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9/2/06 EE532 Lecture 3(Ranade) 1
EXPERT SYSTEMS AND SOLUTIONS

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PAIYANOOR, OMR, CHENNAI
Call For Research Projects Final
year students of B.E in EEE, ECE, EI,
M.E (Power Systems), M.E (Applied
Electronics), M.E (Power Electronics)
Ph.D Electrical and Electronics.
Students can assemble their hardware in our
Research labs. Experts will be guiding the
projects.
EE532
Power System Dynamics and
Transients
Satish J Ranade
Classical Analysis
Numerical Solution & Multi-machine
Systems
Lecture 5
EUMP Distance Education Services
First swing stability-Numerical Solution
A generator connected to an infinite bus through a line.
Initially Pm=Pe
Pm Pe
jXL
+
E/
Pe
jXd
V/0
Fixed (Infinite Bus)
Pm
Stability is governed by the Swing Equation
d
2
/dt
2
= (f/H) (Pm-Pe)
d /dt = -syn
Pe = E V sin () /(X+XL)
Swing Equation
Power Angle
Equation
Nonlinear ODE in state variable form
d /dt = (f/H) (Pm-Pmax sin )
d /dt = -syn
Pmax=EV/(Xd+XL)
Usually cannot get a closed form solution
Numerical solution find (t) and (t)
d /dt = -syn
tn-2 tn-1 tn t
n n-1
n-2
Step size
Divide time into intervals
tn-2,tn-1,tn,
Predict n from n-1,
n-2,
Numerical solution find (t) and (t)
d /dt = -syn
tn-1 tn-2 tn+1 t
n-1
Euler Method
Uniform time step h
n = n-1+ h d/dt|
t=tn-1
h
d/dt|
t=tn-1
First swing stability-Equal Area Criterion
Application
1. Establish initial conditions
2. Define sequence of events and network
for each event
3. Develop Power angle curves
4. Apply EAC
First swing stability-Equal Area Criterion
Example 1
Stability under small change in mechanical power
A 10 MVA, 0.8 pf lagging, 4160 V, 60Hz, three-phase
generator supplies 50% rated power at .8 pf lagging
to a 4160 V infinite bus.
Determine if the generator is first-swing stable if the
prime mover power is increased by 10%
jXL
+
E/
Pe
jXd
V/0
Pm
S
First swing stability-Numerical Solution-Small change in Pm
f 60 : syn 2 f : H 2 : sec D 0 :
Pe delta ( ) 2.828 sin delta ( ) :
0
377 :
rad
s

0
8.133deg : h .001 :
Pm n ( ) .4 n h .1 < if
.44 otherwise
:
pu
n 1 2 , 1000 .. :
n
|
.
`
n 1
n 1
|
.
`
,
h

f
H
.
`
,
Pm n ( ) Pe
n 1
( ) D
n 1
syn ( )
]
]
n 1
syn
]
]
]
]
+ :
0 200 400 600 800 1000
8
9
10
n
deg
n
0 200 400 600 800 1000
376.6
376.8
377
377.2
377.4
n
n
0 200 400 600 800 1000
8
9
10
n
deg
n
0 200 400 600 800 1000
376.6
376.8
377
377.2
377.4
n
n
Pm
Pe
P
o
A
Pm1
C
E
2 x
0 1 2 3 4
0
0.5
1
1.5
2
2.5
3
Pe
( )
Pm
Pm1
Guess
2
10deg :
Given
2
Pm1 Pe
( )
( )
]
]
]
]
]
0
Find
2
( )
9.77 deg
x asin
Pm1
Pmax
|
.
`
,
:
x 8.949deg
Remember
0
8.13 deg :
EAC
Equal Area Criterion-Small change in mechanical power
0 200 400 600 800 1000
8
9
10
n
deg
The EAC in the previous slide says angle swings to 9.77 deg
and then swings back
Oscillates around the new equilibrium of 8.949 deg
( Step size of 0.001 is a little big oscillation is growing
Due to numerical instability)
Effect of Damping Damper windings provide relative speed
damping. Other effects provide absolute damping.
This will make swing settle
0 200 400 600 800 1000
8
8.5
9
9.5
n
deg
n
0 200 400 600 800 1000
376.9
377
377.1
n
n
Swing equation with relative speed damping
d /dt = (f/H) (Pm-Pmax sin -D (- syn)
First swing stability-Numerical Solution-Fault
Example 2-Fault
1
2
3
The infinite bus receives 1 pu real power at 0.95 power
factor lagging
A fault at bus 3 is cleared by opening lines from 1-3 and 2-3
when the generator power angle Reaches 40 deg.
Is the system first swing stable?
Example 2-Fault
Pm
Pe
P
o
m
cl
0 ]d ) sin( 14 . 2 [Pm ]d ) sin( 915 . 0 [Pm
m
cl
cl
0
+

