Professional Documents
Culture Documents
SIMULATIONS
Technical Report
By
Vihang M. Dholakiya (10MEEE05)
Devendra P. Parmar (10MEEE07)
Dr. S. C. Vora
CERTIFICATE
This is to certify that the Technical Report entitled \POWER SYSTEM STA-
BILIZER : ANALYSIS & SIMULATIONS" submitted by Mr. Vihang M. Dholakiya
(10MEEE05) and Mr. Devendra P. Parmar (10MEEE07), is the record of work
carried out by them under my supervision and guidance. The work submitted has
in my opinion reached a level required for being accepted. The results embodied
in this project work to the best of my knowledge are satisfactory.
Date:
Project Guide
Dr. S. C. Vora
Professor
Department of Electrical Engineering
Institute of Technology
Nirma University
Ahmedabad
Acknowledgements
We take this opportunity to express our sincere gratitude to our honorable guide
Dr.S.C.Vora for his invaluable guidance. It would have never been possible for us
to wok on this project without his technical support and continuous encourage-
ment. We consider ourself, extremely fortunate for having chance to work under
his guidance. In spite of his hectic schedule, he was always approachable and
spent his precious time to discuss problems. It has been a very learning and
enjoyable experi-ence to work under him.
We would like to acknowledge Mr. A. Ragaveniran et.al., authors of technical
paper titled as \MATLAB/Simulik-Based Modeling and Operation of Power
System Stabilizer" which provides us initial motivation for doing work in the area
of imple-mentation of power system stabilizer.
We would also like to thank all faculty members of Department of Electrical Engi-
neering, who have helped us during this project work. I wish to express my
thanks to other sta members of Electrical Department as well for their regular
help and co-operation during the project work. We heartily thankful sta member
of library for providing technical recourses for project work.
We would be specially thankful to our dear friend Narendra C. Mahavadia for
providing continuous help and motivational support during entire project work.
We never forget the time that we have spent with him during this tenure.
We are thankfull to our classmates for their invaluable help, suggestions and
support during the project work. We would like to thank all who have directly or
indirectly contributed to this project work.
Finally, We would like to thank The Almighty and express my deep sense of
rever-ence gratitude to our Parents and Family Members who have provided
support and blessings without which we wouldn't have reached at this stage.
- Vihang M. Dholakiya
- Devendra P. Parmar
i
Abstract
The extensive interconnection of power networks by weak tie-lines can restrict the
steady-state power transfer limits due to low frequency electromechanical
oscillations. The low frequency oscillations may result in interruptions in energy
supply due to loss of synchronism among the system generators and a ect
operational system economics and security. Further, in order to maintain steady state
and transient stability of syn-chronous generators, high performance excitation
systems are essential. The static exciters with thyristor controllers are generally used
for both hydraulic and thermal units. Such exciters are characterized by high initial
response and increased reliabil-ity due to advances in thyristor controllers and hence
have become one of the major problems in the power system stability area. As a
solution to this, the generators are equipped with Power System Stabilizers(PSSs)
that provide supplementary feedback stabilizing signals which is added to the
Automatic Voltage Regulator (AVR). PSSs augment the power system stability limit
and extend the power transfer capability by enhancing the system damping of low-
frequency oscillations in the order of 0.2 to 3.0 Hz.
The report focuses on small signal performance analysis of Single Machine In nite
Bus(SMIB) as well as of multimachine power system. The dynamic behaviour of Ha
ron-Phillips model of excitation system with typical data is evaluated by devel-oping
MATLAB code for eigenvalue tracking analysis. The e ect of implementation of power
system stabilizer to SMIB system has been realized by time domain sim-ulations. In
the later part optimal placement of PSS is decided, because from the economic point
of view and to avoid redundancy, it is desired, not to employ PSS on individual
generators to overcome the problem of power system oscillations. The eigenvalue
analysis of the power system for various areas is used to determine the inter-area
and local mode frequencies and participation of the generators. It is also important to
identify the generator that shall be installed with PSS. A simulation study on well-
adopted test system is carried out, with various possibilities, to deter-mine the
optimal placement of the PSS. The observations of the certain analysis are helpful in
determining the PSS placement and are presented in the report.
ii
List of Figures
iii
List of Tables
iv
Abbreviations
Nomenclature
Gex(s) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Exciter Transfer Function H . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Moment of Inertia
KD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Damping Co-e cient K E . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Exciter Gain
KS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Synchronizing Co-e cient K P SS . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PSS Gain s . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Laplace Function T w . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wash out Time Constant ! n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Natural Frequency !
r . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed Deviation
P . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Change in Power
Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Change in Rotor
Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Damping Ratio . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Phase
v
Contents
Acknowledgements i
Abstract ii
List of Tables iv
Nomenclature/Abbreviations v
Contents vi
1 Introduction 1
2.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Small Signal Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Small Signal Stability Analysis . . . . . . . . . . . . . . . . . . . . . . 9
2.3.1 Eigenvalue Analysis . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3.2 Synchronizing and Damping Torque Analysis . . . . . . . . . . 12
2.3.3 Frequency Response and Residue Analysis . . . . . . . . . . . 15
2.3.4 Time Domain Solutions . . . . . . . . . . . . . . . . . . . . . 15
2.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3 SMIB & PSS: Physical Aspects, Implementation & Analysis 17
vi
vii
5.1 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.2 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
References 48
A IEEE Proceeding 49
B System Data 50
C.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
C.1.1 Useful Features . . . . . . . . . . . . . . . . . . . . . . . . . . 53
C.1.2 PSAT Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . 53
C.2 Starting Process of PSAT . . . . . . . . . . . . . . . . . . . . . . . . 53
C.3 Useful Links . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Index 58
Chapter 1
Introduction
Power transactions are increasing day by day in restructured power systems. Re-
structured power system is therefore, expected to be operated at a greater variety of
operating points and closer to their operating constraints. The \low frequency os-
cillations" is one of the operational constraints which limit bulk power transmission
through power network. In such scenario, power system controls plays signi cant
role. Power system controls can contribute either positive or negative damping.
Generation control and particularly the generator voltage regulation can be signi cant
sources of negative damping. High gain in the generator voltage regulation can lead
to poor or negative damping of the oscillation. This problem has lead to the
implementation of Power System Stabilizer (PSS) to damp out the oscillations.
The project work is aimed at the implementation of power system stabilizer with
appropriate parameters in single machine in nite bus system. E ect of power
system stabilizer implementation on system damping is also targeted. Further, for
multi machine power system, it is aimed that, the damping of power system
oscillations can be achieved with minimum No.of power system stabilizers
located at optimal locations.
1
CHAPTER 1. INTRODUCTION 2
c
Formation of SMIB in M AT LAB /SIMULINK.
Response analysis in time domain for Kundur's Two Area System with
typical di erent cases.
Chapter 1 introduces the main problem associated with the low frequency
oscillation damping by optimally placed PSS and the same is considered as the
objective of this work. The project planning and scope of work is also included.
2.1 Background
The stability problem is concerned with the behavior of the synchronous machines under
perturbed conditions. If the perturbation does not involve any net change in power, the
machines should return to their original state and if an unbalance between the supply
and demand is created by perturbation, a new operating state should be achieved.
When the system changes its operating point from one stable point to the other,it is
mandatory that all interconnected synchronous machines should remain in synchronism.
i.e., they should all remain operating in parallel and at the same speed.
4
CHAPTER 2. POWER SYSTEM STABILITY 5
Thus, Power System Stability may be broadly de ned as that property of power
system that enables it to remain in a state of operating equilibrium under normal
operating condition and to regain an acceptable state of equilibrium after being
sub-jected to disturbance[1].
Although, stability of a system is an integral property of the system, for purposes
of the system analysis, it is mainly divided into following categories:
The detailed classi cation of power system stability is depicted in the following
Fig.2.1 [1].The report focuses on the Small Signal Stability of power system.
CHAPTER 2. POWER SYSTEM STABILITY 6
Small Signal Stability is the ability of the power system to maintain synchronism
when subjected to small disturbances. A power system at a particular operating state
may be large disturbance unstable and still such a system may be operated with
insecurity with proper control and protective actions. But, if the system is small-signal
unstable at a given operating condition, it cannot be operated at all, because small
signal instability may result in steady increase in generator rotor angle due to lack of
synchronizing torque or in rotor oscillations of increasing amplitude due to insu cient
damping torque. Thus, small-signal stability is a fundamental requirement for the
satisfactory operation of power systems.The reasons for the system can become
small signal unstable are enlisted hereunder[3]:
Heavy power transfer over long transmission lines from remote generating plants
Power transfer over weak ties between systems which may result due to
line outages.
