ECE 476

POWER SYSTEM ANALYSIS

Lecture 24
Transient Stability

Professor Tom Overbye

Department of Electrical and
Computer Engineering
Announcements

 Be reading Chapter 11 and Chapter 12 thru 12.3

 HW 10 is 11.4, 11.7, 11.10, 11.19, 11.20; due Dec 1 in
class.
 Project is due Thursday Dec 1 either in class or under my
office door (343 Everitt)
 Final exam is as given on the UIUC website. That is,
Tuesday Dec 13 from 7 to 10pm here (218 Ceramics).
 Final is comprehensive, with more emphasis on material since
exam 2.
 Three notesheets allowed (e.g., ones from previous two exams and
one new notesheet)

2
2007 CWLP Dallman Accident

 In 2007 there was an explosion at the CWLP 86 MW

Dallman 1 generator. The explosion was eventually
determined to be caused by a sticky valve that prevented the
cutoff of steam into the turbine when the generator went off
line. So the generator turbine continued to accelerate up to
over 6000 rpm (3600 normal).
 High speed caused parts of the generator to shoot out
 Hydrogen escaped from the cooling system, and eventually escaped
causing the explosion
 Repairs took about 18 months, costing more than $52 million

3
Dallman After the Accident

4
Outside of Dallman

5
Transient Stability Example

A 60 Hz generator is supplying 550 MW to an infinite bus (with 1.0

per unit voltage) through two parallel transmission lines. Determine
initial angle change for a fault midway down one of the lines.
H = 20 seconds, D = 0.1. Use t=0.01 second.

Ea

6
Transient Stability Example, cont'd

We first need to determine the pre-fault values.

Since P = 550 MW (5.5 pu)  I = 5.5 
E a  1.0  j 0.1  5.5  1.14128.8

Next to get Pe ( ) we need to determine the

thevenin equivalent during the fault looking into
the network from the generator
Zth  j 0.05  j 0.05  j 0.1  j 0.08333
Vth  0.33330
7
Transient Stability Example, cont'd
1.141  1.0
Therefore prefault we have Peprefault ( )
 sin 
0.1
and Pm  5.5   (0)  28.8   (0)  0.50265 radians
1.141  0.3333
and during the fault Pefaulted ( )
 sin 
0.08333
Let x1   and x 2   . The equations to integrate are
x1  x2
1  1.141  0.3333 
x 2   5.5  sin x1  0.1 x2 
20 / 60  0.08333 
x1 (0)  0.50265 x2 (0)  0.0
8
Transient Stability Example, cont'd

x1  x2
x 2  9.425 5.5  4.564sin x1  0.1 x2 
0.50265
x(0)   
 0 
With Euler's Method we get
0.50265  0   0.50265
x(0.01)     0.01     
 0   31.11  0.3111 
0.50265  0.3111 0.50576 
x(0.02)     0.01     
 0.3111   30.82   0. 6193 
9
Transient Stability Example, cont'd

240
Generator angle in degrees

180

clearing at 0.3 seconds

120

clearing at 0.2 seconds

60

clearing at 0.1 seconds

0
0 0.5 1 1.5 2
Simulation time in seconds
10
Equal Area Criteria

• The goal of the equal area criteria is to try to

determine whether a system is stable or not without
having to completely integrate the system response.
System will
be stable after
the fault if
the Decel
Area is greater
than the
Accel. Area
11
Example 11.4: Undamped

12
Example 11.4: Damped

13
Transient Stability Numeric Methods

• Numerical integration is used to solve multi-machine

transient stability problems
• Requires a solution of the algebraic network power balance
equations and the differential equations
• Two main solution approaches
• Partitioned solution, in which the solution of the algebraic
equations alternates with the solution of the differential equations.
This approach is used in most commercial packages, but it can
suffer from numerical instability
• Simultaneous solution, which uses implicit integration.

