Professional Documents
Culture Documents
#1
STABILITY STUDIES
Power Research & Development Consultants Pvt Ltd.
Power Research & Development Consultants Pvt Ltd
#2
Voltage stability
Rotor angle stability
Study period: 0-10 sec
Mid-term/long-term stability
Study period: seconds to several
minutes
(slow dynamics)
Small signal stability
Non-oscillatory
Insufficient synchronizing torque
Oscillatory
Unstable control action
Transient stability
Large disturbance
(First swing)
Stability
Power Research & Development Consultants Pvt Ltd
#3
Power System Operating States
f, v, loading acceptable,
load met,
n-1 or n-2 contingency acceptable
f, v, loading acceptable
load met
n-1 or n-2 contingency
not satisfied
f, v, loading not
acceptable,
load not met
Normal
Alert Restorative
Cascaded
system
syste
m
In Extremis Emergency
Power Research & Development Consultants Pvt Ltd
#4
Control Hierarchy
Pool control centre
System control centre
To other system To other system To other system
Transmission system Power plant
DS DS DS
G G
G
DS: Distribution System
G : Generator
Power Research & Development Consultants Pvt Ltd
#5
Power System Subsystem & Controls
f P
tie
P
gtotal
Schedule
System generation control
Load frequency control with
economic allocation
Other generating units
and associated controls
Generating units control
Prime mover & control
Excitation system &
control
Generator
f/N or
P
g
V
t
I
f
P
m
f/N
Transmission Controls
Reactive power, Voltage control,
HVDC transmission and others
P
g
f P
tie
P
g.total
Power Research & Development Consultants Pvt Ltd
#6
Power System Stability
Ability of a power system to remain in synchronism.
Classification of transients : Electromagnetic and Electromechanical
S Stability classification
- Transient stability : Transmission line faults, sudden load change, loss of
generation, line switching etc.
- Dynamic stability : Slow or gradual variations. Machine, governor-Turbine,
Exciter modeling in detail.
- Steady state stability : Changes in operating condition. Simple model of
generator.
Power Research & Development Consultants Pvt Ltd
#7
R Transient Stability
First swing stability problem
Multi-swing stability problem. (normal size)
Stable
Unstable
Stable
Unstable
t Sec. t Sec.
t sec.
t Sec.
m
2
m
2
m
1
m
1
o
0
o
0
o
0
o
0
Power Research & Development Consultants Pvt Ltd
#8
A Assumptions :
1 Synchronous speed current and voltage are
considered.
2 DC off set currents, harmonics are neglected.
Symmetrical components approach.
4 Generated voltage is independent of machine speed.
5 Circuit parameters are constant at nominal system
frequency. (Frequency variation of parameter
neglected).
Power Research & Development Consultants Pvt Ltd
#9
Steady State Stability
Stable Unstable
Stable
Unstable
Power Research & Development Consultants Pvt Ltd
#10
J : Moment of inertia of rotor masses (kg-mt
2
)
u
m
: Angular displacement of rotor w.r.t. a stationary axis
(mechanical radians)
t : Time (seconds)
T
m
: Mechanical or Shaft Torque ( N-m )
T
e
: Net electrical torque (N-m )
T
a
: Net accelerating torque (N-m)
For generator, T
m
and T
e
are +ve.
Mechanical Equation :
J
d
d t
T T T N m
m
a m e
*
2
2
u
= =
Power Research & Development Consultants Pvt Ltd
#11
Reference Axis
Stationary
u
m
Reference axis at
e
sm
c
sm
e
sm
Rotor axis at rotor
speed
u e o
m sm m
t = +
o
m
: Angular displacement of the rotor in mechanical radians.
Power Research & Development Consultants Pvt Ltd
#12
d
dt
d
dt
d
dt
d
dt
J
d
dt
T T N m
d
dt
Angular velocityinradians per
J
d
dt
P P watts
M
d
dt
P P Approx
m
sm
m
m m
m
m e
m
m
m
m
m e
m
m e
u
e
o
u o
o
e
u
e
o
o
= +
=
=
=
=
=
2
2
2
2
2
2
2
2
2
2
sec.
( )
Where M : Inertia constant = at synchronous speed in Joules-sec per
mechanical radian.
