thru the computation.

The s t a b i l i t y a n a l y s i s method is p r e s e n t l y imple-

mented withinthe frameworkof a comprehansive i n t e r -
a c t i vsei m u l a t i o n programpackage’ i n a dedicated
single-usercomputer.Thisapproachprovidesexcellent
e f f i c i e n c yo fc o m p u t a t i o d and e n g i n e e r i n ge f f o r t by
a l l o w i n gt h ee n g i n e e rt o see eachpointof a Nyquist
p l o ta s it is computedand t oo b t a i na feel for t h e
s e n s i t i v i t y o f t h e system t o parameter variations as a
computation session progresses. The present ppam
capacity is 128buses, 256 branches, and 20 generators,
each of which may be & d e l e d i n f u l l d e t a i l . + 4-

ILLUSTRATIVEAPPLICATION

Sample System
The use of t h i s method of analysis is best de-
scribed by an i l l u s t r a t i v e example. For t h i sp u m o s e
c o n s i d e r t h e samplesystem shown in Figure 6, which in-
cludes a loopofthree 500 kV t r a n s m i s s i o nl i n e s C0m- Figure 6 Sample Series Compensated System:
pensated by70 percent capacitive reactance. Data On 100 MVA Base.
While t h e i n d i v i d u a l l i n e s are 70 parcent compen-
sated, the additional inductive reactance o f g e n e r a t o r s electrical subsynchronous osciUations. The tor-
and s t e p up transfomers reduces the degree of wmpen- s i o n a l mode was assigned a relatively high darnping fac-
s a t i o n o f t h e o v e r a l l impedancebetween sending and m- t o r t o e n s u r e that it would havehegligibleeffecton
ceiving ends of the system t o approximately 25 percent. system behavior. ThisNyquistplotencirclesthe ori-
As a result, thesubsynchronousnetwork n a t u r a l fre- g i ni nt h ae n t i c l o c k w i s de i r e c t i o n , confirming t h a t
quencies are q u i t e low (approximately17 Hz) and t h e t h i s g e n e r a t o r would be s t a b l e i f connected directly t o
frequenciesof shaft torque pulsations would beexpec- a ni n f i n i t e bus. The e f f e c t of t h es h a ftto r s i o n a l
t e d t o be in the region of 43 Hz f o r this example case. n a t u r a l mode is v i s i b l e as a small l o o p i n t h e l o c u s i n
the region of 105 r/s perturbation frequency.
The t h r e eg e n e r a t o r sa r e l e c t r i c a l l yi d e n t i c a l
and t h e i r‘ m t o r sa r er e p r e s e n t e d ?y a f i e l d winding Figure8 shows t h e Nyquist p l o t o f Z$jol, as ob-
and one r o t o r body c i r c u i t on eachaxis. (The s i n g l e served f r o m the terminal bus of generator 1 wlth gener-
q - a x i sc i r c u i t was used f o r test purposes t o exagger- a t o r 3 represented by the simple model (91, and genera-
a t es a l i e n c yi nt h et r a n s i e n tf r e q u e n c y band; a c t u a l t o r 2represented by t h e same modelagd shaft data as
s t u d i e s o f steam turbine generators would normallyuse generator 1. Again, t h i s Nyquist p l o ti n d i c a t e s open-
two q - a x i sr o t o rc i r c u i t s ) . The generatordata is a s loopstabilityoftheforwardpath of Figure 3 i n t h i s
follows, on generator base: case.
Next, Figure9 shows t h e Nyquist p l o to ft h e sum
of 2 ( j w ) and 2 ( j w ) as shown i n d i v i d u a l l yi nF i g w e r
Ld = 1.8 T& = 5.5 G N
7 and 8. The system is s t a b l ei,n d i c a t i n gt h aat n y
subsynchronous o s c i l l a t i o ne x c i t e d by a small aistur-
L = 1.75 = 0.06 bance would be d aq ed o u t i n t h i s system operating con-
9 T;O
dit ion.
LA = 0.25 T” = 0.06
90
The p r a c t i c eo f making small adjustments t ot h e
L; = L” = 0.22 resistance of the generator a t the observation bus has
proved t o be a convenient way of quantifying the damp-
LQ = 0.1 Htotal 2*7 ivg or ‘ s a f e t y ’ marginof given
a system condition.
Figure10 shows theclosedloopNyquistplotfor con-
R = 0.01 ditionsidenticaltothoseofFigure9except that t h e
armature resistance of generator 1 is taken t o be zero.
Thislocusencirclestheoriginintheclockwisedi-
Machine 3 is t r e a t e d as an e q u i v a l e n t i n all cases r e c t i o ni ,n d i c a t i n g that subaynchronous o s c i l l a t i o n s
presentedhereand is assumed t o mm a te x a c t l y con- could build up or s u s t a i n t h e m s e l v e s i n t h i s c o n d i t i o n .
s t a n t speed. It is r e p r e s e n t e di n a l l cases by t h e
simple 2 ( j w ) matrix of equation ( 9 ) which corresponds, Shaft Torsional Resonance Present
i nt h e h a s i e n t frequencyband, t ot h ee q u i v a l e n t
induction machineimpedance apprqach of reference 1. To i l l u s t r a tteh e effects of shad t o r s i o n a l
o s c i l l a t i o n modes, t h e shaft s t i f f n e s s and i n e r t i a s of
Shaft Tomional ResonanceAbsent generator 1 havebeenreassigned t o correspond t o a
shaft t o r s i o n a l mode with a natural frequency of 249.5
As i n a l l s t a b i l i t y a n a l y s i s , it is a d v i s a b l et o r/s. The damping f a c t o r s havebeen s e t t o . realisti-
consider the forward and feedbacktransferfunctions c a l l y low v a l u e s t o a l l o w t h i s mode t o a f f e c t t h e s y s -
individuallybeforeexaminingtheclosedloop chaFaC- tem.
t e r i s t i c .F i g u r e7 shows t h e Nyquist p l o to ft h e de-
terminantof Z,(jw) f o rt h ec a s e where thegenerator Figure 11 shows t h e Nyquist p l o ot f Z,(jw) for
shaft is modeled as two i n e r t i a s w i t h a t o r s i o n a l -tu- t h i s case. The form is i d e n t i c a lt ot h a to fF i g u r e7
ral frequencyof105radians/sec., which is w e l l re- a t frequencies away from 249.5 r/s, b u tt h i sl i g h t l y
moved f r o m thefrequencies O f torquePulsationscaused dampedmodenow causes a majorphaseexcursion inthe

