876

IEEE Transactions on Power Systems, Vol. 10, NO. 2, May 1995

EIGEN ANALYSIS OF SERIES COMPENSATION SCHEMES REDUCING THE POTENTIAL OF SUBSYNCHRONOUS RESONANCE
M.R. Iravani Department of Electrical and Computer Engineering University of-Toronto Toronto, Ontario Canada M5S 1A4 Abdel-Aty Edris , Electrical Systems Division Electric Power Research Institute 3412 Hillview Ave. Palo Alto, CA 94304 U.S.A. eigen analysis tool which models power system components based on three-phase representation, and determines system eigen structure during asymmetrical andor unbalanced small-signal dynamics. The primary objective of this paper is to provide quantitative evaluations of the ASCC schemes of [l] based on the use of the aforementioned eigen analysis software tool. Technical feasibility of the ASCC schemes is tested on the first IEEE Benchmark Model. The eigen analysis results are verified by digital time-domain simulation of the study system, using the EMTP.

Abstract: Reference [ 11 describes a new concept for mitigation of the phenomenon of subsynchronous resonance (SSR) based on asymmetrical series capacitor compensation at SSR frequencies. The studies reported in [ 11 are based on a digital time-domain simulation technique. This paper provides a quantitative evaluation of the concept using a novel eigen analysis approach. The eigen analysis approach represents the mathematical models of power system components in the three-phase basis, and can evaluate the impacts of asymmetry and imbalance on the system dynamics in the subsynchronous frequency range. The study results restate technical feasibility of the proposed SSR countermeasure.
This paper opens the avenue for examination of active power filter topologies to introduce artificial asymmetry at SSR frequencies to counteract torsional oscillations. Keywords: SSR; Eigen Analysis; Series Capacitor; PhaseImbalance.
1. INTRODUCTION

2. EIGEN ANALYSIS TOOL

Existing eigen analysis software tools model three-phase electric power systems based on the assumption of symmetrical and balanced operating conditions. If only low-frequency (0.1 - 2 Hz), smallsignal dynamics are of concern, e.g. inter-area oscillations, network dynamics are neglected and only machine and controllers dynamics are considered [5,6]. If high-frequency (5-180 Hz), small-signal dynamics are of interest, e.g. SSR, network dynamic model and 7. further details of machine and controller models are required [ ] Production grade eigen analysis software packages cannot be used to investigate torsional damping effect of the ASCC schemes described in [1,2]. The reason is that an ASCC scheme exploits asymmetrical characteristic of a system as the fundamental concept to counteract SSR. And the eigen analysis tools are not capable to formulate asymmetricalhnbalanced three-phase systems for the investigation of small-signal dynamics. To overcome this barrier, a novel eigen analysis software tool is under development which can model three-phase electrical systems under asymmetrical andlor unbalanced conditions, in the highfrequency (5-180 Hz) range. The package uses the "S matrix method" for calculation of system eigen structure [8]. Detailed description of the software is intended for a separate paper. Nevertheless, mathematical model of a set of three-phase, asymmetrical capacitors are given in the following paragraphs to outline the general formulation approach. Figure 1 shows a set of three-phase, unequal capacitors Ca. Cb and CC. Equation (1) describes dynamics of the capacitors.