Power Research & Development Consultants Pvt Ltd
#13
H Constant is defined as the ratio of stored Kinetic Energy in Mega Joules at
synchronous speed and machine rating in MVA
=
sm
e m
m
sm
e m
m
sm
sm sm
P P
dt
d HS
watts P P
dt
d
M
radian mechanical per MJ
S H
M
MVA MJ
S
M
S
J
H
=
=
=
= =
2
2
2
2
2
2
2
/
2
1
2
1
o
=
o
e
e =
Power Research & Development Consultants Pvt Ltd
#14
e m
s
e m
m
sm
e m m
sm
P P
dt
d H
pu P P
dt
d H
S
P P
dt
d H
=
=
=
2
2
2
2
2
2
2
2
2
o
e
o
e
o
e
Power Research & Development Consultants Pvt Ltd
#15
H
f
d
dt
P P pu SwingEquation
If inelectrical d rees
H
f
d
dt
P P pu
H d
dt
P P
d
dt
Let P P pu
H d
dt
pu
H
t
If t H
m e
m e
s
m e s
m e
s
s
s
t
o
o
o
e
e o
e e
e
e
e
e
e e
2
2
2
2
180
2
1
2
1
2
2
=
=
= =
=
= =
= =
deg
,
,
A A
A A
Power Research & Development Consultants Pvt Ltd
#16
P
m
P
e
= 1 pu
At t = 0, breaker is opened.
Initially Pe = 1 pu on machine rating Pm = 1pu and kept
unchanged.
In 2H seconds, the speed doubles.
Power Research & Development Consultants Pvt Ltd
#17
H
Stored KE
Machine Rating
H Machine Rrating H systemMVA
H H
Machine rating
System MVA
mech system
system mech
=
=
=
Inertia constant (H) is in the range 2 - 9 for various
types of machines. Hence H-constant is usually
defined for machine.
Power Research & Development Consultants Pvt Ltd
#18
Relation between H constant and Moment of Inertia is given by:
machine
S
N WR
H
Watts lb f t
lb f t
N WR
KE
f eet in gyration of Radius R
pounds in part rotational of Weight W
f t lb
WR
Inertia of Moment
6
2
2
2
2
2
2
10
550
746
60
2
2 . 32 2
1
746 sec / 550
60
2
2 . 32 2
1
:
:
2 . 32
=
=
=
=
t
t
Power Research & Development Consultants Pvt Ltd
#19
Example :
S
mach
= 1333 MVA
WR
2
= 5820000 lb - ft
2
N = 1800 RPM
1333
60
1800 2
2 . 32
5820000
2
1
10
550
746
2
6
(
=
t
H
= 3.2677575 pu (MJ/ MVA)
On 100 MVA base : H = 1333 / 100 = 43.56 (MJ / MVA)
Power Research & Development Consultants Pvt Ltd
#20
G
1
,H
1
P
e1
P
m1
G
2
,H
2
P
m2
P
e2
H
f
d
dt
P P
m e
1
2
1
2
1 1
t
o
=
2 2
2
2
2
2
e m
P P
dt
d
f
H
=
o
t
( )
( ) ( )
H H
f
d
dt
P P P P
m m e e
1 2
2
2
1 2 1 2
+
(
= + +
t
o
Power Research & Development Consultants Pvt Ltd
#21
o
1
= o
2
= o ; since the machines swing together
( ) Pe P
t d
d
f
H
m
=
2
2
o
t
H = H
1
+ H
2
P
m
= P
m1
+ P
m2
P
e
= P
e1
+ P
e2
G
1
and G
2
are called coherent machines.
Inertia Constant
H
Storedenergyat rated speed inMWs
MVArating
=
Power Research & Development Consultants Pvt Ltd
#22
| |
| |
( )
(
=
=
=
=
=
rating MVA
RPM J
rating MVA
J
H
RPM radian mechanical in speed Rated
m kg in inertia of Moment J
MWs J
watts J
energy Kinetic energy Stored
om
om
om
om
2
9
6 2
2
6 2
2
10 48 . 5
10
2
1
60
2
sec / :
:
10
2
1
2
1
e
t
e
e
e
MKS system
Power Research & Development Consultants Pvt Ltd
#23
2
2
2 2
356 . 1
2 . 32
) (
m kg
WR
J
f t lb gyration of radius of square part rotating of Weight WR
=
=
British units
Given
Power Research & Development Consultants Pvt Ltd
#24
Example
J
WR
kg mt
H
J RPM
MVArating
MWs MVA
Stored energy
H MVArating MWs
Mechanical starting time
H onds
= =
= =
= =
= =
2
2
6
2
32 2
1356 27547 77168
548 10
2
.
. .
.