1450
regionof 249.5 r/s. Figure 12 shows t h ec l o s e dl o o p
Nyquistplot when generator 2 is representedwiththe Figure 7 GeneratorCharacteristicDet(Z (j
strongly damped s h a f t o f t h e p r e v i o u s example and gen-
*.lea
Nyquist
Plot: Ai-
e r a t o r 1 h a st h e 249.5 r/s s h a f t mode. The resulting TorsionalNaturalFrequency=l05 r
system i s s t a b l e ,b u tt h e shaft t o r s i o n a l mode causes Mode Suppressed By StrongDanpin
a major"bulge" i nt h el o c u si nt h er e g i o no f 249.5
r/s. \

Figure 1 3 shows t h e e f f e c t o f a s l i g h t i n c r e a s e i n
the stiffness of the shaft ofgenerator 1 t o r a i s e t h e
t o r s i o n anl a t u r afl r e q u e n c yt o 258.5 r/s. The bulge
i s s h i f t e dt o w a r d st h eo r i g i n and t h e result i n i n s t a -
b i l i t y by a l a r g e margin.Since t h i s case corresponds
d i r e c t l yt oF i g u r e 9, e x c e p tf o rt h es h a f t o r s i o n a l
mode ofgenerator 1, t h i s mode i s i n d i c a t e d t o b e t h e
cause of the instability.