In machine-network dynamics, the components of the generator airgap torque couple the electrical and mechanical systems at interaction frequencies. Conceptually, machine-network interactions can be counteracted if the coupling at the interaction frequencies is prevented or attenuated. Reference [I] introduces a method for counteracting SSR in series capacitor compensated systems, based on the decoupling concept. The decoupling is achieved by introducing a new series capacitor compensation scheme which behaves as a set of three-phase asymmetrical capacitors at subsynchronous frequencies. Thus, attenuates subsynchronous frequency components of the generator air-gap torque. Hereinafter, this SSR countermeasure approach is referred to as ASCC (Asymmetrical Series Capacitor Compensation). Reference [2] further elaborates on the proposed SSR countermeasure technique. Another method to realize ASCC is described in [3]. This method is based on setting voltage protection levels of conventional, threephase, series capacitors at unequal values. This approach is intended to reduce peak shaft transient torques during large-signal disturbances, and is not effective for mitigation of small-signal torsional oscillations. The studies reported in 111, [2] and [3] are based on digital time-domain simulation studies, using the Electromagnetic Transients Program (EMTP). Conceptually, an ASCC scheme can also be realized by augmenting conventional, symmetrical series capacitor schemes with various types of active power filters topologies, e.g. voltage source inverters. However, investigation of such approaches requires an analytical tool for evaluation of system dynamics during asymmetrical andor unbalanced operating conditions. This paper briefly introduces an
94 SM 557-9 PWRS A paper recommended and approved by the IEEE Power System Engineering Committee of the IEEE Power Engineering Society for presentation at the IEEE/PES 1994 Summer Meeting, San Francisco, CA, July 24 28, 1994. Manuscript submitted December 30, 1993; made available for printing May 3, 1994.

where:
[vabcl= [va Vb

%IT
cc]

Icabc] = diag[ca

Equation (1) is transformed in a d-q-o reference frame [9] and rearranged as Eqn. (2).
1.

'b

+bI ' -I. C

-la+ -cvc&cc

Fig. 1 0885-8950/95/$04.00 0 1994 IEEE

A set of unequal three-phase capacitors

877

where:

[TIis the 3 x 3 transformation matrix [9].

Small-signal dynamics of the capacitor set is obtained from the linearization of Eqn. (2) about an operating point, as given by Eqn. (3).
( d j 4 p V d q o I = (1/3 ~a~bCcXA][Aidqo]

+(2/3~bcC ~l[id4a-o)~e) X
-[Q{i&o-op(Aw)

(3)

Elements of matrices [A], [B], and [Q] are given in Appendix A. Equation (3) describes small-signal (linearized) dynamics of an asymmetrical set of three-phase, lumped capacitors in a d-q-o reference frame. Equation (3) can be further generalized if mutual capacitor coupling also exists. Similar equations for three-phase lumped inductors (resistors) with and without mutual coupling can also be developed. 3. TEST SYSTEM

L ,
Fig. 3 (a) Symmetrical series compensation scheme (b) Series resonant ASCC (c) P a d e l resonant ASCC

3.1 System Description

The first IEEE benchmark model for SSR studies is used as the test system [4]. Figure 2 shows a schematic diagram of the test system. The reasons for selectingthe first benchmark model as the test system models for eigen analysis must permit unbalanced operation and existence of 'zero-sequence'components. The eigen analysis tool described in Section 2 represents the system components as follows. Series inductance of each transmission line is modelled as a set of three-phase mutually-coupled, lumped inductances including the effect of flux linkage of neutral conductor [lo]. Line resistances are modelled as a set of three-phase balanced resistances (without mutual coupling) connected in series with the coupled inductances. Shunt capacitance of each line section is represented by two sets of symmetrical three-phase capacitances located at both ends. The step-up transformer is represented by a set of lumped, mutuallycoupled inductances which also permit neutral connection to ground Winding resistances are assumed to be equal in the three phases and are located in series with the set of mutually coupled inductances. Fig. 2 A schematic diagram of the test system Electrical system of the generator is represented in the Park's d-q-o frame based on the assumption of three identical and symmetrically spaced stator windings, and two windings on each rotor axis. Mechanical system of the generator is modelled as six rigid masses in which adjacent masses are connected by shaft spring constants. Viscous and material damping of the mechanical system are neglected. Series compensating capacitors, i.e. capacitors c in Figs. 3(a) and 3(b) and capacitors cSl and cs2 of Fig. 3(c), are modelled as sets of three-phase equal capacitors. Corresponding elements of series and parallel resonant circuits of Figs. 3(b) and 3(c) are represented by unequal h - p h a s e elements.

are:
The system can exhibit three highly unstable torsional modes in a fairly narrow range of series capacitor compensation levels. Depending on the level of series capacitor compensation, the system can experience multiple torsional oscillations.

