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Inaugural IEEE PES 2005 Conference and Exposition in Africa
Durban, South Africa, 11-15 July 2005
An Investigation into the Capabilities of MATLAB Power System Toolbox for SmallSignal Stability Analysis in Power Systems
M. Ntombela, K.K. Kaberere, K.A. Folly and A. I. Petroianu
 , SMIEEE 
 Abstract--With the advancing of computing power there hasbeen a lot of power system simulation software packagesdeveloped. There exists a need for researchers to evaluate thecapabilities of these tools so users can make informed decisions onwhich tool to purchase. The paper presents the capabilities of  MATLAB Power System Toolbox (PST) for linear analysis. Theeigenvalues obtained from PST are compared to those obtained inthe book entitled Power System Stability and Control by Prabha Kundur. Index Terms--Small-signal stability analysis, power systemdynamics, eigenvalues, power system components modeling.
I. INTRODUCTIONPower systems are capital intensive big complex systems.It is thus of high risk and often difficult to conductexperiments on such complex systems. With the increase indemand of electricity power systems engineers are forced tooperate these systems at their limits with very narrow stabilitymargins which often require the installation of specialstabilizing controls whose design rely heavily on the analysisof the linearized system.The advancement of data processing capabilities of computers has led to the development of many power systemsimulation tools. This makes it difficult for users to decidewhich package best suites their area of interest or application.Learning the many different tools available would be timeconsuming and uneconomical. There exists a need that thecapabilities of these simulation tools be published so as toassist the users in making an informed decision as to whichsimulation package to use. Stability studies for power system planning, operation and control rely immensely on computer based power system simulation tools. Simulation tools usemathematical models that predict the dynamic performance of the system. It is crucial that these power system models bemodelled accurately to predict the actual performance of thesystem.Small signal stability is the ability of the system tomaintain synchronism under small disturbances which occurcontinually on the system due to the small variations in loadsand generation or other small disturbances on the system. Adisturbance is considered to be small if the equations thatgive the response of the system may be linearized for the purpose of analysis [1].Linear analysis is a powerful technique to study whether a power system is stable or not. The eigenvalues obtained fromlinear analysis give a complete picture of the stability of thesystem [1]-[3].This paper presents an investigation into the capabilities of MATLAB power system toolbox for small signal stabilityanalysis in power systems. The small signal stability of thesingle machine infinite bus system is investigated. Thefrequency domain results are validated by performing the stepresponse of the system (time domain).The paper is organised as follows:

Description of the MATLAB Power SystemToolbox software package is discussed in section II.

Power system component models available in PowerSystem Toolbox are discussed in section III and V.

Description of the single machine infinite bus testsystem is discussed in section IV.

Case studies are formulated and discussed in sectionVI.

Data representation, input data and outputrepresentation is discussed in section VII.

Conclusions, possible reasons for the differences inresults are discussed in section VIII.II. DESCRIPTION OF POWER SYSTEM TOOLBOX(PST)Power System Toolbox is a collection of MATLAB filesthat can perform loadflow, transient stability analysis andsmall signal stability analysis. Although a loadflow isimportant in its own right it is required in power systemdynamics studies to initialize the dynamic models. Thesedynamic models are coded as MATLAB functions in PST[4], [5].III. POWER SYSTEM COMPONENTS MODELSAVAILABLE IN PSTThere are many component models in PST. See Appendixfor a list of all the models available in PST. For the purposesof this paper only the component models employed for thesingle machine infinite bus test system are discussed in detail.
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 A. Generator Models1) Classical model 
Theclassicalgeneratormodel is referred to as theelectromechanical model in PST. This modelmodelsthegenerator as a constant voltage behind a transientreactance.The classical modelischaracterised by two states as shown intable 1.
2) Fourth order model 
The 4
th
order model referred to as thetransientmodelinPST. This model models a synchronous machine withthevoltage behind the transient reactance. The 4
th
order modelextends on the classical modelby including the effects of thefield winding and one damper winding on the d-axis. The 4
th
order model is usually used for academic purposes and willnot be discussed further.
3) Sixth order model 
The 6
th
order model is referred to as the subtransientmodelinPST. This model models a synchronous machinewith the voltage behind subtransient reactance. The 6
th
ordermodel extends on the classical model by including theeffectsof the field winding, damper windings, one on thed-axisandtwo damper windings on the q-axis. The second damperwindingontheq-axis improves the accuracy in modellingmultiplepathsfor circulating eddy currents [10]. This modelis characterised by six states as shown in table 1.In practice it is common that all generatorswithinthezoneofthepowersystembeing studied are represented by thesixthordermodel and generators far from the area of interest(modeledastheexternalnetwork or infinite bus) are modeledusing the classical model. It has been foundin[6]thatthe6thorder model for round rotor generators and the5thordermodelforsalientpolegenerators are adequate for smallsignal stability studies. This paperonlyfocusesontheclassical and detailed generator models i.e.the2ndorderandthe6th order models. Table 1 below summarizes the statesfound in each model.
TABLE I. A table of generator states characterizing the different order models in PST. A “1” indicates a state is present and a “–“ if not.
 B. Excitation System Models
See Appendix for the three excitation systemmodelsavailable in PST.
C. Power System Stabilizer Model 
The PSS model has two lead-lagblocksand an option of either a speed or power input.
 D. Transmission Line
The
  