1) Swing Mode
2) Control Mode
3) Torsional Mode
CHAPTER 2. POWER SYSTEM STABILITY 8
Of these oscillations, local mode, intra-plant mode, control mode and torsional
mode are generally categorized as local problems as it involves a small part of
the system. Further, inter-area mode oscillations are categorized as global
problems and have widespread e ects.
CHAPTER 2. POWER SYSTEM STABILITY 9
There are mainly four techniques which are used to analyze the small signal
stability of power system:
a. Eigenvalue Analysis
In this report ,of the above methods, Eigenvalue Analysis is used to study oscillatory
behavior of power systems and hence has been described in detail. The system is
linearized about an operating point and typically involves computation of eigenvalues,
eigenvectors, participation factors and system modes from state-space representation of
power system model. This can also be termed as \Small Signal Stability Analysis" or
\Modal Analysis". Technique employed in this report for studying oscillatory modes is
also based on eigenvalue analysis. Initially, eigenvalues and eigenvectors are derived.
From this, modes of oscillations and participation factor of particular generator are found
out. It gives preliminary idea about possible location of PSS. The derivation of
eigenvalues and participation factor can be found in [1] and can be brie y explained as
follows: Linear approximation of power systems can be characterized by the following
state-space equations:
_ (2.1)
x=A x+B u
_ (2.2)
y=C x+D u
Where,
x is the state vector of length equal to the number of states n
CHAPTER 2. POWER SYSTEM STABILITY 10
det(A I) = 0 (2.3)
For each of the eigenvalues, there are two sets of orthogonal eigenvectors,
namely the left and right eigenvectors, satisfying the following equations:
Ai= i i (2.4)
iA = i i
(2.5)
Where,
th
i, is the i eigenvalue i is the right eigenvector corresponding to i i is the left
eigenvector corresponding to i
i = j! (2.6)
CHAPTER 2. POWER SYSTEM STABILITY 11
The damping coe cient which gives the rate of decay of amplitude of the
oscillation is given by,
= p (2.7)
2 2
+!
and the frequency of oscillation in Hz is determined by,
f= ! (2.8)
A negative real part of the eigenvalue represents positive damping coe cient that is,
decaying oscillation, and the positive real part indicates negative damping, i.e.,
increasing oscillation. The right eigenvector of a mode gives an idea about how this
mode is distributed among di erent states of the system and hence known as Mode
Shape. Based on this idea, if a mode is found to be distributed among speci c state
variable of generating units in di erent areas, then that mode can be identi ed as a
local mode or inter-area mode. Typically, rotor speed is used as the test state
variable for mode shape analysis in inter-area oscillation study[1] , [4].
p = (2.9)
ki kiik
Where,
th th
ki is the k entry of the right eigenvector of i mode ik
th th
is the k entry of the left eigenvector of i mode
Thus, participation factors are the sensitivities of the eigenvalues to changes in the
diagonal elements of the state matrix. They indicate possible locations where a stabilizer
may e ectively control the mode of concern[8]. Eigenvalue or modal analysis describes
the small-signal behavior of the system about an operating point, and does not take into
account the nonlinear behavior of components such as controller's limits at large system
perturbations. Further, design and analysis carried out using various
CHAPTER 2. POWER SYSTEM STABILITY 12
indices such as participation factors, may lead to many alternate options. These
options need to be veri ed by time-domain simulations.
ii) Root loci plotted with variations in system parameters or operating conditions
provide valuable insight into the dynamic characteristics of the system.
Where,
Ts is the component of torque change in phase with the rotor angle pertur-
bation and is referred to as the synchronizing torque component.
The nature of system oscillations to small perturbation depends on both the com-
ponents of electrical torque. The response of generator without automatic voltage
regulator (constant eld) can result into instability due to lack of su cient synchro-
nizing torque. Such instability is known as non-oscillatory instability. Further, the
CHAPTER 2. POWER SYSTEM STABILITY 13
presence of automatic voltage regulator can also result in instability with oscillations
having nature of continuously growing amplitude. Such instability is known as oscilla-
tory instability. Both types of instabilities are illustrated in following Fig.3.1 [1]. This
analysis assumes that the rotor angle and the speed deviations oscillate sinusoidally.
Hence this can be represented by phasors as depicted in Fig.2.2
From the above gure the damping torque component can be written as
If either or both damping and synchronizing torques are negative, i.e., if TeD <
0 and/or TeS < 0, then the system is unstable. A negative damping torque im-plies
that the response will be in the form of growing oscillations, and a negative
synchronizing torque implies monotonic instability.