( )
/
sec
MVA rating : 555
WR
2
: 654158 lb-ft
2
Power Research & Development Consultants Pvt Ltd
#25
Typical values
Unit Type
H Constant
Hydraulic unit
2 to 4
Thermal unit
2 pole - 3600 RPM
2.5 to 6
4 pole - 1800 RPM
4 to 10
Non coherent machines
H
f
d
dt
Pm Pe
1
2
1
2
1 1
t
o
=
| |
d
dt
f
H
P P
m e
2
1
2
1
1 1
o t
=
H
f
d
dt
P P
m e
2
2
2
2
2 2
t
o
=
| |
d
dt
f
H
P P
m e
2
2
2
2
2 2
o t
=
Power Research & Development Consultants Pvt Ltd
#26
( ) ( )
( )
( ) ( ) ( )
( )
( ) ( )
( )
d
dt
f
H
P P
f
H
P P
f
d
dt
H P P P P H
H H
H H
H H f
d
dt
H
H H
P P
H
H H
P P
H H
H H f
d
dt
H P H P
H H
H P H P
H H
H
m e m e
m e m e
m e m e
m m
e e
2
2
1 2
1
1 1
2
2 2
2
1 2
2
2 1 1 2 2 1
1 2
1 2
1 2
2
1 2
2
2
1 2
1 1
1
1 2
2 2
1 2
1 2
2
1 2
2
2 1 1 2
1 2
2 1 1 2
1 2
1
1
1
o o
t
t
t
o o
t
o o
t
o o
=
=
+
=
+
+
+
=
+
+
t
o
f
d
dt
P P
Where
H
H H
H H
P
H P H P
H H
P
H P H P
H H
m e
m
m m
e
e e
=
=
+
=
+
=
+
2
12
2
12 12
1 2
1 2
12
2 1 1 2
1 2
12
2 1 1 2
1 2
,
Relative swing (with reference to one machine) is more important, rather than
absolute swing.
Power Research & Development Consultants Pvt Ltd
#27
Swing curves
Relative Plot (o
i
-o)
Absolute Plot
o
1
o
o
o
2
o
3
o
4
o
3
o
2
o
0
o
1
T in sec.
T in sec.
Relative swing (with reference to one machine) is more important, rather than
absolute swing.
Power Research & Development Consultants Pvt Ltd
#28
Classical model : (Type 1)
Constant voltage behind transient reactance.
I
E = V
t
+ (0 + jx
d
) I
E
V
t
jx
d
I
Ref.
V
t
I
E
jx
d
+
-
Power Research & Development Consultants Pvt Ltd
#29
Power angle equation jX
s
jX
s
E
2 2
Zo
E
1 1
Zo
P
E E
X
s
=
1 2
sino
E
1
: Magnitude of voltage at bus1
E
2
: Magnitude of voltage at bus2
o : o
1
- o
2
X
s
: Reactance
Power Research & Development Consultants Pvt Ltd
#30
Machine Parameters
Synchronous : Steady state, sustained.
Transient : Slowly decaying
Sub-transient : Rapidly decaying
E=?
X=?
X X X X X
T T
T T
d q q q d
d do
qo qo
> > > >
>
>
' " "
' "
' "
0
Power Research & Development Consultants Pvt Ltd
#31
Parameter
Hydraulic (pu)
Thermal (pu)
x
d
0.6 - 1.5
1.0 - 2.3
x
q
0.4 - 1.0
1.0 - 2.3
x
d
0.2 - 0.5
0.15 - 0.4
x
q
-------
0.3 - 1.0
x
d
0.15 - 0.35
0.12 -0.25
x
q
0.2 - 0.45
0.12 -0.25
T
d0
1.5 - 9.0 s
3.0 -10.0 s
T
q0
-------
0.5 - 2.0 s
T
d0
0.01 - 0.05 s
0.02 - 0.05 s
T
q0
0.01 - 0.09 s
0.02 - 0.05 s
R
a
0.002 - 0.02
0.0015 - 0.005
Typical values
Power Research & Development Consultants Pvt Ltd
#32
Stability
Stable
- At o
s
; P
m
= P
e
; net accelerating torque = 0.
- Let P
e
decrease slightly.
-
o increase (acceleration)
o comes back to original position.
- Stable region . Hence o
s
is stable operating point.
ve is P P
dt
d
f
H
e m
+ =
2
2
o
t
P
Pm
mm
m
O
Pe=Pmax sino
ou
o
90
0
os 180
0
Power Research & Development Consultants Pvt Ltd
#33
Unstable
- At o
u
; Pm = Pe ; Net accelerating torque = 0 ,
- Let P
e
decrease slightly.
-
o increases, (acceleration)
- P
e
further decreases.
- Chain reaction o never comes back to normal value
.
Hence o
u
is unstable operating point.
ve is P P
dt
d
f
H
e m
+ =
2
2
o
t
Power Research & Development Consultants Pvt Ltd
#34
Infinite bus
Generator connected to infinite bus.
