Chapter 8 Small-Signal Stability: 8.1 Background

ECEP 610 Lecture 8 Week 9
Chapter 8 SMALL-SIGNAL STABILITY

8.1 Background
Problem:
1. Low frequency oscillations induce stress on mechanical shaft, limit power transfer
2. Voltage drops lead to maximum power transfer limits and/or voltage collapse
Machine Models used in chapter 8:
1. The two-axis model with IEEE-Type I exciter;
2. The flux-decay model with a high-gain fast exciter.
Goal of this lecture:
1. Linearized analysis of multimachine power systems for steady-state and voltage stability.
Goal of next lecture:
1. Brief review of power system stabilizer design methods
Electromechanical oscillations:
1. Local mode, typically in the 1 to 3Hz range between a remotely located power station and
the rest of the system.
2. Inter-area oscillations in the range of less than 1Hz.
Analysis Methods:
1. A multimachine linearized analysis based on eigenvalues
2. A single-machine infinite-bus system case that investigates only local oscillations.
Dynamic voltage stability:
0 Monitoring eigenvalues of the linearized system as a power system is progressively loaded.
0 Voltage Instability occurs when a pair of complex eigenvalues cross to the right-half plane.
Mathematically, this phenomenon is called a Hopf bifurcation.
Differential Equations of the Two-axis Model
Let i 1, m, with m the number of machines, n the number of nodes. We reorder the ODEs such
that the mechanical equations are listed first. We also divide the ODEs by their time constants and set
M
i
:
2Hi
s
Dagmar Niebur 11/16/2011
*Unless indicated otherwise, figures, equation and theorem numbers taken from course textbook by
Sauer and Pai. 1
d
i
dt

i

s
d
i
dt

T
Mi
M
i
E
qi
X
di
I
di
I
qi
M
i
E
di
X
qi
I
qi
I
di
M
i
D
i
(
i

s
)
M
i
dE
qi
dt

E
qi
T
doi

(X
di
X
di
)I
di
T
doi

E
fdi
T
doi
dE
di
dt

E
di
T
qoi
(X
qi
X
qi
)
I
qi
T
qoi
dE
fdi
dt

(K
Ei
S
Ei
(E
fdi
))
T
Ei
E
fdi

V
Ri
T
Ei
dV
Ri
dt

V
Ri
T
Ai
K
R
T
Ai
R
fi

K
Ai
K
Fi
T
Ai
T
Fi
E
fdi

K
Ai
T
Ai
(V
ref
i
V
i
)
dR
fi
dt

R
fi
T
Fi
K
Fi
T
Fi
2
E
fdi
Note: For 2-axes model T
ELEC i
P
INTi
7m differential equations summarized as
f :
7m

2m2n

2m

7m
x f x y
a
y
b
u
T
f
2ax x y
a
y
b
T
f
e
(u)
We assume
s
260Hz and thus treat it as a constant instead of an input.
Then input variables are
u
i

V
refi
T
Mi
and u
u
1
.
u
m

2m
Define
f
ei
(u
i
)
0 0
1
Mi
0
0 0
0 0
0 0
0
KAi
TAi
0 0
T
Mi
V
refi
f
e
(u) f
e1
(u
1
) f
em
(u
m
)
T
f
2ax x y
a
y
b
T
f x y
a
y
b
u
T
f
e
(u)
Sauer and Pai. 2
Also note that f
ei
(u
i
) is linear.
Here the state variables are
x
i

i

i
E
iq
E
di
E
dfi
V
Ri
R
fi
T
and x
x
1
.
x
m

7m
The algebraic variables y y
a
y
b
T

2m2n
are explained below:
Algebraic Equations
The algebraic variables are solved for by the algebraic equations, i.e. the stator equations and network
equations.
(a) Stator algebraic equations at m generator buses in polar form
E
di
V
i
sin(
i

i
) R
si
I
di
X
qi
I
qi
0
E
qi
V
i
cos(
i

i
) R
si
I
qi
X
di
I
di
0
For i 1, , m we obtain 2m equations.
(b) Network equations at all n buses
Generator Bus Equations for Real and Reactive Power
0 V
i
e
ji
(I
di
jI
qi
)e
j(i

2
)
P
Li
(V
i
) jQ
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
e
j(i
k
ik
)