CHAPTER 2. POWER SYSTEM STABILITY 14
Of all these methods, eigenvalue or modal analysis is widely used for analyzing
the small-signal stability of power system due to advantages described earlier in
this section.
CHAPTER 2. POWER SYSTEM STABILITY 16
2.4 Summary
The chapter provides general introduction to basic concepts of power system stability
including a discussion of classi cation,de nitions of related terms in brief. The details
regarding small signal stability analysis includes eigenvalue analysis along with other
methods to evaluate small signal performance of power system in simpli ed manner.
Chapter 3
The third-order model of the synchronous machine can be represented as a block dia-
gram shown in Fig.3.1. The basis for the model presented here, which was originally
proposed by He ron and Phillips, is the \Single Machine In nite Bus" (SMIB) setup. By
introducing a number of new constants, a very compact notation is achieved. The
17
CHAPTER 3. SMIB & PSS: PHYSICAL ASPECTS, IMPLEMENTATION & ANALYSIS18
are in per unit. The mechanical system is represented by the system inertia and
the damping constant, where the torque balances Tm Te is considered as an input
and the incremental torque angle as an output. The electrical part of the system
consists of three main parts:
a. The composition of the electrical torque (in uenced by over constant K 1 and
the internal incremental voltage eq over constant K2),
b. The e ect of the eld winding (determined by the eld winding constant K 3 and
in uenced by over constant K4),
c. The e ect of the excitation system (in uenced by over constant K 5 and eq
over constant K6).
CHAPTER 3. SMIB & PSS: PHYSICAL ASPECTS, IMPLEMENTATION & ANALYSIS19
Interpretation of K-constants
computation of the electric torque, K 3 and K4 have their origin in the eld voltage
equation. K5 and K6 come from the equation governing the terminal voltage magni-
tude. The detailed derivation of K-constants is given in chapter 12 of P. Kundur.
K1 - In uence of torque angle on electric torque
K2-In uence of internal Voltage on electric torque
K3- eld winding constant
K4-In uence of torque angle on eld voltage
K5-In uence of torque angle on terminal voltage
K6-In uence of internal voltage on terminal voltage
2 =0 (3.2)
s + KD s + K s ! 0
2H 2H
CHAPTER 3. SMIB & PSS: PHYSICAL ASPECTS, IMPLEMENTATION & ANALYSIS21
2 2 (3.3)
s + 2 !ns + !n = 0
Natural frequency of oscillation is
!n = r (3.4)
s
!
k
2H
= (3.5)
2
p
Ks2H!0
a. As the synchronizing torque coe cient K s increases, the natural frequency
in-creases and the damping ratio decreases.
As discussed in chapter 1 that the eigenvalues computed from the system state
matrix can be helpful to predict the system stability.From the data shown in the
above table, a MATLAB code has been developed to analyze the behaviour of
system against gain variation from K E=0 to KE=400. It is possible to express the
system equations in the state space form. From the block diagram, shown in
Fig.3.1, the following system equations and state matrix are derived.
T (3.7)
x = [!r fdEfd]
2 K1 0 K 0 3
K D
2
6 0 ! 0 7
2
[A] = K4 1 1 (3.8)
6 H 0 0 7
2H 2H
6 7
T3 T3K3 T3
0
K K K K
6 E 5 E 6 1 7
6 7
T5 TE
6 TE 7
4 5
B = [0 0 0 KE ]T (3.9)
TE
The damping term KD, is included in the swing equation. The eigenvalues of the
matrix should lie in left half plane in the`s' plane for the system to be stable. The
still it remains in the right hand plane only. Further,there is only one of the critical
eigenvalues is shown in Fig.3.4. The other is the complex conjugate whose locus
is the mirror image about the real axis. Thus, it can be realized from the analysis
that the fast acting AVR with higher gains are creating oscillatory instability in the
power system. In order to avoid such situation, the e ect of implementation of
PSS in small signal unstable system is discussed in subsequent sections.