Therefore, the studies can demonstrate the damping effect of an ASCC scheme on highly unstable SSR modes and multi-mode oscillations. The EMTP is used to simulate the test system and verify the eigen analysis results.

3.2 Component Model for Eigen Analysis

Figure 3(a) shows the original series compensation scheme of the test system without SSR countermeasure. Figure 3(b) shows the series resonant ASCC scheme which is composed of the three-phase series capacitors (C) and series resonant circuits in two phases [11. Figure 3(c) shows the parallel resonant ASCC scheme which is composed of the three-phase series capacitors (csl and cs2 in each phase) and two parallel resonant circuits in phases 'a' and 'c' [ 11. It is assumed that the transmission line sections T1 and T2,step-up transformer, and generator are symmetrical three-phase components. Thus, without the SSR countermeasure schemes of Figs. 3(b) and 3(c), the test system is symmetrical and balanced. When either series or parallel resonant ASCC is in service, the three phases form an asymmetrical three-phase system. Although the line sections, transformer, and generator are symmetrical, their mathematical

4. STUDY RESULTS
The system operating point for the reported studies cornspond to 0.90 per unit power transfer from the generator, at 0.96 power factor and the rated terminal voltage, unless otherwise stated. Dynamics of the generator excitation and governor systems are not included in the system model.

4.1 Case 1
Plot (a) of Fig. 4 shows real part ( Q ) of the eigenvalue of the first torsional mode (f=15.71 Hz) when series compensation level is

878

A least square curve fitting technique is used to match a single exponential function of the form ( A exp(0r)) to the peak values.
CY identifies the rate of growth or decay of the torsional response and is approximately the same as the real part of the eigenvalue corresponding to the torsional mode.

EIGENVALUE REALPART 0

(Us)

Figure 5 shows torsional response of the shaft section LPB-G with and without the series resonant ASCC in service. The oscillations are excited as a result of a sudden change in the series compensation level from 73% to 70%. Comparison of Figs. 5(a) and 5(b) clearly shows the effectiveness of the countermeasurescheme for mitigation of the SSR phenomenon. Decrement factors of the oscillationsillustratedin Figs. 5(a) and 5(b) closely agree with the corresponding eigen analysis results of Fig. 4.
50

60

70

80

90

COMPBNSATION LEVEL.(%)

Fig. 4

Real part of the eigenvalueof the first mode (a) No countermeasure in service (Eigen Analysis) (b) Series resonant ASCC in service (Eigen Analysis) (c) Series resonant ASCC in service (EMTP)

Figure 6 shows real parts of the eigen values of the third and fourth torsional modes when series compensation level is varied from 10% to 70%. Parameters of the series resonant ASCC are c/ca = 0.58 and c/cc = 0.93 which are the same values used to obtain plots (b) and (c) of Fig. 4. Figure 6 indicates that the SSR countermeasure also can effectively damp out the 3rd and 4th oscillatory modes in the entire range of series compensation.
4.2
Case 2

varied from 40% to 100%. Plot (a) shows that without SSR countermeasure, t~ of the first mode can possess large positive values and consequently rapidly growing shaft oscillations. Plot (b) of Fig. 4 shows of the first mode when the series resonant ASCC of Fig. 3(b) is in service. Parameters of the series resonant circuit are c/c, = 0.58 and c/cc = 0.93. Plot (b) clearly shows that the series resonant ASCC can effectively increase the damping of the first mode. Plot (c) of Fig. 4 also shows the Q of the first mode calculated from the EMTP simulation results when the series resonant ASCC is in service. Close agreement between plots (b) and (c) verifies accuracy of the eigen analysis results. The procedures to calculate the real part of an eigenvalue correspondingto a torsional mode are as follows. A shaft torsional response corresponding to the mode of interest is obtained from the EMTP studies within the time window of 0.0s to 3.0s.
All the positive encountered peak values within the time window are determined.
0.8