0 I
di
V
i
sin(
i

i
) I
qi
V
i
cos(
i

i
) P
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
cos(
i

k

ik
)
0 I
di
V
i
cos(
i

i
) I
qi
V
i
sin(
i

i
) Q
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
sin(
i

k

ik
)
For i 1, , m we obtain 2m equations.
Load Bus Equations for Real and Reactive Power
0 P
Li
(V
i
) jQ
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
e
j(i
k
ik
)

0 P
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
cos(
i

k

ik
)
0 Q
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
sin(
i

k

ik
)
For i m 1, , n we obtain 2(n m) equations.
Sauer and Pai. 3
This yields 2m 2m 2(n m) 2(m n) algebraic equations
The variables to be solved for are the stator currents at the m generation buses and terminal voltage
angle and magnitude at the slack bus #1, the terminal voltage magnitudes at remaining generation
buses (#2, . . . , #m) and the terminal voltage angles at all buses except the slack bus and the voltage
magnitudes at the remaining load buses (#m 1, . . . , #n).
We define
V
g

1
V
1

m
V
m
T
and V
l

m1
V
m1

n
V
n
T
y I
d
I
q
I
dm
I
mq

1
V
1

m
V
m

m1
V
m1

n
V
n
T

2m2n
Note that y
b
y
g
y
l
T

1
V
1

m
V
m

m1
V
m1

n
V
n
T
are the 2n variables
solved for by the power flow equations (either Newton Raphson or post-processing)
With y
a
I
d1
I
q1
I
dm
I
qm
T
we can write y
y
a
y
b
or also y
y
a
y
g
y
l
We will use the general form
g :
7m

2m2n

2m2n
0 g x y
a
y
b
T
0
0

g
a x y
a
y
b
T
g
b x y
a
y
b
T
to denote the algebraic equations; g
a
denotes the stator equations; g
b
denotes the power flow
equations at the generator buses;
So for each generator we have g
ai
I
di
I
qi
i
V
i
E
di
V
i
sin(
i

i
) R
si
I
di
X
qi
I
qi
E
qi
V
i
cos(
i

i
) R
si
I
qi
X
di
I
di
,i 1, . . . , m
and for each generator bus we have
g
bi
I
di
I
qi
i
V
i
I
di
V
i
sin(
i

i
) I
qi
V
i
cos(
i

i
) P
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
cos(
i

k

ik
)
I
di
V
i
cos(
i

i
) I
qi
V
i
sin(
i

i
) Q
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
sin(
i

k

ik
)
i 1, . . . , m
and for each load bus we have
Sauer and Pai. 4
g
bi
I
di
I
qi
i
V
i
P
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
cos(
i

k

ik
)
Q
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
sin(
i

k

ik
)
, i m 1, . . . , n
Sauer and Pai. 5
8.2 Basic Linearization Technique
Taylor expansion of non-linear system around equilibrium point x
0
:
x f(x)
f(x
0
)
f
x
xx0
(x x
0
) h. o. t.
0 J(x
0
)(x x
0
) h. o. t.
where the Jacobian is defined as J(x
0
)
f
x
xx0
f1
x1
(x
0
)
f1
xn
(x
0
)
. ` .
fn
x1
(x
0
)
fn
xn
(x
0
)
Since x
0
const
d
dt
x
0
0 we can write
x x
0
J(x
0
)(x x
0
)
x J(x
0
)x
For the power system, we are linearizing both equations
x f x y
a
y
b
u
T
f
2ax x y
a
y
b
T
f
e
(u)
0 g x y
a
y
b
T
0
0