Apart from providing fast control of the terminal voltage, high performance excitation
systems are essential for maintaining steady state and transient stability of modern
synchronous generators. It is observed that fast acting exciters with high gain AVR
can contribute to oscillatory instability in power systems. This type of-instability is
characterized by low frequency (0.2 to 2.0 Hz) oscillations which can persist or even
grow in magnitude for no apparent reason. A cost e ective and satisfactory solution
to the problem of oscillatory instability is to provide damping for generator rotor
CHAPTER 3. SMIB & PSS: PHYSICAL ASPECTS, IMPLEMENTATION & ANALYSIS24
The theoretical basis for PSS can be illustrated by extended block diagram of He
ron-Phillips model of excitation system as depicted in 3.6 As the purpose of PSS
is to introduce damping torque component, a logical signal to use for controlling
From the above gure it can be clearly visualize that due to stabilizing signal
provided by PSS in phase with speed deviation, the electrical torque is shifted
from third to rst quadrant, means becomes positive from negative in magnitude.
Fig.3.8.It consists of gain block, washout circuit, dynamic compensator, and lim-iter.
The functions of each of the components of PSS are given in subsequent sections.
1) PSS Gain
Stabilizing gain KP SS determines the amount of damping introduced by PSS.
Ideally, PSS gain is set to get the maximum damping of the oscillatory modes.
However, due to practical considerations, high gain may not be always the
best option and may cause excessive ampli cation of stabilizer input signal. In
general, the gain value is set such that it results in satisfactory damping of
critical system modes without compromising the stability limits.
2) Washout Circuit
The washout circuit is provided to eliminate steady-state bias in the output of PSS
which will modify the generator terminal voltage. The PSS is expected to respond
only to transient variations in the input signal, say rotor speed and not to the dc o
sets in the signal. The washout circuit acts essentially as a high pass
lter and it must pass all frequencies that are of interest. If only the local modes are
of interest, the time constant Tw can be chosen in the range of 1 to 2. However,
CHAPTER 3. SMIB & PSS: PHYSICAL ASPECTS, IMPLEMENTATION & ANALYSIS27
if inter area modes are also to be damped, then Tw must be chosen in the range of 10
Tw is increased from 1.5 to 10. The higher value of T w also improved the
overall terminal voltage response during system islanding conditions.
3) Lead-Lag Compensator
Lead-Lag compensator block provides the suitable phase lead to compensate
for the phase lag between the exciter input and generator electrical
torque.The dy-namic compensator, used in practice, is made up of several
multiple stages of lead-lag compensators depending upon the requirement of
phase compensation to be provided.
5) Input of PSS
Many signals, like rotor speed deviation, frequency deviation, change in load
angle, change in electrical power etc are possible to use as input signal to
PSS. However, from practical point of view, the following three types of input
signals are most commonly used as input to power system stabilizer:
Frequency Deviation ( f)
Though in practice, the speed deviation signal is used as input to PSS, it is in-
herently sensitive to torsional modes of oscillations in the frequency range of 8
to 20 Hz, which can lead to negative damping for torsional mode. Hence, It
also advisable to use torsional lter-typically a low pass lter- for avoiding
interaction of PSS with torsional mode of oscillations.
The test system discussed in the previous section has also been used to realize the
impact of PSS installation in SMIB.The SIMULINK model of the test system is
depicted in Fig.3.9. From the Fig3.10. and Fig.3.11 of rotor angle deviation and
speed deviation respectively, it can be inferred that, in absence of su cient stabilizing
control the system has become oscillatory instable. The oscillations of growing
nature has been found that leads the test system to be small signal instable.
After introducing properly tuned PSS in AVR loop, it can be visualize from Fig.3.12
and Fig.3.13 of rotor angle deviation and speed deviation respectively, that the
system oscillations have been su ciently damped out in short period of time.
3.2 Summary
The chapter provides basic analysis on e ect of AVR gain on power system
stability that produces power system oscillations of increasing amplitude.For the
purpose of analysis, typical SMIB system has been linearized to get the
eigenvalues for di erent values of AVR gain. Further, the damping of low
frequency oscillations is achieved by properly tuned PSS. The chapter provide s
platform for implementation of power system stabilizer in multimachine power
system which is discussed in subsequent chapter.
Chapter 4
4.1 Background
32
CHAPTER 4. OPTIMAL PLACEMENT OF PSS IN MULTIMACHINE POWER SYSTEM33
6.17 5sec. Totally two loads are applied to the system at bus 7 and 9. Two shunt
capacitors are also connected to bus 7 and 9 as shown in the gure below. For the
comparisons of the obtained results with that available in literature, the frequency
of operation is chosen as 60 Hz.