Coupling Between S h a f t s i n S e p a r a t e P l a n t s

To i l l u s t r a t e the possibilityofcouplingsbetween
t h e shafts of g e n e r a t o r s i n d i f f e r e n t p l a n t s , c o n s i d e r
t h ec a s e where generators 1 and 2 are mechanically
identical,thoughseparated by a 100-mile series com-
pensated transmission line. W e first make s t a b i l i t y
a n a l y s i sr e p r e s e n t i n gs h a f tt o r s i o n a le f f e c t si no n l y
onemachine a t a time.Figure 12 c o n s i d e r st h e 249.5
r/s t o r s i o n a l mode a t machine 1 only,whileFigure 14
c o n s i d e r st h i s mode a t machine 2 onlywiththe shaft
e f f e c tos f machine 1 being neglected. Both figures
show closed Nyquist plots with the observation point at
theterminalbusofgenerator 1; both show a s i g n i f i -
cant"bulge" a t thefrequencyof 249.5 r/s, butboth
i n d i c a tset a b i l i t y . ,

Now Figure 1 5 shows theclosedloopNyquistplot

w i t h t h e 249.5 r / s s h a f t t o r s i o n a l mode r e p r e s e n t e d i n
machines 1 and 2, a n d i n d i c a t e s i n s t a b i l i t y .

This shows t h a t h e r e canbe s i g n i f i c a n to s c i l -

l a t o r y exchange ofenergy between the shafts of gener-
a t o r ss e p a r a t e d by s i g n i f i c a n td i s t a n c e . Whether t h i s
e f f e c t would beimportantin any g i v e ns e r i e s compen-
satedsystem can only be indicated by s p e c i f i cs t u d -
ies. T h i si l l u s t r a t i v e example suggests, however, t h a t
t h ep o s s i b i l i t ys h o u l db ei n v e s t i g a t e d , and t h a t con-
s i d e r a t i o n of shaft dynamics of only one generator at a Network Characteristic Det(ZN(jw'/
timecould f a i l t or e v e a lp o s s i b l e modes o fi n s t a b i l -
ity.
Nyquist
Plot: -
*.+ Observe A t Generator1,
Generator 2 Shaft Dynamics Suppress

1.-
I * *A, 1 1 1 1 I , 1 1 1

e.1-
CONCLUSION

This paper has presented amethod f o r t h e a n a l y s i s a.*1a

of
subsynchronous o s c i l l a t i o n si n power systems. The
key c h a r a c t e r i s t i co ft h e method i s t h a t it makes it
p r a c t i c a lt o model s h a f t dynamics i nd e t a i l on many *.ale

generators throughout a large transmission network.

The computer program
implementation otfh i s method
read.ilyallowstheusertorepresenteachgenerating
u n i t a t any convenient level of detail, from simple t o
complex,depending upon t h ea v a i l a b i l i t yo fd a t aa n d
theimportanceoftheunitintheoverallbehavior of
t h e system.

I n a d d i t i o n t o i t s a p p l i c a t i o n i n l a r g e scale sys-
tem s t u d i e s ,t h i s method hasproved t o be a valuable
vehicleforexplainingthefundamentalsofthe subsyn-
chronous resonance phenomenon.
Closed Loop NyquistPlot:
Shaft Dynamics Suppressed On
Generators 1 And 2.

e.ee.1. e.1-
-1.ea -...I. -..mi *.ea! *.*lee

1451
OI@... L\ /
-0.100
E Figire
10 Closed Loop Nyquist Plot: '
As Figure 9 B u t Generator 1
Resistance Set To Zero.

Figure 11 GeneratorCharacteristickt(ZG(jW))
0.111
Nyquist Plot:
TorsionalNaturalFrequencp249.5
-
r/s.
. -
ModeHas Nom1 Low Damping.
&#NO
\
#+,,

*.mu1 -

/
.I Figure 14 Closed Loop Nyquist Plot:
+.I* L Generator 1 Shaft Dynamics Suppressed
Generator 2 Has249.5 r/s Shaft Mode.

..m -

Figure 12 Closed Loop Nyquist Plot:

Generator 1 Has249.5 r/s Shaft Mod Fiqure
15 Closed Loop Nyquist Plot:
-0.1.. Generator 2 Shaft Dynamics Suppressed 4..IM - Generators 1 And 2 Have 249.5 r/s
Shaft Mode.
-l.rn>l I I 111 I I 1 1 1 1 I I I K l I I I O I I 1 1 1 I I

1452
 APPENDIX I Proposing a purely sinusoidal solution allows
(11.11, (11.2) t o be r e d u c e d d i r e c t l y t o
Terminology

System rated angular frequency.