g
a x y
a
y
b
T
g
b x y
a
y
b
T
around the steady state equilibrium point x
0
x
0
y
a0
y
b0
u
0
T
The Jacobian then has 9 block matrices which are the Jacobians of the functions with respect to state
varaibales, algebraic variables and input variables.
J(x
0
)
f
x
f
ya
f
y
b
f
u
ga
x
ga
ya
ga
y
b
ga
u
g
b
x
g
b
ya
g
b
y
b
g
b
u
x0
f2ax
x
f2ax
ya
f2ax
y
b
fe
u
ga
x
ga
ya
ga
y
b
0
g
b
x
g
b
ya
g
b
y
b
0
x0
Sauer and Pai. 6
x J(x
0
)x
d
dt
.x
.y
a
.y
b
f2ax
x
f2ax
ya
f2ax
y
b
fe
u
ga
x
ga
ya
ga
y
b
0
g
b
x
g
b
ya
g
b
y
b
0
x0
.x
.y
a
.y
b
u
d
dt
.x
0
0
f2ax
x
f2ax
ya
f2ax
y
b
fe
u
ga
x
ga
ya
ga
y
b
0
g
b
x
g
b
ya
g
b
y
b
0
x0
.x
.y
a
.y
b
u
d
dt
.x
0
0
f2ax
x
f2ax
ya
f2ax
y
b
ga
x
ga
ya
ga
y
b
g
b
x
g
b
ya
g
b
y
b
x
0
y
a0
y
b0
T
.x
.y
a
.y
b
f
e
u
(u
0
)u
Here
g
b
y
b
denotes the power flow Jacobian of the steady state power flow equations. Define
J
LF

g
b
y
b
x
0
y
a0
y
b0
T
Define the Jacobian of the algebraic equations as
J
AE

D
11
D
12
D
21
J
LF
ga
ya
ga
y
b
g
b
ya
g
b
y
b
x
0
y
a0
y
b0
T
Define the matrices
A
f
2ax
x
x
0
y
a0
y
b0
T
B B
1
B
2

f2ax
ya
f2ax
y
b
x
0
y
a0
y
b0
T
C
C
1
C
2
ga
x
g
b
x
x
0
y
a0
y
b0
T
E
f
e
u
(u
0
)
Write
Sauer and Pai. 7
.x
0
0
A B
1
B
2
C
1
D
11
D
12
C
2
D
21
J
LF
.x
.y
a
.y
b
Eu
For internal stability we can neglect the input contribution Eu.
If J
AE
:
D
11
D
12
D
21
J
LF
is invertible, then we can eliminate the algebraic variables as follows:
x
0
0
A.x B
1
.y
a
B
2
.y
b
C
1
.x D
11
.y
a
D
12
.y
b
C
2
.x D
21
.y
a
J
FL
.y
b
x
0

A.x B.y
C.x J
AE
.y

J
AE
.y C.x
.y J
AE
1
C.x
x A.x BJ
AE
1
C.x (A BJ
AE
1
C)x
A
sys
x
Stability of the system thus can be predicted by the eigenvalues (A
sys
) of A
sys
(A BJ
AE
1
C) provided
that J
AE
1
exists and none of the eigenvalues is located on the imaginary axis, i.e. Re(A
sys
) 0.
(If Re((A
sys
)) 0 then the Theorem of Hartman-Grobman says, that the eigenvalues of the linear
system do not characterize the stability properties of the non-linear system even close to the
equilibrium point.)
Sauer and Pai. 8
Linearization of the Differential Equations of the Two-axis Model
Let us now determine matrices A, B, C, D and E for the two-axis model. We start with
d
i
dt

i

s
d
i
dt

T
Mi
M
i
E
qi
X
di
I
di
I
qi
M
i
E
di
X
qi
I
qi
I
di
M
i
D
i
(
i

s
)
M
i
dE
qi
dt

E
qi
T
doi

(X
di
X
di
)I
di
T
doi

E
fdi
T
doi
dE
di
dt

E
di
T
qoi
(X
qi
X
qi
)
I
qi
T
qoi
dE
fdi
dt

(K
Ei
S
Ei
(E
fdi
))
T
Ei
E
fdi

V
Ri
T
Ei
dV
Ri
dt

V
Ri
T
Ai
K
R
T
Ai
R
fi

K
Ai
K
Fi
T
Ai
T
Fi
E
fdi

K
Ai
T
Ai
(V
ref
i
V
i
)
dR
fi
dt

R
fi
T
Fi
K
Fi
T
Fi
2
E
fdi
x f x y
a
y
b
u
T
f
2ax x y
a
y
b
T
f
e
(u)
0 g x y
a
y
b
T
0
0

g
a x y
a
y
b
T
g
b x y
a
y
b
T
around the steady state equilibrium point x
0
x
0
y
a0
y
b0
u
0
T
Then for each generator we have
Sauer and Pai. 9
f
2axi
|x
i
, y
ai
, y
bi
]
T
f
2axi