Figure 7 depicts the real part of the eigenvalueof the first mode with and without parallel resonant ASCC in service. The operating conditions are exactly the same as those of Fig. 4. The tuning frequencies of phases 'a' and 'c' are selected at 60-15.71=44.29 Hz and 60-25.53=34.47 Hz. Resistive elements Ra and Rc are equal to

EIGENVALUE REALPART 0 -

(Us)

20

30

40

50

60

DEVIATIONO

COMPENSATIONLEVEL(%)

-0.8

I
0.5

I 1

I 1.5

I 2.5

1
3 EIGENVALUE REALPART 0 -

=(s)
TORQUE DEVIATION0 (PU)

(Us)

-0.8

I ,
0 0.5
1

1.5

2.5

20

30

40

50

60

Fig. 5

6) First torsima1 mode of shaft segment LPB-G at 70% compensation level (a) No countermeasure in service (b) Series m n a n t ASCC in service

COMPENSATIONLEVEL(%)

Fig. 6

Real parts of the eigenvalues of 3rd and 4th modes (a) No countermeasure in service (Eigen Analysis) (b) Series resonant ASCC in service (Eigen Analysis)

879
I
f :

Mode 3
01 .

..........

(a) i

EIGENVALUE REALPART 0
(11s)

EIGENVALUE REiALPART 0

50

60

70

80

90

20

30

40

50

60

COMPENSATIONLEVEL(%)

COMPENSATIONLEVEL(%)

Fig. 7

Real part of the eigenvalue of the first mode (a) No countermeasure in service (Eigen Analysis) (b) Parallel resonant ASCC in service (Eigen Analysis) (c) Parallel resonant ASCC in service (EMTF')

01 .

.......... :..... ...............................................

'

0.86R. Parallel resonant circuits of phases 'a' and 'c' are installed on 30% of the net series capacitor.
Figure 7 indicates that the parallel resonant scheme can effectively increase the damping of the first mode and provide adequate damping in the practical range of series compensation (40% to 70%). Close agreement between the simulation and the eigen analysis results, i.e. plots (b) and (c) of Fig. 7, verifies the accuracy of the eigenvalue studies. Figure 8 shows time-domain simulation results with and without the parallel resonant scheme in service. Decrement factors of the torsional oscillations of Fig. 8 closely agree with the corresponding results of Fig. 7. The oscillations are excited as a result of a sudden change in the series compensation level from 73%to 70%. Figure 9 shows damping effect of the parallel resonant ASCC on the third and fourth torsional modes when series compensation level is vaned from 10% to 70%. Figure 9 illustrates that the parallel resonant ASCC also can effectively mitigate both modes in the whole range of series compensation values.
0.8 7

(a)

EIGENVALUE REALPART 0

-0.1

;.A .................

4
60

20

30

40

50

COMPENSATIONLEVEL(%)

Fig. 9

Real parts of the eigenvalues of 3rd and 4th modes (a) No countermeasure in service (b) Parallel resonant ASCC in service

4.3

Case 3

TORQUE D@VlATlONO (PU)

Cases 1 and 2 investigate damping effects of series and parallel resonant schemes on the SSR phenomenon excited by small-signal perturbations. Case 3 studies the effects of the two schemes on peak transient torsional stresses as a result of large-signal disturbances. Figure 10 illustrates the effect of the series and parallel resonant ASCC's on the transient mechanical stresses of the shaft section LPB-G. Transient stresses are initiated as a result of a three-phase to ground fault at the generator high voltage bus, Fig. 2. The fault is cleared after three cycles by the line circuit breakers. Fault clearing is followed by a successful reclosure after another 15 cycles (3-15 cycles disturbance). Prior to the fault, the generator delivers 0.5 perunit power at 0.97 lagging power factor at series compensation level of 70%. Parameters of series and parallel resonant schemes are those given for Cases 1 and 2 respectively. Figure 1O(a) demonstrates that the transient torque is dominated by the first torsional mode (15.71 H ) When compared with Fig. z. 10(a), Figs. 10(b) and 1O(c) show that both series and parallel resonant schemes can reduce peak magnitudes of mechanical stresses imposed on the shaft segment. The first few encountered peak torques are not noticeably affected by the countermeasure schemes. Nevertheless, the damping effect is pronounced after M.7.s. Overvoltage protection schemes of series capacitors are not included in the simulation model for the study results presented in Fig. 10. Figure 11 shows the same investigation results when the models of nonlinear ZnO protection schemes of series capacitor are included in the simulation studies. The overvoltageprotection level provided by