OO
The required 2 ( j o ) m a t r i x , for a given value of w
Actual system
synchronous frequency is, t h e n , o b t a i n d h i i i l y by computing t h e r i g h t hand
about which p e r t u r b a t i o n so c c u r , an- side
g u l a r speedof D,Q axes.
Z,(jw) = (E - Z(A - jwA)-'B)-' (1I.b)
Angular speedof a generator, and
hence of that generator's d,q axes.
f o r a given value of w.
w Frequency of sinusoidal perturbations
r e l a t i v e t o D,Q axes. The inversion involves a complex matrix of appmx-
imately20th order. For t h i s ream t h e actual comput-
Perturbations of generator or network e r implementation of the Z ( j w ) construction transforma
L
voltage and c u r r e n tr e l a t i v et o
axes.
D,Q -
A i n t oi t s . d i a g o n a l modal formand uses the r e s u l t i n g
transformed form of(11.4);theinnerinversionthen
involvesonly a diagonal matrix i nt h i sa p p m a c h and
Vectorscontaininggeneratorornet- t h e c o n s t r u c t i o n o f Z ( j w ) is very fast and compact in
Work p e r t u r b a t i o n s AvD(s ), Ah(s ), terms of computer re+-nts.
Av (SI, A i i q ( s ) .
Q APPENDIX I11
2 x 2 transfer function matrix relat- Constmction of Z (jw)
ing generator current and voltage in- N
c l u d i n ge f f e c t so f shaft and c o n t r o l
dynamics. The computationof Z ( j w )r e q u i r e st h e comtmo-
N equation (11) for the
t i o n of the admittance matrlx
2 x 2 transfer function matrix repre- transmission network.
This, i n t m , requires each
senting operational self-impedance of branch t o be characterized by an admittance matrix
network a t observation point. equation of the fonn
Inverse of Z N ( s 1 = y ( j w ) Avij(jw)
-
Ai.
13-
.(jw)
ij
(111.1)

Voltage and current i n a network e l e -

ment, r e l a t i v et os t a t i o n a r yr e f e r -
ence
axes, and with fiequency of
w t us. t i o n o f y ( j w ) must recognize that t h e D,Q axes rotate
a t system-nous frequency, us, which is notnec-
As above with frequency of w - us. essarily equal to rated frequency, wo.
To d e r i v ey i i - ( j w ) we proposesinusoidalbranch
voltage and c u r r e npt e r t u r b a t i o n s which may beex-
APPENDIX I1 pressed in the phasor form
Constructionof Z (jw)
G
The construction of 2 ( j w ) by a l g e b r a i c manipula- (111.2)
G
tionofthegenerator,shaft and controlsystem compo-
n e n td i f f e r e n t i a le q u a t i o n s i s t h e o r e t i c a l l yp o s s i b l e
foralllevelsofgeneratorcontrol and shaft modeling
detail. Whilesuch d e r i v a t i o n sa r eq u i t es t r a i g h t f o r - r e l a t i v e t o t h e D,Q axes.
ward f o rt h eg e n e r a t o ra l o n e , as covered by equation
(91, they become p r a c t i c a l l y unmanageable when a multi- Now t h e known c h a r a c t e r i s t i c so ft h e branch
are
element s h a f t and e x c i t a t i o n c o n t r o l s a r e t o be repre- r e s i s t a n c e and reactance expressed relative t o t h e sta-
sented by 2 ( j w ) . t i o n a r yr e f e r e n c ea x e so fs t a t i cc i r c u i ta n a l y s i s . TO
G recognizethese, we transformthe proposed perturba-
Z ( j w ) may be obtainedquitesimply, however, by
G t i o n s ( 1 1 1 . 2 ) intothephasecoordinates. The a-phase
b u i l d i n g t h e machine model i n i t i a l l y i n t h e s t a t e s p a c e 6
inverse Park t r a n s f o r m t i o ni n terms ofinstantaneous
form
-
5( =ArtBAvG
- (11.1) values of voltage is