i0

i0
E
iq0
E
di0
E
dfi0
V
Ri0
R
fi0
I
di0
I
qi0
V
i0
T
i

s
TMi
Mi
E
qi
X
di
I
di
Iqi
Mi
E
di
X
qi
Iqi I
di
Mi
Di (i s )
Mi
E
qi
T
doi

(X
di
X
di
)I
di
T
doi

E
fdi
T
doi
E
di
T
qoi
(X
qi
X
qi
)
Iqi
T
qoi
(KEi SEi (E
fdi
))
TEi
E
fdi

VRi
TEi
VRi
TAi
KR
TAi
KAi KFi
TAi TFi
E
fdi

KAi
TAi
(V
ref
i
V
i
)
R
fi
TFi
KFi
T
Fi
2
E
fdi
0 0
1
Mi
0
0 0
0 0
0 0
0
KAi
TAi
0 0
T
Mi
V
refi
i

s
E
qi
X
di
I
di
Iqi
Mi
E
di
X
qi
Iqi I
di
Mi
Di (i s )
Mi
E
qi
T
doi

(X
di
X
di
)I
di
T
doi

E
fdi
T
doi
E
di
T
qoi
(X
qi
X
qi
)
Iqi
T
qoi
(KEi SEi (E
fdi
))
TEi
E
fdi

VRi
TEi
VRi
TAi
KR
TAi
R
fi

KAi KFi
TAi TFi
E
fdi

KAi
TAi
(V
ref
i
V
i
)
R
fi
TFi
KFi
T
Fi
2
E
fdi
Sauer and Pai. 10
The A Matrix of the Two-axis Model
Then the Jacobian A
i
of the 2-axes dynamic equations f
2axi
|x
i
, y
ai
, y
bi
]
T
of generator i with respect to
the state variables x
i

i

i
E
iq
E
di
E
dfi
V
Ri
R
fi
evaluated at initial condition is
A
i

f
2axi
x
x
i0
y
ai0
y
bi0
T
f
2ax
x
i0

i0
E
iq0
E
di0
E
dfi0
V
Ri0
R
fi0
I
di0
I
qi0
V
i0
T
0 1 0 0 0 0 0
0
Di
Mi
Iqi0
Mi
I
di0
Mi
0 0 0
0 0
1
T
doi
0
1
T
doi
0 0
0 0 0
1
T
qoi
0 0 0
0 0 0 0 f
si
(E
fdi0
)
1
TEi
0
0 0 0 0
KAi KFi
TAi TFi
KR
TAi
1
TAi
0 0 0 0
KFi
T
Fi
2
0
1
TFi
A diag(A
1
, . . . , A
m
)
and the system matrix A is blockdiagonal.
The B Matrices of the Two-axis Model
The Jacobian B
1i
2axi
|x
i
, y
ai
, y
bi
]
T
of generator i with respect to the
stator algebraic variables y
ai

I
di
I
qi
B
1i

f
2axi
y
a
x
0
y
a0
y
b0
T
0 0
X
di
Iqi0
Mi
E
di0
X
qi
Iqi0
Mi
E
qi0
X
di
I
di0
Mi
X
qi
I
di0
Mi
(X
di
X
di
)
T
doi
0
0
Xqi X
qi
T
qoi
0 0
0 0
0 0
0 0
X
di
X
qi
Iqi0E
di0
Mi
X
di
X
qi
I
di0
E
qi0
Mi
(X
di
X
di
)
T
doi
0
0
Xqi X
qi
T
qoi
0 0
0 0
0 0
B
1
diag(B
11
, . . . , B
1m
)
Sauer and Pai. 11
The Jacobian B
2i
2axi
|x
i
, y
ai
, y
bi
]
T
of generator i with respect to the
power flow algebraic variables y
bi

i
V
i
B
2i

f
2ax
y
b
x
0
y
a0
y
b0
T
0 0
0 0
0 0
0 0
0 0
0
KAi
TAi
0 0
for i 1. . . m
B
2i

0 0
0 0
0 0
0 0
0 0
0 0
0 0
for i m 1. . . n
B
2
diag(B
21
, . . . , B
2n
)
The E Matrix of the Two-axis Model
The Jacobian of the input contribution E
i

fei
u
(u
i0
) of generator i with respect to the input variables
u
i
T
Mi
V
refi
T
is
E
i