-0.8

I
0

I 0.5

1 1

i 1.5

2.5

I 3

0.8

TIME 6)

TORQUE DEVIATION0 (PU)

-0.8

0.5

1.5

2.5

Fig. 8

-nhm(s) First torsional mode of the shaft segment LPB-G at 70% compensation level (a) No countermeasure in service (b) Parallel resonant ASCC in service

880

0.5

I 1.5

I
2

0.5

1.5

TIMEW

-S ()

2
Torque

LPB-G (PU) O
-1

I
I

I 0.5

I 1

-2 i i
-3

(b)
I I I
1

1.5

0.5

1.5

TIMEL9

i
I
~

-2 -

II

-3

'
I

I
I I

(C)

-2 -

(C)

-3

ZnO elements is set at 2.15 per-unit, based on the capacitor peak rated voltage. In series and parallel resonant schemes of Figs. 3(b) and 3(c), capacitor segments c, ca. c,, csl and $2 are equipped with ZnO protection schemes. Figure 11 indicates that both series and parallel resonant schemes noticeably reduce the peak mechanical stressesas a result of the 3-15 cycles disturbance, even when overvoltage protection schemes are in service.
4.4

Discussions

detuning concept for preventiodmitigation of subsynchronous resonance. The required detuning is achieved by augmenting series capacitors with either series or parallel resonant circuits. A newly introduced eigen analysis approach is used for the studies. Threephase representation of system components are used for determination of the system eigen structure. Thus, impacts of asymmetry and imbalance on the torsional dynamics are accurately represented. The eigen analysis results are verified by digital timedomain simulation, using the EMTP. The studies show that: Both series and parallel resonant schemes can effectively enhance damping of all subsynchronous oscillatory modes as a result of small-signal perturbations. Both series and parallel resonant circuits reduce peak transient stresses imposed on the turbine-generator shaft segments after large-signal disturbances.

The primary objective of this paper is to provide a quantitative evaluation of the series and parallel resonant schemes of Figs. 3(b) and 3(c). Thus, no particular attempt was made to optimize the parameters of the two schemes with respect to the damping of torsional modes. The introduced eigen analysis tool can be used to calculate sensitivities of torsional modes with respect to the parameters of the two countermeasure schemes, and to optimize the corresponding parameter values [7]. The detuning machine-network approach investigated in this work can also be realized based on the use of active power topologies. The active power filters can be installed either in series or parallel with series capacitors at the capacitor site or even at remote locations, e.g. neutral end of Y connected windings of the system transformer. The introduced eigen analysis technique provides a comprehensive analysis tool to investigate and design such power electronic circuits.
[l]

6. REFERENCES
A. A. Edris, "Series Compensation Schemes Reducing the Potential of Subsynchronous Resonance", IEEE Trans., Vol. PWRS-5, NO. 1, pp. 219-226, 1990. [2] A.A. Edris, "Subsynchronous Resonance Countermeasure Using Phase Imbalance", IEEE Trans., Vol. PWRS-8, No. 4, November 1993. [3] M.R. Iravani, "A Method for Reducing Transient Torsional Stresses of Turbine-Generator Shaft Torques", IEEE Trans., Vol. PWRS-7, NO. 1, pp. 28-36, 1991. 141 IEEE SSR Working Group, "First Benchmark Model for

5.