The three step methodology adopted for deciding optimal location of PSS is
as follows. Power System Analysis Toolbox-PSAT is used to carry out the
following analysis:
Power ow analysis provides information regarding active and reactive power along
with other pertinent information such as bus bar voltage levels, e ect of inphase and
quadrature boost voltages on system loading, reactive power compensation. The
stability of the power system is related to the de ciency or redundancy in generation
CHAPTER 4. OPTIMAL PLACEMENT OF PSS IN MULTIMACHINE POWER SYSTEM34
against particular load demand, power ow through transmission lines and various
operating constraints. Before executing eigenvalue analysis, to know the status
of the system, means weather the system is operating closer to operating
constraints or not, load ow analysis is performed on the above described system.
The detailed system data is shown in AppendixB. and results achieved by power
ow in PSAT are shown in table hereunder:
Elements No.
Buses 11
Lines 7
Generators 4
Transformers 4
Loads 2
Power ows from area-1 to area-2 through two ties lines: (1) connected
between buses 7 and 9 (2) connected as bus 7 to 8 and 8 to 9.
No power mismatch
Oscillations can be predicted due to tie line power ow and generator rotor
angle variations.
Total Generation
Real Power [p.u.] 28.1871
Reactive Power [p.u.] 7.5453
Total Load
Real Power [p.u.] 27.34
Reactive Power [p.u.] -3.5
Total Losses
Real Power [p.u.] 0.84709
Reactive Power [p.u.] 11.0453
(1) No PSS;
The observations for the above cases are achieved by small perturbation at bus-8 for
the duration of 0.05s. In the corresponding situations, the small signal stability for
CHAPTER 4. OPTIMAL PLACEMENT OF PSS IN MULTIMACHINE POWER SYSTEM37
the inter-area oscillation has been analyzed in detail with the eigenvalues
analysis method using PSAT Toolbox. PSAT is an add-on MATLAB toolbox for
electric power system analysis and control. PSAT includes power ow,
continuation power ow, optimal power ow, small-signal stability analysis and time
domain simulation. All operations can be assessed by means of Graphical User
Interfaces (GUIs) and a Simulink-based library provides a user friendly tool for
network design[9].The details of PSAT is given in AppendixC.
As shown in Table 4.6, four di erent cases have been compared to check the
suitable positioning of power system stabilizer in the test system to damp out
local as well as inter area mode of oscillations. The four di erent cases are as
mentioned before in this section.
The generators participating in the inter-area mode of oscillation, on installation of PSS,
o er di erent frequency of inter-area oscillation. This can be well observed in Table 4.6.
As the frequency of oscillation increases, the damping of oscillation is more e ective due
to presence of PSS. From the values of damping ratio shown in Table
CHAPTER 4. OPTIMAL PLACEMENT OF PSS IN MULTIMACHINE POWER SYSTEM38
4.6, it can be inferred that, the local & inter area both the modes of oscillations can
be damped de nitely by placing PSS in both the areas. For damping of local mode
oscillations, there are three choices. One can follow the either of choice from case
no. 2, 3 and 4. The value of damping ratio that we get for local as well as inter area
mode, in case 1, is comparatively smaller than the other cases. Hence it is not
considered as a suitable choice for installation of PSS. In case no. 4 PSS is installed
at all generators. Although it gives best damping e ect, but it will result in redundancy
of no. of PSS used. So, in this report case no. 3 has been considered as suitable
choice for placement of PSS, because it provides su cient damping to local as well
as inter area mode of oscillations. It is being worth noted that the generators of Area-
2 are participating signi cantly only in inter area mode for considered cases. They
have negligible contribution to local mode oscillations. Hence, not depicted in Table
4.6. Further this can also be realized from the plot of speed participation factor v/s
generator no. shown in Fig.4.2 and 4.3.Resembling plots can be possible for other
modes of frequency for various cases.
Figure 4.2: Speed Participation Factor v/s Generator No. For Inter-Area Mode-
0.54 Hz
CHAPTER 4. OPTIMAL PLACEMENT OF PSS IN MULTIMACHINE POWER SYSTEM39
Figure 4.3: Participation Factor v/s Generator No. For Local Mode-1.05 Hz
Figures shown below are eigenvalues plots for the two-area test system with di
erent stabilizer arrangements. From Fig.4.4, it can be seen that as for the open
loop system without any installed stabilizer, there is some margin of stability. By
installing the stabilizers in area-2, oscillation modes have been suppressed, and
hence system is enhanced greatly which is shown in Fig. 4.5. If we install the
stabilizers in both the areas, the inter-area mode and two local modes can attain
high damping and lower oscillation frequency shown in Fig.4.6.