0 0
1
Mi
0
0 0
0 0
0 0
0
KAi
TAi
0 0
E diag(E
1
, . . . , E
m
)
since f
ei
(u
i
) E
i
u
i
is linear.
The C Matrices of the Two-axis Model
The algebraic equations were developed as follows:
Sauer and Pai. 12
For components of V
g
g
ai
I
di
I
qi
i
V
i
E
di
V
i
sin(
i

i
) R
si
I
di
X
qi
I
qi
E
qi
V
i
cos(
i

i
) R
si
I
qi
X
di
I
di
, i 1, . . . , m
g
bi
I
di
I
qi
i
V
i
I
di
V
i
sin(
i

i
) I
qi
V
i
cos(
i

i
) P
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
cos(
i

k

ik
)
I
di
V
i
cos(
i

i
) I
qi
V
i
sin(
i

i
) Q
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
sin(
i

k

ik
)
for
i 1, . . . , m;
For components of V
l
g
bi
I
di
I
qi
i
V
i
P
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
cos(
i

k

ik
)
Q
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
sin(
i

k

ik
)
, i m 1, . . . , n
The Jacobian of the algebraic equations with respect to the state variables is
C
C
1
C
2
ga
x
g
b
x
x
0
y
a0
y
b0
T
C
1i

gai
x
x
i0
y
ai0
y
bi0
T
V
i0
cos(
i0

i0
) 0 0 1 0 0 0
V
i0
sin(
i0

i0
) 0 0 0 1 0 0
; i 1, . . . , m
C
2i

g
bi
x
x
i0
y
ai0
y
bi0
T
I
di0
V
0i
cos(
i0

i0
) I
qi0
V
i0
sin(
i0

i0
) 0 0 1 0 0 0
I
di0
V
i0
sin(
i0

i0
) I
qi0
V
i0
cos(
i0

i0
) 0 0 0 1 0 0
; i
C
1
diag(C
11
, . . . , C
1m
)
C
2
diag(C
21
, . . . , C
2m
)
The D Matrices of the Two-axis Model
Finally we determine the Jacobian of the algebraic equations as
J
AEi

D
11i
D
12i
D
21i
J
LFi
gai
ya
gai
y
b
g
bi
ya
g
bi
y
b
x
i0
y
ai0
y
bi0
T
With
Sauer and Pai. 13
g
ai
I
di
I
qi
i
V
i
E
di
V
i
sin(
i

i
) R
si
I
di
X
qi
I
qi
E
qi
V
i
cos(
i

i
) R
si
I
qi
X
di
I
di
D
11i

ga
ya
R
si
X
qi
X
di
R
si
D
11
diag D
11 1
, . . . , D
11 m
For components of V
g
, i.e. i 1. . . m
D
12i

ga
y
b
x
i0
y
ai0
y
bi0
T
V
i0
cos(
i0

i0
) sin(
i0

i0
)
V
i0
sin(
i0

i0
) cos(
i0

i0
)
For components of V
l
, i.e. i m 1. . . n
D
12i

ga
y
b
x
i0
y
ai0
y
bi0
T
0 0
0 0
D
12
diag D
12 1
, . . . , D
12 n
and we define D
2
diag D
12 1
, . . . , D
12 m
We introduce separate notation for the first and second row of the load flow equations as
g
1gi
g
2gi
and
g
1li
g
2li
For the generator buses i 1, . . . , m we have:
g
bi
I
di
I
qi
i
V
i
g
1gi
g
2gi
I
di
V
i
sin(
i

i
) I
qi
V
i
cos(
i

i
) P
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
cos(
i

k

ik
)
I
di
V
i
cos(
i

i
) I
qi
V
i
sin(
i

i
) Q
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
sin(
i

k

ik
)
and for the load buses i m 1, . . . , n
Sauer and Pai. 14
g
bi
I
di
I
qi
i
V
i
g
1li
g
2li
P
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
cos(
i