CONCLUSIONS

This paper provides a quantitative evaluation of machine-network

881 Computer Simulation of Subsynchronous Resonance", IEEE Trans., Vol. PAS-96, No. 5, pp. 1565-1572, 1977. P. Kundur, G.J. Rogers, D.Y. Wang, L. Wang, M.G. Lauby, "A Comprehensive Computer Program Package for Small Signal Stability Analysis of Power Systems", IEEE Trans., Vol. PWRS-5, NO. 5, pp. 1076-1083, 1991. N. Martins, L.T.G. Lima, "Eigenvalue and Frequency Domain Analysis of Small-Signal Electromechanical Stability Problems", IEEE PES Special Publication 90TH0292-3-PWR, pp. 17-33, 1989. M.R. Iravani, "A Software Tool for Coordination of Controllers in Power Systems", IEEE Trans., Vol. PWRSJ. No. 1, pp. 119-125, 1990. N. Uchida, T. Nagao, "A New Eigen-Analysis Method of Steady-State Stabilitv Studies for Large Power Svstems: S Matri; Method", IEEE Trans., Vol. PWYRS-3, No. i,pp. 706714, 1988. P.C. Krause, "Analysis of Electric Machinery", McGraw Hill, New York, 1986, pp. 133-160. V. Del Toro, "Electric Power Systems", Prentice Hall, Toronto, 1992, pp. 382-388. APPENDIX A Element of matrix [A], Eqns. (3):
A11 = K1+2K2sin28,
A12 = A21 = -K3

Elements of mamx [QJ, Eqn. (3): q12 = -q21 = 1, rest of elements are zero Elements of matrix [B], Eqn. (3):

R1 = K2 sin(28,) + K3 cos(28,)
- K2 c0s(2B0) h3= h1= K2 sine, - K3 cose, &e! = -K2 sin(28,) + K3 cos(28,)
B12 = &L1 = K3 sin(28,)

+ = &32 = K2 sine, ,
4 3=o

+K3cose,

M.R. Iravani (M'85) received his B.Sc. degree in electrical engineering in 1976 from Tehran Polytechnique University and started his career as a consulting engineer. He received his MSc. and Ph.D. degrees also in electrical engineering from the University of Manitoba, Canada in 1981, and 1985 respectively. Presently he is a professor at the University of Toronto. His research interests include power electronics, power systems dynamics, and control. Abdel-Aty Edris was born in Cairo, Egypt in 1945. He received his B.Sc. from Cairo University in 1967, the MS. from Ain-Shams University, Egypt in 1973, the Ph.D. from Chalmers University of Technology, Sweden in 1979. Dr. Edris joined ASEA (now ABB) in Vasteras, Sweden in 1981. From 1982 to 1986 he was involved in power systems analysis of HVDC and reactive power compensation projects. From 1986 to 1990 he worked with development projects introducing new concepts improving power systems performance. From 1990 to 1992 he was f with Transmission and Relaying Center o ABB's Advanced Systems Technology in Pittsburgh. In 1992, Dr. Edris joined Electric Power Research Institute (EPRI) as a Manager of Flexible AC Transmission Systems (FACTS). Dr. Edris is a member of the IEEE SSR WG, and a member of the CIGRE WG for Power Systems Dynamic Analysis.

+ 2K3 sin2 8, - K2 sin28, A13 =A31 =-2K~cos8,-2K3~in~,

A22 = (K1+ 2K2)