14
Two-Axis Synchronous Machine Model

• Classical model is appropriate only for the most basic studies;

no longer widely used in practice
• More realistic models are required to couple in other devices
such as exciters and governors
• A more realistic synchronous machine model requires that the
machine be expressed in a reference frame that rotates at rotor
speed
• Standard approach is d-q reference frame, in which the major
(direct or d-axis) is aligned with the rotor poles and the
quadrature (q-axis) leads the direct axis by 90

15
D-q Reference Frame

• Machine voltage and current are “transformed” into the

d-q reference frame using the rotor angle, 
• Terminal voltage in network (power flow) reference frame are
VT = Vr - Vi

Vr   sin  cos   Vd 

V     cos   V 
sin    q 
 i 
Vd   sin   cos    Vreal 
V     
 q  cos  sin   Vimag 

16
Two-Axis Model Equations

• Numerous models exist for synchronous machines.

The following is a relatively simple model that
represents the field winding and one damper
winding; it also includes the generator swing eq.

Eq'  Vq  Ra I q  X d' I d Ed'  Vd  Ra I d  X q' I q

dEq' 1
dt
 '
Tdo
  Eq
'
 ( X d  X d ) I d  E fd 
'

dEd' 1
dt

 '  Ed'  ( X q  X q' ) I q
Tqo

17
Generator Torque and Initial Conditions
• The generator electrical torque is given by

• Recall pe = Tep.u (sometimes p.u is assumed=1.0)

• Solving the differential equations requires determining ; it is determined by noting that in steady-state

Te  Vd I d  Vq I q  Ra ( I d2  I q2 )
Then  is the angle of

E  VT  jX q I
E
18
Example 11.10

• Determine the initial conditions for the Example 11.3 case with
the classical generator replaced by a two-axis model with H =
3.0 per unit-seconds, = 0, = 2.1, = 2.0, = 0.3, = 0.5, all per unit
using the 100 MVA system base
• First determine the current out of the generator from the initial
conditions, then the terminal voltage

I  1.0526  18.20  1  j 0.3288

VT  1.00   j 0.22 1.0526  18.20 
 1.094611.59  1.0723  j 0.220 19
Example 11.10, cont.

We can then get the initial angle and initial dq values

E  1.094611.59   j 2.0 1.052  18.2   2.81452.1
   52.1

Vd  0.7889 0.6146  1.0723 0.7107 

V        
 q  0.6146 0.7889  0.220   0.8326 
 I d  0.7889 0.6146   1.000  0.9909 
I        
 q  0.6146 0.7889  0.3287   0.3553 

20
Example 11.10, cont.

• The initial state variable are determined by solving with the differential equations equal to zero.

Eq  0.8326   0.3 0.9909   1.1299

• The transient
' stability solution is then solved by numerically integrating the differential equations, coupled with
solving the algebraic equations

Ed'  0.7107  (0.5)(0.3553)  0.5330

E fd  1.1299  (2.1  0.3)(0.9909)  2.9135

21
PowerWorld Solution of 11.10

22
Generator Exciters and Governors

• The two-axis synchronous model takes as an input

the field voltage and the mechanical power. The
next section discusses how these values are
controlled

23
Generator Exciters

• The purpose of the exciter is to maintain the generator terminal

voltage (or other close by voltage) at a specified value.
• Input is the sensed voltage
• Output is the field voltage to the machine, Efd
• Physically several technologies are used.
• Older generators used dc machines with brushes transferring the power
• With the newer brushless (or static) exciters power is obtained from an
“inverted” synchronous generator whose field voltage is on the stator
and armature windings are on rotor; output is rectified to create dc.
•

24
Exciter Block Diagrams

• Block diagrams are used to setup the transient stability models.

The common IEEE Type 1 exciter is shown below (neglecting
saturation); this is a dc type exciter. Initial state values are
determined by knowing Efd and the terminal voltage Vt.

Vf sK f
1  sT f

Vref VR max
Vt
1
 V 
Ka
VR 1 E fd
1  sTr   
 1  sTa K e  sTe

VR min 25
Exciter Block Diagram Example

• Consider again the Example 11.10 case, with an

IEEE T1 exciter with Tr = 0, Ka = 100, Ta = 0.05,
Vrmax = 5, Vrmin = -5, Ke = 1, Te = 0.26, Kf = 0.01 and
Tf = 1.0. Determine the initial states. Initial value of
Efd = 2.9135 and Vt = 1.0946
Vr   K e   E fd   1.0  2.9135   2.9135

V ref  Vt  V f  K   V
a r

Vr 2.9135
Vref   Vt  V f   1.0946  1.1237
Ka 100
26
PowerWorld Example 12.1 Solution

27