k

ik
)
Q
Li
(V
i
)
k1
n
V
i
V
k
Y
ik
sin(
i

k

ik
)
Then
D
21i

g
b
ya
x
i0
y
ai0
y
bi0
T
V
i0
sin(
i0

i0
) V
i
cos(
i0

i0
)
V
i
cos(
i

i0
) V
i
sin(
i0

i0
)
for i 1, . . . , m
D
21
D
3
diag D
21 1
, . . . , D
21 n
Up to now, all Jacobians were determined as block diagonal matrices, where behavior at bus i depends
only on the variables at bus i. This is not true for the power flow equations where the voltage at bus i
depends on all other voltages at bus k, k 1, . . . , n .
The D
22
matrix of the Two-axis Model - the Load Flow Jacobian
We thus need to establish the load flow Jacobian as a full matrix for the whole system (instead of
constructing it of block-diagonal matrices, one block for each bus). We are going to determine its
elements separately for the generator and load voltages. Thus the order of matrix elements is not the
same as in standard steady state load flow literature!
Recall that we rewrote y
b
V
g
V
l
T
with
V
g

1
V
1

m
V
m
T
and V
l

m1
V
m1

n
V
n
T
and thus y
b

1
V
1

m
V
m

m1
V
m1

n
V
n
Then
J
LF
D
22

g
b
y
b
x
0
y
0
V
g0
V
l0
T
g1g
Vg
g1g
V
l
g2g
Vg
g2g
V
l
g
1l
Vg
g
1l
V
l
g
2l
Vg
g
2l
V
l
Sauer and Pai. 15
with D
4

g1g
Vg
g2g
Vg
g1g1
1
g1g1
V1
g1g1
m
g1g1
Vm
. . ` . .
g1gm
1
g1gm
V1
g1gm
m
g1gm
Vm
g2g1
1
g2g1
V1
g2g1
m
g2g1
Vm
. . ` . .
g2gm
1
g2gm
V1
g2gm
m
g2gm
Vm
D
5

g1g
V
l
g2g
V
l
g1g1
m1
g1g1
Vm1
g1g1
n
g1g1
Vn
. . ` . .
g1gm
m1
g1gm
Vm1
g1gm
n
g1gm
Vn
g2g1
m1
g2g1
Vm1
g2g1
n
g2g1
Vn
. . ` . .
g2gm
m1
g2gm
Vm1
g2gm
n
g2gm
Vn
D
6

g
1l
Vg
g
2l
Vg
g
1lm1
1
g
1lm1
V1
g
1lm1
m
g
1lm1
Vm
. . ` . .
g
1l n
1
g
1l n
V1
g
1l n
m
g
1l n
Vm
g
2lm1
1
g
2lm1
V1
g
2lm1
m
g
2lm1
Vm
. . ` . .
g
2l n
1
g
2l n
V1
g
2gl n
m
g
2l n
Vm
D
7

g
1l
V
l
g
2l
V
l
g
1lm1
m1
g
1lm1
Vm1
g
1lm1
n
g
1lm1
Vn
. . ` . .
g
1ln
m1
g
1ln
Vm1
g
1ln
n
g
1ln
Vn
g
2lm1
m1
g
2lm1
Vm1
g
2lm1
n
g
2lm1
Vn
. . ` . .
g
2ln
m1
g
2ln
Vm1
g
2ln
n
g
2ln
Vn
Note: Equations to be completed, see also Sauer and Pai p. 228-230.
Thus J
LF

D
4
D
5
D
6
D
7
We thus have identified all matrices for the linearization and thus
Sauer and Pai. 16
.x
0
0
A B
1
B
2
C
1
D
11
D
12
C
2
D
21
J
LF
.x
.y
a
.y
b
E
0
0
u
A.x B
1
.y
a
B
2
.y
b
C
1
.x D
11
.y
a
D
12
.y
b
C
2
.x D
21
.y
a
J
FL
.y
b
E
0
0
u
Typesetting issues do not permit to print out the entire system matrix.
Linearized two-axis model with separation of generator and load voltages.
Note that for the calculation of D
ij
we have distinguished generator buses and load buses.
If we use
V
g