Figure 4.4: Eigenvalues of Two Area Test System without PSS
CHAPTER 4. OPTIMAL PLACEMENT OF PSS IN MULTIMACHINE POWER SYSTEM40
Figure 4.5: Eigenvalues of Two Area Test System with PSS in Area-2
Figure 4.6: Eigenvalues of Two Area Test System with PSS in Both Areas
For the veri cation and realization of concept of small signal oscillations, a two area
c
model described earlier has been developed using M AT LAB /SIMULINK software
as shown in 4.7. In this model, standard p.u. model of generator is considered. The
generator parameters in per unit on the rated MVA and kV base and the details of
CHAPTER 4. OPTIMAL PLACEMENT OF PSS IN MULTIMACHINE POWER SYSTEM41
exciter parameter, Step-up transformer, transmission line & load are as per
Kundur's Two Area test system .
The power system stabilizer model is with single input of the rotor speed
deviation. The damping is mostly determined by the gain K S=20, and the
following sub-block of wash out circuit has the high-pass ltering function to
ensure the stabilizer has the relative better response on the speed deviation.
There are also lead-lag transfer func-tions to compensate the phase lag between
the excitation model and the synchronous machine.
CHAPTER 4. OPTIMAL PLACEMENT OF PSS IN MULTIMACHINE POWER SYSTEM42
In order to represent the concerned oscillation e ects, the time domain analysis
for the test system has been performed. Fig.4.9 shows the simulation results on
the line power ow from area 1 to area 2.
It can be observed that the arrangement on stabilizer installation for every machine
in both areas has the best damping e ects on inter-area oscillation, which is in unison
with the dominant eigenvalues analysis results discussed in earlier section.
If there is no stabilizer for machines in both areas, the inter-area oscillation is un-
avoidable. The power transfer for such a case would reach to 800 MW with signi
cant oscillations. This leads to stresses in a weakly coupled tie line. System will
be highly oscillatory and hence may result into instability.
Comparative analysis of the oscillations between areas indicate that installing the
stabilizers for G3 and G4 in area-2 is a relative optimal solution to damp the inter-
area oscillations. For this particular location of PSS, the constant active power ow is
identi ed as 413 MW from area-1 to area-2. Thus by proper placement of PSS and
tuning, constant power ow and damped inter area oscillations is achieved.
CHAPTER 4. OPTIMAL PLACEMENT OF PSS IN MULTIMACHINE POWER SYSTEM43
Figure 4.10 to Fig.4.13 shown below are simulation results of per unit speed
deviation of each generator in both areas. The results are achieved for perturbed
test system to analyze the behavior of power system stabilizer at various
locations.Cases considered for analysis are same as mentioned in section IV.
For case-1, it is clearly visible from the Fig.4.10, that both the generators of a par-
ticular area deviate in reasonably in harmony. As expected, generators of both the
areas are oscillating in opposite direction. Further the system does not stabilize even
after long time; generators continue to oscillate around a particular operating point.
For cases 2 and 3 as evident from Fig.4.11 and 4.12, generators of speci c area
are oscillating in particular direction where as in case-4, Fig.4.13 all the
generators are oscillating in unison.
Further it is observed from Fig.4.11 that choice of area-1 as location of PSS is resulting
in damped oscillation. But constraint with this arrangement of PSS is that PSS is taking
long time of around 25 to 30 seconds to mitigate the oscillation completely.
seconds. But at the same time it is not favorable situation because placing PSS
at every generator has a redundancy in the solution.
For better choice which is optimized one is case-3. In this case PSS are installed
at both the generators of area-2. As shown in Fig. 4.12, the oscillations are
mitigated in about 10 sec.
CHAPTER 4. OPTIMAL PLACEMENT OF PSS IN MULTIMACHINE POWER SYSTEM45
4.5 Summary
This chapter presents the power system stabilizer with the consideration of local and
inter-area mode of oscillations, to damp the potential power oscillation. Based on
this, the eigenvalues analysis method has been adopted to analyze the damping e
ects of various arrangement schemes of such stabilizer. The case study on the
typical 4-machines 2-area test system shows that although the best arrangement
scheme that install the stabilizer for every machine and area can obtain the best
oscillation damping e ect, it is not the economical solution scheme especial to the
large power networks, and the scheme that arrange stabilizer for one area is the
optimal arrangement with the consideration of economical factor.