- K2 sin2 8, + K3 sin e, A23 = A32 = -2 K2 sin 8, + 2K3 cos e,

K4 = A + B + C

A33 = K4 K1=2A+B/2+Cf2, K2=(-2A+B+C)/2 K3=-(&/2)(B-C),

A = Cbc, , B =

ceca , c=cacb

882

Discussion

0. P Malik (The University of Calgary, Calgary, Alberta, . Canada):

It is an interesting approach to use eigen analysis for the study of subsynchronous resonance. The discussion would like to obtain some clarification from the authors on the following points. Transfonnation to the d-q-o frame of reference is extremely useful for the study of symmetrical and balanced conditions. For the study of asymmetrical conditions as in this paper, d-q-o transformation losses its advantages. The authors appropriately start with abc frame of reference in eqn.(l), but then transform it to d-q-o frame of reference. Even after linearization of eqn. (2) for small signal analysis, eqn (3) still contains differential terms, i.e. time functions. Eigen analysis being a frequency domain technique, the authors do not explain how they go from eqn. (3) to eigen-analysis. Following from point (i), it is claimed at a number of places in the paper, eg. Abstract, Introduction, Discussion, Conclusion, that a new eigen-analysis approach is introduced. This claim is certainly invalid, as the new eigen analysis tool purported to have been introduced has not been introduced in this paper nor any reference is provided where this tool is described. It is stated to be under development and "intended for a separate paper". That paper should have been published first before this paper. Will the authors confirm that: (a) the generator model used has two damper windings on the q-axis and one damper winding on the d-axis? (b) for the conditions in Fig. 5, the system with no counter measures is stable for a series compensation level of 73% but unstable for 70%? Power systems are non-linear, and their characteristics and parameters depend upon the operating conditions. Further, the effect of governor and excitation controller is neglected in this study. This discusser is interested in hearing the authors' comments on whether the inclusion of non-linearities and the effect of the above controllers will affect the results and conclusions of this paper. Manuscript received August 22, 1994.

for eigen analysis. The transformation performs the task whether the network is symmetrical and balanced or not. If the network is symmetrical and balanced, the transformation also has another advantage, i.e. it reduces the three abc frame state variables (e.g. Avo, Avb and AV,) to two state variables (e.g. dVd and Avq). However, we cannot exploit this property for our system. With respect to Eqn. (3), it should be noted that terms A 8 and d(A8)/dt are present in the transformed equation whether the network is symmetrical and balanced or not. However, this is not an impediment for eigen analysis, since rotor position and speed are two of the generator state variables, and they appear in vector A when all the system equations are x organized in the general form of
0

Ax=AAx

(Al)

(ii)

The objective of the paper is to demonstrate that the conventional eigen analysis approach can also be extended for those conditions where the system is asymmetrical and unbalanced, e.g. the SSR countermeasures discussed in the paper or power electronic devices which can artificially introduce asymmetry in the system. Justifying the need, the eigen analysis tool is developed and a comprehensive report will be published in the near future.

M.R. Iravani and A.A. Edris: We would like to thank Professor Malik for his interest in our paper and his comments. The following is our response to Professor Malik's comments. (i) The main idea behind transforming the system equations in a d-q-o reference frame is to convert the machine time-variant ODEs into a set of time-invariant ODEs, which is necessary

(iii) (a) The generator model used has one damper winding and one field winding on the daxis, and two damper windings on the qaxis. (b) Without countermeasure, at both 73% and 70% compensation levels, the first mode can become unstable if the systems is subjected to a small-signal perturbation. Initially, compensation level is adjusted at 73%. Since simulation starts from a steady-state condition the first mode is not excited and not observable in the time response. A sudden 3% change in the compensation level is introduced to excitcd the first mode and demonstrate its instability as shown in Fig. 5(a). Figure 5(b) indicates that the unstable oscillations are mitigated by the countermeasure.

(iv) As long as small-signal torsional oscillations are of concern, the eigen analysis results are valid, even if the initial steady-state operating point of the system is associated with nonlinear operating regions of transformers and the generator. If the system is subjected to large-

883

signal disturbance, e.g. faults, the eigen analysis results are not necessarily valid. Section 4.3 of the paper elaborates on this topic. The reason for neglecting the impacts of governor and excitations systems on the torsional oscillations is their relatively slow responses. Practically, instability of a torsional

mode is detected and mitigated within up to 2 seconds after the mode has been excited. During this time frame, neither the excitation system (due to the field time-constant) nor the governor system can react to the torsional oscillations.
Manuscript received October 27, 1994,