1
V
1

m
V
m
T
and V
l

m1
V
m1

n
V
n
T
and rewrite
y
b
V
g
V
l
T
Since
A B
1
B
2
C
1
D
11
D
12
C
2
D
21
J
LF
.x
.y
a
.y
b
A.x B
1
.y
a
B
2
.y
b
C
1
.x D
11
.y
a
D
12
.y
b
C
2
.x D
21
.y
a
J
FL
.y
b
wrting the equations in terms of V
g
V
l
T
requires separation of matrices B
2
, D
12
and D
22
.
We rename I
g
y
a
and D
1
D
11
. The our goal is to have the following structure:
.x
0
0
0
A B
1
B
2
0
C
1
D
1
D
2
0
C
2
D
3
D
4
D
5
0 0 D
6
D
7
.x
.I
g
.V
g
.V
l
E
0
0
0
u :
We note that B
2
does not depend on the load voltages and thus has non-zero entries for the generator
voltage magnitude positions. It is thus partioned into
B
2
.y
b
B
2
y
b
B
2
0
V
g
V
l
where 0 denotes the zero-matrix.
For the D matrices we already had computed the blocks separately for V
g
and V
l
.
We thus have the following linearization:
Sauer and Pai. 17
.x
0
0
0
A.x B
1
.I
g
B
2
.V
g
Eu
C
1
.x D
1
.I
g
D
2
.V
g
C
2
.x D
3
.I
g
D
4
.V
g
D
5
.V
l
D
6
.V
g
D
7
.V
l
Since D
1
is invertible, we solve the second equation for .I
g
.I
g
D
1
1
C
1
.x D
1
1
D
2
.V
g
and elimiate .I
g
from the first and third equation
.x
0
0
A.x B
1
(D
1
1
C
1
.x D
1
1
D
2
.V
g
) B
2
.V
g
Eu
C
2
.x D
3
(D
1
1
C
1
.x D
1
1
D
2
.V
g
) D
4
.V
g
D
5
.V
l
D
6
.V
g
D
7
.V
l
(A B
1
D
1
1
C
1
).x (B
2
B
1
D
1
1
D
2
).V
g
Eu
(C
2
D
3
D
1
1
C
1
).x (D
4
D
3
D
1
1
D
2
).V
g
D
5
.V
l
D
6
.V
g
D
7
.V
l
(A B
1
D
1
1
C
1
).x (B
2
B
1
D
1
1
D
2
).V
g
Eu
K
2
.x K
1
.V
g
D
5
.V
l
D
6
.V
g
D
7
.V
l
with constant matrices defiend as follows: K
1
D
4
D
3
D
1
1
D
2
and K
2
C
2
D
3
D
1
1
C
1
.
Sauer and Pai. 18
8.3. PARTICIPATION FACTORS
Goal: Construct reduced-order models for dynamic stability studies by retaining only a few
"important" modes identified through sensitivity analysis, called Participation Factor analysis.
Let the linear system be given
x Ax
Av
i

i
v
i
w
i
T
A w
i
T
i
Here
i
, i 1, . . . n are the eigenvalues of A;
v
i
is the right eigenvector for
i
w
i
the left eigenvector for
i
Define participation factor p
ki
p
ki

i
a
kk
a
kk
is a diagonal entry in the system A matrix
We show that the participation factor can also be computed as
p
ki

w
ki
v
ki
w
i
T
v
i
where w
ki
and v
ki
are the k
th
entries in the left and right eigenvector
Perturbe matrix elements of A by small amount A and let (A
i
I)v
i
0 and w
i
T
(A
i
I) 0
Then
(A .A)(v
i
.v
i
) (
i
.
i
)(v
i
.v
i
)
Av
i
.Av
i
Av
i
Av
i

i
v
i
.
i
v
i

i
v
i

i
v
i
Neglecting the second-order terms .A.v
i
and .
i
.v
i
.Av
i
Av
i

i
v
i
.
i
v
i
(A
i
)v
i
.Av
i
.
i
v
i
w
i
T
(A
i
)v
i
w
i
T
.Av
i
w
i
T
.
i
v
i
w
i
T
.Av
i
.
i
w
i
T
v
i
Assume
.A
0 0 0
0 .a
kk
0
0 0 0
Then
Sauer and Pai. 19
w
i
T
.Av
i
w
ki
.a
kk
v
ki
.
i
w
i
T
v
i
.
i
.a
kk
w
ki
v
ki
w
i
T
v
i
p
ki
QED
Sauer and Pai. 20

Chapter 8 Small-Signal Stability: 8.1 Background

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ECEP 610 Lecture 8 Week 9

Chapter 8 SMALL-SIGNAL STABILITY

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