Apply EAC
f 60 : syn 2 f : H 3 : sec D 0. :
Pe delta ( ) 2.828 sin delta ( ) :
0
377 :
rad
s

0
23.946deg : h .001 :
Pm n ( ) 1 :
Pe delta n , ( ) 2.4638sin delta ( ) ( ) n h .1 < if
0.915 sin delta ( ) ( ) .1 n h .2 < if
2.1353 sin delta ( ) ( ) otherwise
:
n 1 2 , 1000 .. :
n
|
.
`
n 1
n 1
|
.
`
,
h

f
H
.
`
,
Pm n ( ) Pe
n 1
n , ( ) D
n 1
syn ( )
]
]
n 1
syn
]
]
]
]
+ :
0 200 400 600 800 1000
0
20
40
60
n
deg
n
0 200 400 600 800 1000
370
375
380
385
n
n
Equal Area Criterion
Example 2-Fault
Pm
Pe
P
o
m
cl
23.95 40 55
55
40
24
Rotor swings to 55 degrees then swings back- STABLE
First swing stability-Numerical Solution-Fault t>trict=.35
0 200 400 600 800 1000
0
200
400
600
n
deg
n
0 200 400 600 800 1000
360
380
400
420
n
n
Example 2-Fault
Pm
Pe
P
o
m
cl
23.95 40 55
156
120
24
Rotor swings past 156 degrees UN STABLE
Example 2-Fault- Critical Clearing
Pm
Pe
P
0 1
m=- 1 cl=112.9
23.95
156
112
24
Rotor swings past 156 degrees UN STABLE
Stability of Numerical Solutions
Can become unstable due to
Roundoff
Approximation
tn-1 tn-2 tn+1 t
n-1
h
d/dt|
t=tn-1
Approximation Error
Can control
Roundoff ( Reduce airthmetic operations)
Approximation(Use more advanced method, but will increase arithmetic operations)

Need to chose a reasonable step size ( or adaptively vary step size)
Numerical stability Means the the global error remains bounded
(See Crows Text for EE531/ Also see Kundur)
For the small change in Pm(Example 1) Euler
is unstable even with h=.001
0 2 4 6 8 10
6
8
10
12
11.846
6.136
n
deg
10
1 10
3
n h
n
n h
Note x- axis units: n h = time in seconds
Additional Methods
Taylor Series-based
See Crow Text
... ) t t (
2
1
) t t ( ) t ( x ) t ( x
) t ), t ( x ( f : ODE
2
n
2
n
n
dt
) t ( x d
n 1 n dt
) t ( dx
n 1 n n 1 n
n n dt
) t ( dx
+ + +
+ + +
First order approximation gives the Euler method
Additional Methods
Taylor Series-based Second Order

... ) t t (
2
1
) t t ( ) t ( x ) t ( x
) t ), t ( x ( f : ODE
2
n
2
n
n
dt
) t ( x d 2
n 1 n dt
) t ( dx
n 1 n n 1 n
n n dt
) t ( dx
+ + +
+ + +
)) t ), t ( x ( f ) t ), t ( x ( f (
2
1
) t t ( ) t ( x ) t ( x
) t t /( )] t ), t ( x ( f ) t ), t ( x ( f [
n n 1 n 1 n n 1 n n 1 n
n 1 n n n 1 n 1 n
dt
) t ( x d
2
n
2
+ +

+ + + +
+ + +
Approximate the second derivative to get a second order
method
Additional Methods
Taylor Series-based Second order method

)) t ), t ( x ( f ) t ), t ( x ( f (
2
1
) t t ( ) t ( x ) t ( x
n n 1 n 1 n n 1 n n 1 n
+ +
+ + + +
We do not know f(x(t
n+1
),t
n+1
) so approximate it by the
Euler formula
)) t ), t ( x ( f ))} t t ).( t ), t ( x ( f ) t ( x ( f ({
2
1
) t t ( ) t ( x ) t ( x
n n n 1 n n n n n 1 n n 1 n
+ + +
+ + +
Euler formula for x(t
n+1
)
Additional Methods