- High inertia. H >> compared to other machines in the system.
- Frequency is constant.
- Low impedance. X
d
is very small.
- E is constant and V
t
is fixed.
- Infinite fault level symbol.
System
Power Research & Development Consultants Pvt Ltd
#35
Example :
200 MW
1.05 pu V
250 MVA
250 MVA
Slack bus
1 pu - V
H = 3.2 , Z = 10% on own rating , X
d
1
= 25% , tap = 1, R
a
= 0.0 and neglect
R.
1. Establish the initial condition.
2. Perform the transient stability without disturbance.
3. Open the transformer as outage & do the study.
4. How long the breaker can be kept open before closing, without
loosing synchronism.
Power Research & Development Consultants Pvt Ltd
#36
Load Modelling
Load
Load
11 kV
Switched
Capacitor
132/110 kV
Power Research & Development Consultants Pvt Ltd
#37
- Vary the tap.
- Switch on the capacitor.
- Determine the response (charge) in load.
- Compute the parameters.
P = P
0
(C
P
+ C
I
. V + C
Z
. V
2
) ( 1+K
f
. f)
- P varies with time, voltage and frequency.
- P
0
varies with time - can be constant at a given time of a day.
- C
P
, C
I
, C
Z
& K
f
are constants.
- V & f are known at any time instant.
- P is known from measurements.
- Solve the non linear problem over a set of measurements.
f
o
P
o
frequency
P
o
w
e
r
Power Research & Development Consultants Pvt Ltd
#38
Let the load be 10,000 MW. i.e. P
0
= 10,000
Let for 1 Hz change in frequency, let the load change be 700
MW.
5 . 3
50
1
100
7
: 100 , ;
% 7
000 , 10
700
700
1
700
) (
) ( 700
= =
A
=
=
=
= A
p
f
p
f
p
f o o
p
f o
C
base MVA on then f requency in change unit per the is f pu in is P If
C
number power C f f P
load in decrease C f P
What it implies :
- Initial load 10,000 MW.
- Loss of generation 700 MW
- Increase in load 700 MW
- Frequency 49 Hz.
Power Research & Development Consultants Pvt Ltd
#39
Load model paraters
Measurement based approach
Input: Connected load
Measurement: P,V, f over a period
Out put: Parameters
Component based approach
Industrial
Commercial
residential
Agricultural
Load model Parameters
Power Research & Development Consultants Pvt Ltd
#40
Component
pf
cP/cV
cQ/cV
cP/cf
cQ/cf
Air conditioner
3 p central heating
0.90
0.088
2.5
0.98
-1.3
Arc furnace
0.7
2.3
1.6
-1.0
-1.0
Industrial Motors
0.88
0.07
0.5
2.5
1.2
Agricultural pumps
0.85
1.4
1.4
5.0
4.0
Residential
Summer
0.9
1.2
2.9
0.8
-2.2
winter
0.99
1.5
3.2
1.0
-1.5
Commercial
summer
0.85
0.99
3.5
1.2
-1.6
winter
0.9
1.3
3.1
1.5
-1.1
Industrial
0.85
0.18
6.0
2.6
1.6
Power plant
0.8
0.1
1.6
2.9
1.8
Power Research & Development Consultants Pvt Ltd
#41
Transducer
Regulator
Exciter Generator
Limiter + relay
PSS
Excitation System Components
Ref.
Controller
Regulator
Power
amplifier
(Exciter)
Plant
Feedback elements
Block Schematic
E
t E
fd
V
tr
V
er
V
ref
Power Research & Development Consultants Pvt Ltd
#42
R Reactive Power Control
- Synchronous generators
- Overhead lines / Under ground cables
- Transformers
- Loads
- Compensating devices
Power Research & Development Consultants Pvt Ltd
#43
C Control devices:
Sources /Sinks --- Shunt capacitor, Shunt inductor
(Reactor), Synchronous condenser, and SVC.
Line reactance compensation --- Series capacitor
Transformer -----OLTC, boosters
Power Research & Development Consultants Pvt Ltd
#44
Speed governor systems :
AGC
Speed
changer
Speed
Governor
Valve
/gate
Electrical
System
Energy Supply
steam or water
Turbine
Generator
Speed
Tie line Power
Frequencies
Power Research & Development Consultants Pvt Ltd
#45
Types of Control :
Primary Control : Governor action
Secondary Control : AGC, load frequency control (For selected generators)
1/R 1
1
+
T
T
ws
ws
1
T K
ms D
+
speed
Turbine
Droop(Goveror)
Generator
+
-
Speed
Ref.