-model is used to model the transmission lines.IV. THE SINGLE MACHINE INFINITE BUS TESTSYSTEM (SMIB)In this paper we examine thesmallsignalstabilityofthesinglemachineinfinitebus system in [1] using PST. Thesmall signal stability is investigated using a differentsimulation tool in [1]. The results obtained inPSTarecompared to those in [1].
Fig. 1. TheSMIB
Figure1shows a thermal generating station consisting of four555MVA,24kV,60 Hz units represented as one 2220MVA generating unit G1. The network reactances are in perunit on a 24 kV base. The transformer is a stepuptransformer operated a 24 kV on the primary and secondary.The transformer has an impedance. The linesL1and L2 have impedances of j0.5 and j0.93 respectively.The objective of the casestudiescarried out in this paper is toinvestigatethe capabilities of PST on the small signalstability analysis of the test system following a loss of L2.
15.0
 j X 
t 
The post-fault system operating condition is:
9.0
 P
3.0
Q
360.1
T 
V 
0995.0
 B
V 
.V. MODELING OF COMPONENTS IN PST SPECIFICTO THE SMIB
 A. Modelling the Synchronous Generator 
There are two well-accepted methodsofmodellingthesynchronous machine commonly used inpowersystemswhich are the coupled-circuit method and theoperational-impedance method [7].Tothis day the synchronous machine is represented bytwo coupled equivalent circuits with time invariant parameters thanks to Park’s Transformation.Additionalshort
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circuited rotor windings are included inthemodeltorepresent the damper windings. In thecoupled-circuitmethodthe machine is represented by an equivalent circuit with twod- and q-axis rotor windings shown in figure 1(a) andfigure1(b) respectively. Usually synchronous machine data isspecified in terms of its subtransientand transient reactancesand time constants (,,,, etc) oftenreferred to as derived parameters of the machine. The derived parameters of the machine can be obtained from themanufacturersorfield experiments. The derived parametersare then converted to an equivalentsetofcoupled-circuit parameters (,,,,etc)[7]. This method isused in the recently developedsoftware package calledMATNETEIGdeveloped by the same company thatdeveloped PST. The authors are currently researching on thisnew software package.
d  X 
lfd 
 R
'
d  X 
 fd 
 X 
'0
d T 
"0
d T ad  X 
 X 
r 
a
x
l
x
ad
x
kd
r 
kd
x
f 
r 
f 
i
d
i
f 
i
kd
V
d
V
f 
i
ad
Fig.2(a).D-axis equivalent circuit
r 
a
x
l
x
aq
r 
kq2
i
q
V
q
i
aq
x
kq1
i
kq1
x
kq2
i
kq2
r 
kq1
Fig.2(b).Q-axis equivalent circuit
The operational-impedance method models the machinedirectlyintermsofthe derived parameters. PST uses theoperational-impedancemethod. The representation of themachine is shown in figure 3.
Fig. 3. Operational-impedance generator model
Both these generator models are 6
th
order generatormodels. It has been found in [7] that provided thesaturationis neglected the two models should give identical results.Thereisno standard or accepted method of representinggenerator saturation in small-signal stability howevercertain precautions need to be taken when doing so [7]. Thesearediscussedindetailinchapter 6 of [7]. In PST these precautions were taken into consideration and the usershould bewell aware of the limitations superimposed by the methodof modelling the saturation used.Generallythe only saturation data available for a machineis its open circuit characteristic. It is commonpracticeinsmall signal stability studies toassumethatthed-axissaturation characteristic of the loaded generator is thesameasthe open circuit characteristic.In PST the user is required toinput the two saturation parameters S(1.0) andS(1.2).Whenusing the open circuit characteristic when the generatorisloaded an operating point must be identified.Thevoltage behind the subtransient reactance is used in identifyingtheoperating point in PST. Thismethodoftenassumesthatforround rotor machines the d-axisandq-axissaturationcharacteristics are the same and that . Severalinvestigationslistedin [7] reveal that this is not the case, theq-axisofroundrotor machines saturates significantly morethand-axis leading to errors in the calculation of the initialrotorangleandfield excitation. When using PST the usershould be aware of this limitation.
""
qd 
X  X 
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yulianov1

seems understadable.thanks for sharing

reply08 / 14 / 2009
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