)) t ), t ( x ( f ))} t t ).( t ), t ( x ( f ) t ( x ( f ({
2
1
) t t ( ) t ( x ) t ( x
+ + +
+ + +
Kundur and GS call this modified Euler. It is also a second order
Runge Kutta. Our texts write the formula as follows:
At time t
n
we know x(t
n
)
Calculate derivative dx/dt=f(x(t
n
), t
n
)
Now estimate x(t
n+1
), cal the estimate x
~
x
~
(t
n+1
) = x(t
n
)+h f(x(t
n
), t
n
), h= t
n+1
t
n
Next estimate a new value for the derivative, call it dx
~
/dt
dx
~
/dt=f(x
~
(t
n+1
), t
n+1
)
Average the derivatives dx/dt and dx
~
/dt
Finally, the next value x(t
n+1
) = x(t
n
)+h (dx/dt + dx
~
/dt)/2
Additional Methods

)) t ), t ( x ( f ))} t t ).( t ), t ( x ( f ) t ( x ( f ({
2
1
) t t ( ) t ( x ) t ( x
+ + +
+ + +
h
Actual
Estimated
Slope 1 Slope 2
Average
First Estimate
Final Estimate
Additional Methods
Taylor Series-Fourth Order Runge Kutta

) h t , 3 hK ) t ( x ( f 2 K
) 2 / h t , 2 / 2 hK ) t ( x ( f 3 K
) 2 / h t , 2 / 1 hK ) t ( x ( f 2 K
) t ), t ( x ( f 1 K
t t h
6 / ) 4 K 3 K 2 2 K 2 1 K ( h ) t ( x ) t ( x
n n
n n
n n
n n
n 1 n
n 1 n
+ +
+ +
+ +

+ + + +
+
+
Additional Methods
Taylor Series-Fourth Order Runge Kutta

) h t , 3 hK ) t ( x ( f 2 K
) 2 / h t , 2 / 2 hK ) t ( x ( f 3 K
) 2 / h t , 2 / 1 hK ) t ( x ( f 2 K
) t ), t ( x ( f 1 K
t t h
6 / ) 4 K 3 K 2 2 K 2 1 K ( h ) t ( x ) t ( x
n n
n n
n n
n n
n 1 n
n 1 n
+ +
+ +
+ +

+ + + +
+
+
Additional Methods
Multistep
2
n 1 n 0 n
) t t ( a ) t t ( a ) t ( x ) t ( x + +
) t ), t ( x ( f ) t t ( a 2 a dt / dx
n 1 0
+
Assume a polynomial fit, e.g.,
Then
Next for t=t
n
) t ), t ( x ( f a
n n 0

And for t=t
n+1
= t
n
+h ) t ), t ( x ( f h a a
1 n 1 n 1 0 + +
+
So
h 2 / )) t ), t ( x ( f ) t ), t ( x ( f ( a
1 n 1 n 1 n 1 n 1 + + + +

h 2 / )) t ), t ( x ( f ) t ), t ( x ( f h ) t ), t ( x ( f ( h ) t ( x ) t ( x
1 n 1 n 1 n 1 n
2
n n n 1 n + + + + +
+ +
2 / )) t ), t ( x ( f ) t ), t ( x ( f ( h ) t ( x ) t ( x
1 n 1 n n n n 1 n + + +
+ +
Additional Methods
Multistep
Assume a polynomial fit, e.g.,
2 / )) t ), t ( x ( f ) t ), t ( x ( f ( h ) t ( x ) t ( x
1 n 1 n n n n 1 n + + +
+ +
If we approximate f(x(t
n+1
),t
n+1
) as before we get the
modified Euler or RK2
Alternatively, if we solve for x(t
n+1
) we call the method
The Trapezoidal rule.
Nonlinear case, must solve iteratively
Also called an Implicit Method
Additional Methods
Trapezoidal Rule
2 / )) t ), t ( x ( f ) t ), t ( x ( f ( h ) t ( x ) t ( x
1 n 1 n n n n 1 n + + +
+ +
h
Trapezoid approximates
Area under the curve
Next
More on Numerical Solution
Multimachine System

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9/2/06 EE532 Lecture 3(Ranade) 1

EXPERT SYSTEMS AND SOLUTIONS

Can become unstable due to

Roundoff ( Reduce airthmetic operations)

Approximation(Use more advanced method, but will increase arithmetic operations)

Taylor Series-based Second Order

Taylor Series-based Second order method

Taylor Series-based Second order method

Taylor Series-based Second order method

Taylor Series-Fourth Order Runge Kutta

Taylor Series-Fourth Order Runge Kutta

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