A i G = E 5 I: AvG Ava = AvD cos w S t - Av s i n wSt

- t
_.
(11.2) Q

The constructionofthe A, E, E, 2 matriceswith sSubstituting thephasorsof ( 1 1 1 . 2 ) f o rt h ep r e s e n t

pecific case of sinusoidal perturbations gives
r e f e r e n c e t o t h e D,Q axes i s a simpleextensionofthe
method described in reference 9, a s a m l i e d t o a s i n g l e
machine. The shaft dynamics a r e modeled by t h ei n e r -
t i a s of t h e i n d i v i d u a l g e n e r a t o r and turbineelements,
t h e shaft s e c t i o n s t i f f n e s s e s , anddamping factors rep-
r e s e n t i n gb o t hf m e t a l U c f damping withintheshaft and (111.9)
e x t e r n a l damping produced by theflowprocessesinthe
turbinesections.
1453
 Equation (111.3) indicates that perturbations con- (111.6) are used t o g i v e
s i s t i n g of a s i n g l e mmponent a t frequency w , as ob-
served from t h e r o t a t i n g r e f e r e n c e s a p p e a r as the sum of
two components a t frequencies of w + w and w us when - Z . (jw) =
L
2 ZSD(jw) 2 (111.8)
B
observed f r o m t h e s t a t i o n a r y axes. (This is t h e i n v e s e
o ft h e common s i t u a t i o no ifn d u c t i o n machine theory Using the shorthand form
where a single component s t a t o r q u a n t i t y i s seen as t h e
sum of components a t 'forward' and'backward' frequen- Z(j(o + us)) = Z+ and Z(j(w - us)) = 2- (111.9)
cies on t h e m t o r ) .

We now define transformation relating two voltage andexpanding(111.8)gives

components AV' and Av- i nt h set a t i o n a r yr e f e r e n c e
frame t o t h e p e r t u r b a t i o n s , AvD and Av ,as observed i n
Q
t h e r o t a t i n g r e f e r e n c e frame
Z..(jw) = 4 (111.10)
13

(111.4)
Thismatrix may f i n a l l y be i n v e r t e dt og i v et h e re-
quiredmatrix,y. .(jw) f o r use i n t h e c o n s t r u c t i o n of
equations (11) h;.
which may be expressed in compact form as
REFERENCES
(111.4)
1. L. A. Kilgore, L. C. E l l i o t , E. R. Taylor, The
Pred.iction And Control O f Self-Excited Oscillations
- i s non-singular,
C i t s inverse being Due
To SeriesCapacitorsIn Power Systems," E
Trans., Vol. PAS-90, pp.1305-1311,1971.

2. C. Concordia, H. Rustebakke, "Self-Excited Oscil-

(111.5) lations In Transmission SystemUsing Series Capaci-
tors," IEEE Trans., Vol. PAS-89,
pp. 1504-1512,
1970.
Hence, t h e reyerse transformation f r o m the sta- 3. J. G. Dickenson, I'An Expanded Computerized Proce-
t i o n a r y r e f e r e n c e frame (D,Q) is dure
For Subsynchronous Analysis," IEEE Summer

-= c-1-
vN(jw) vsD(jw) (111.6)
4.
Power Meeting,Paper C 74 447-9, Anaheim, 1974.

C. J. B o w l e r , D. N. E w a r t , "Self-ExcitedTorsional
Now t h e network impedance r e l a t i o n s h i p relating a- FrequencyOscillations With Series
Capacitors,"
phase voltage and current a t the generator tei.minals i n IEEE Trans., Vol. PAS-92, pp.1689-1695, 1973.
t h e s t a t i o n a r y r e f e r e n c e frame is
5. A. G. J. MacFarlane,"Return-Difference And Return-
Ratio Matrices," Proc. IEE, Vo1.117, pp.2037-2049,
1970.