Chapter 5
5.1 Conclusions
46
CHAPTER 5. CONCLUSIONS & FUTURE WORK 47
The future researches on the arrangement rules with evolutionary algorithm and
the coordinated FACTS device to obtain the better power oscillation damping
e ects can be concerned and performed.
References
[1] ] Prabha Kundur, \Power System Stability and Control," The EPRI Power
Sys-tem Engineering Series, 1994, McGraw-Hill, ISBN 0-07-063515-3.
[5] Liao Quing n, Liudichen, Zeng Cong, Ying Liming, Cui Xue. \Eigen value
sen-sitivities of excitation system, model and parameters," 3rd IEEE Conf.
On In-dustrial Electronics and Applications, June-2008, pp. 2239-2243.
[7] Gurunath Gurrala, \Power System Stabilizer Design for Interconnected power
System," IEEE Trans. on Power Systems, vol.25, no.2, May 2010, pp. 1042-1051.
48
Appendix A
IEEE Proceeding
49
Appendix B
System Data
The system consist of two similar area connected by a weak tie line. Each area con-
sists of two coupled units, The parameters of system as depicted in below tables.
Machines Data:
Inertia constant of Area-1 machines are 6.5 (for G1 & G2), Area-2 machines are
6.125 (for G3 & G4). Each step up transformer has an impedance of 0 + j0.15
p.u. on 900 MVA and 20/230 kV base, and has an o -nominal ratio of 1.0.
Line Data:
The Transmission system nominal voltage is 230 kV. The parameters of the lines
in per unit on 100 MVA, 230 kV base are shown in below Table:
50
APPENDIX B. SYSTEM DATA 51
Load Data:
The load and reactive power supplied by the shunt capacitors at buses 7 and 9
are as follows:
Table B.4: Exciter & PSS Data of Two Area Test System
KA = 200 TR = 0.01 KST AB = 20.0 TW = 10.0
T1 = 0.05 T2 = 0.02 T3 = 3.0 T4 = 5.4
Appendix C
PSAT is free and open Source software particularly suited for analysis of Power
Sys-tems Stability and Control. The PSAT is a MATLAB toolbox for electric power
systems analysis and Simulation. All the operation can be accessed by means of
graphical user interfaces (GUIs) and Simulink based library provides an user
friendly tool for network design.
C.1 Overview
PSAT core is power ow routines, once the power ow has been solved, further
static and/or dynamic analysis can be performed.Following analysis performed in
PSAT tool box.
PMU Placement
52
APPENDIX C. INTRODUCTION TO PSAT 2.1.6 53
a. PSAT Installation
b. Launching PSAT
c. Loading data
e. Displaying results
f. Saving results
g. Setting
APPENDIX C. INTRODUCTION TO PSAT 2.1.6 54
F PSAT Installation
c. Installation
Open Matlab
Launching of PSAT
This will create all the structures required by the toolbox , then opens psat GUI.
Loading data
Almost all operations require that a data le is loaded. To load a le, Load only a
data le:
File/Open/Saved System
It is not necessary to load again the data le every time it is modify, because the
last version of the data le is read each time the power ow is performed. The data
are updated also in case of changes in the Simulink model originally loaded.
Other Analysis
After solving the rst power ow, the program is ready for further analysis,
such as CPF , OPF , ...
Each of these procedures can be launched from the tool-bar or the menu-
bar of the main window.
Displaying Results
Results can be generally displayed in more than one way, either by means of a
graph-ical user interface in MATLAB or as a ASCII text le.
Saving Results
To save actual System status in a .mat le :
Menu File=Save=Current
All global structures used by PSAT are stored in this le which is placed in the
folder of the current data le. all static computations allow to create a report in a
text le that can be stored and used later.
Settings
The main settings of the system are directly included in the main window:
Base frequency
Base Power
Network Design
PSAT allows drawing electrical schemes by means of pictorial blocks. To launch
PSAT library
APPENDIX C. INTRODUCTION TO PSAT 2.1.6 57
PSAT comes with variety of procedures for static and dynamic analysis, several
mod-els of standard and unconventional devices, a complete GUI, and a
Simulink-based network editor. These features make PSAT suited for both
educational and research purposes.
e. http://www.animations.physics.unsw.edu.au/jw/electricmotors.html : Electri-
cal Motor and Generator Fundamental Tutorial
~
f. http://www.ee.iitb.ac.in/trivedi/latex.htm : Help on Latex Software
g. http://www.latex-project.org
Index
Interpretation of K-constants, 19
58