6. C. Concordia,
"Synchronous Machines,"
Wiley, New
York,1951.

7. W. F. Tinney, J. W. Walker, "Direct Solution O f

Network Equations By OptimallyOrderedTriangular
which, i n compact n o t a t i o n , is Factorization," IEEE Proceedings, Vol. 55, pp.
1801-1809,1967.
- --
vsD(jw) = zsD( jw)
iSD(jw)
(111.7)
8. J. M . Undrill, F. P.
de
Mello, T. E. Kostyniak,
Expressionsfor ZsD(jw) can be w r i t t e n down on R. J . Mills. 'IInteractive Comutation In Power Sys-
t e m Nehrork*Analysis," IEEE k c e e d i n g s , Vol. 6 2 ,
s i g h t for most practic-wer system s e r i e s and shunt pp.1009-1018, 1974.
branch types.
9. J. M. Undrill, "Dynamic S t a b i l i t yC a l c u l a t i o n s For
Lastly,with Z ( j w ) known f o r t h e d e s i r e d p e r t u r - An Arbitrary Number O f Interconnected Synchronous
bation
frequency
C&i'Ttransfo-tions
(111.4) and Machines," IEEE Trans., Vol. PAS-87, pp. 835-844,
1968.

1454
 Discussion
B. L. Agrawaland R. G. Farmer (ArizonaPublicServiceCompany,
Phoenix, Arizona): The subjectof subsynchronous resonance(SSR) has
gained great attention during the past four years. This was initiated by
two incidents of turbine-generator shaft failure caused by subsynchron-
ous oscillations. In view of potential SSR problems in the Western U.S.
where series capacitors are used extensively, utilities have reconsidered
the application of series capacitors to increase power transfer capability.
The continued use of series capacitors is highly desirable from an eco-
nomic and environment standpoint, but if this practice is to continue,
it is absolutely essential that the hazards of SSR be avoided. This can
only be accomplished by a thoroughSSR analysis and judicious applica-
tion of series capacitors and protective devices.To accomplish this there
must be a clear understanding of the SSR phenomenon and there must
beanalyticalmethodsavailable to assess the problemandestablish
solutions. The authors are to be congratulated for a valuable contribu-
tion to the understanding of SSR and for providing a new technique
for the analysis of the “steady state” part of the SSR problem.
Most analytical methods presently applied to analyze the stability
of the interconnected transmission system and generators provide some
knowledge concerning the potential “transient torque” part of theSSR
problem. We would appreciatethe authors’ commentson what transient
torque information can be gleaned from the stability analysis.
It is apparent from the paper that all of the generator equivalent
circuits and the spring-mass model can be represented in the Q ( j w )
elements. Have the authors considered including the effects of the ex-
citation system?
Appendix I1 of the paper states that mechanical damping of the
turbine-generator is represented by shaft “metalic” damping and flow
processes in the turbine sections. Normally machine manufacturers can
furnish estimates of torsional damping and torsional damping can be
measured. We wouldappreciate the authors’commentsonadapting
available damping datato the turbine-generator model.
The paper states that the method presented is applied in a dedi-
cated single user computer. Most utilities’ computer facilitiesdo not in-
clude such a computer. Wouldthe authors comment on theapplicability
of their analytical method to a large time-sharing digital computer and
the loss in efficiency by preselecting the frequency points. Further, we
would like to have the authors’ assessment of the advantages and dis-
advantages of their method as compared to testing stability by finding
the Eigenvalues of the interconnected system and generators.
We once again congratulate the authors on their contribution of a
new method of SSR “steady state” analysis.
Manuscript received February 17,1976.
J. M. Undrin and T. E. Kostyniak: We thank Messers. Agamal and
Farmer for their discussion. On the question of steady state and tran-
sient behavior, wenote that thedistinction is generally basedon thesize
of disturbance. Both regimes deal with the same differential equations
describing the system’s dynamic behavior. This distinction is important
in dealing with power transfer stability because the relative rotor angle
motions that are associated with power transfer swings following faults
are large and introduce major nonlinearities into the system behavior
that are not significant during small perturbation operation. The distinc-
tion is much lessimportant in dealing with subsynchronousoscillations,
however, because the relative motions of generator rotors in the 10 Hz
to 40 Hz band where subsynchronous oscillations are of importance are
much smaller than inthe 0.5 Hz-2 Hz band of interest in power transfer
stability investigations. Accordingly,non-linearitiesare not amajor
factorin the behavior of subsynchronous oscillations following such
Manuscript received April 14,1976.
1455
“large” disturbances as short circuit faults. The information on inherent
system dynamic characteristics yielded by analysis of small perturba-
tions about a “steady state” operating point would be expected, there-
fore, to give a good indication of the ability of the system to control
the magnitudes of the subsynchronous oscillation effects that are ex-
cited by “large” or “transient” disturbance conditions.
Our comparisons offrequency domain and time domain simulation
analyses have confmed this. We frnd that, if the frequencydomain
analysisshows that there is no stronginteractionbetween electrical
systemandshaftdynamic effects, the timedomainsimulationswill
show only minimal excitation of shaft torsional oscillation modes by
electric system faults and disturbances. Conversely,we find that an indi-
cation of marginal stability by the frequency domain analysis is an ex-
cellent indicator that a time domain simulation of a large disturbance
w lishow unacceptable transient torques inthe generator shafts.
We recommend the use of the frequency domain methodto satisfy
the system design prerequisite of adequate stability and damping of all
modes of system oscillation, both electrical and mechanical. We then
feel that, given a system design with acceptable damping throughout,
reasonable disturbances should be simulated in the time domain to en-
sure that the initial magnitudes of the oscillations excited by adisturb-
ance will be within acceptable bounds.
We donot findtimedomain (or transient)simulation to bea
satisfactory way of checking for the stability of subsynchronous oscilla-
tions. The damping of shaft oscillation modes is so inherently low and
the extent to which modes of different frequencies can beat with each
other is such that simulations of the duration needed to c o n f m the
decayof all modes wouldbe unduly expensive in relationto the costs of
using the frequency domain stability test.
Our programs can certainly include detailed modeling of excita-
tion systems, although we have not made great use of this capability to
date. We intend to extend future investigations in this direction.
We can, and have, accepted shaft damping data in a wide variety of
formats. When presented with measured “modal damping”data, prefer-
ably recorder tracesor logarithmic decrements,we find it quite straight-
forward to adjust the individual “shaft damping” and “flow damping”
terms of the shaft model to reproduce the measured damping for each
torsional natural frequency. We note that the damping of some shaft
torsional modes can vary depending on whether the machine is syn-
chronized or open circuited. Our modal analysis programs have no diffi-
culty recognizingthis but it is important that theexact conditions under
which damping is measured be stated by the data supplier.
The method could be applied without major loss of efficiency on
alargecentralizedcomputer.Preselection of frequency points is not
unduly difficult oncethemainsystemnaturalfrequencieshavebeen
located. We would not choose batch operation where interactive work-
ing is possible, however.
A major advantage of the frequency domain method over eigen-
valueanalysis is its efficiencyinregard to computercapacity.Our
present program handles up to 256 network branches, 128 buses, and
20 detailed generator representations. Each detailed generator model
involves from 7 to 20 state variables, and each bus and branch require
another two state variables. Hence, an eigenvalue analysis of the same
extent and detail as handled by our frequency domain program would
have to calculate the eigenvalues of a matrix with an order of about 900.
This wouldrequireenormouslygreatercomputerresourcesthan the
32K 1&bit words used by our frequency domain program. Even a sys-
tem as small as, say, 10 machines, 20 buses, 30 branches, would require
the computation of eigenvaluesof a matrix of order about 250.
In addition to its ability to allow efficient handling of larger and
more detailed system representations, we feel that the frequency re-
sponse methodgives better insights into the reasons for system behavior
than does the eigenvalue approach.
Note finally, that, as outlined in Appendix11, a full modal analysis
of eachindividualdetailedmachinemodel is anintegralpart of our
process; it is used in preparing the frequency response model of each in-
dividual unit. In short, our method uses both eigenvalue analysis and
frequency response analysis, each in the place where we feel it to be
most productive.