Small Signal Stability Analysis on Power System Considering Load Characteristics

Xiaoqing HAN
Electric and power Engineering Institute Taiyuan University of Technology Taiyuan, China

Nannan TIAN,Zhijing ZHENG

Electric and power Engineering Institute Taiyuan University of Technology Taiyuan, China

AbstractConsidering the widespread problem of small signal stability on power system, which seriously threatens the safe operating of power system, and the discrepancy between calculation results and facts in stability analysis by choosing inappropriate load models, therefore, the influence of load characteristics on small signal stability analysis on power system has come to be a research subject. In this paper, the concept and analysis method of small signal stability analysis are presented firstly, and due to the importance of load models on power system small signal stability analysis, two kinds of load models are introduced. Taking a simple power system as the subject investigated, the influences of different load characteristics and the variation of some certain induction-motor load parameters under different operating modes are studied. Keywords-power system; load characteristics; induction motor; small signal stability analysis; static load model

with respect to the rest of system, these oscillations are localized in a small part of power system. Global modes are associated with the oscillations of many machines in one part of the system against machines in the other parts, these oscillations are also called inter-area mode oscillation. The dynamics of power system can be described by a set of nonlinear differential equations together with a set of algebraic equations as in (1):

x = f ( x, u ) y = g ( x, u )

(1)

I.

INTRODUCTION

In recent years, with the growing transmission capacity and the continuous spreading of scale in interconnected power system, which leads to power system operation more and more closer to the extreme condition. Some small disturbances can often cause fluctuations of frequency, loads and voltage on power system. Therefore, small signal stability is one of the main factors which restrict transmission capacity among power systems. At the same time, load characteristic is also an important factor which has influence on power system stability. In the previous power system analysis, some simple load models were often used to simulate, such as constant impedance model, of which the results were inaccurate and the simulation may cause qualitative changes under some critical situations. Using these simple load models, we can't simulate the reproduction of some outages. So it's necessary to have a research on the influence which different load models and load parameters have on small signal stability analysis. II. OVERVIEW OF SMALL SIGNAL STABILITY ANALYSIS

Where x refers to the vector of system state variables, u refers to system input variables, y refers to system output variables, f describes the dynamics of the system, g includes equality conditions such as power flow equations of the system. In small signal stability analysis, (1) is linearized around the system operating point:

x = Axo + Bu o y = Cxo + Du o
Where:
f1 f1 x " x 1 n A=" " " f f n n " x1 xn f1 f1 u " u 1 r B=" " " f f n n " u1 u r

(2)

Small signal stability is the ability of power system to maintain synchronous operation under small disturbances [1]. In large power system, small signal stability problems may be either local or global in nature. Local modes are associated with the oscillations of generating units at a particular station
This work was supported by Natural Science Foundation of Shanxi Province No. 2007011051.

g1 g1 x " x 1 n C= " " " g g m m " x1 xn

g1 g1 u " u 1 r D= " " " g g m m " u1 ur

The power system state matrix can be obtained by eliminating the vector of algebraic variables u o in (2):

978-1-4244-2487-0/09/$25.00 2009 IEEE

 x = ( A BD 1C )xo = A ' xo
'

(3)

circuit and transient process of rotor mechanical motion, and its differential equation is defined as [5]:
Tj ' ' de d ' = ed T do dt ' ' de q ' = eq T do dt ds = Tm Te dt X X + X X
'

Where A is the system state matrix which contains all kinds of dynamic components characteristics and network connection relationship [2]-[3]. By calculating eigenvalues of A , we can conclude all kinds of information about small signal stability, including a complex pair of eigenvalues = j , the frequency of oscillation f = w , and the damping ratio 2 , with real part of the , w imaginary part = 2 + w2 of the . gives the damping and w gives the frequency of oscillation. A negative real part represents a damped oscillation whereas a positive real part represents oscillation of increasing amplitude. The damping ratio determines the rate of decay of the amplitude of the oscillation. III. MATHEMATICAL LOAD MODELS
'

'

)i

' ' + w o T do eq s ' ' w o T do ed s

(5)

'

)i

Where s is rotor slip e d , q axis respectively.

' eq are rotor transient voltages in d-

' wo is electrical speed. T j , Tdo are rotor

inertia time constant and transient open-circuit time constant ' respectively. X , X are stator winding leakage reactance and transient reactance respectively. id , i q are stator currents in dq axis respectively. following:

Te , Tm are electromagnetic torque and mechanical load torque respectively, and Tm is defined by (6) Tm = K l [ + (1 )(1 s ) m ]

According to the load characteristics, there are two kinds of load models, including static load model and dynamic load model.

(6)

$ Static load model

Static load models which contain power function model and polynomial model are often used in power flow calculation and stability analysis on power system. In this paper, polynomial model is presented as:
2 P = P0 A P U U + B P U U + C P 0 0 2 + B U +C Q = Q A U q q q 0 U0 U0

Where K l is the coefficient of induction-motor load factor, is the proportion irrespective to rotational speed in mechanical load torque, m is induction-motor load torque exponent. IV. CASE STUDYS

 (4)

In order to analyze the influences of different load models and load model parameters on small signal stability analysis, a power system of 3-generator-7-bus as shown in Fig. 1 is applied by using Power System Analysis Software Package.

Where P and Q are active and reactive components of the load when the bus voltage magnitude is U. The subscript o identifies the values of the respective variables at the initial operating condition. This model is commonly referred to as the ZIP model, as it is composed of constant impedance (Z), constant current (I), constant power (P) components [4]. The parameters of the model are the coefficients A P , B P , C P and A q , B q , C q , which define the proportion of each component.

% Induction motor dynamic load model

An important component of power system loads is induction motor load, of which the proportion in industrial load is over 80% higher, and its dynamic characteristic is a very important factor of load dynamic characteristics[5]-[9]. Therefore, it's necessary to analyze the influence of inductionmotor load model on power system small signal stability analysis. In this paper, third-order dynamic model of inductionmotor considering electromagnetic transient process in rotor

Figure 1. 3-generator-7-bus system

In this passage, the research are studied under two different operating modes: operating mode 1 based on conventional power flow and operating mode 2 based on power flow with control function, in which voltage of bus B1-500 is controlled by reactive power of G1. Eigenvalue ( 1 ) with positive real

part is chosen to confirm whether the test system is small signal stability or not, and eigenvalue ( 2 ) of inter-area mode with frequency in the range of 0.2 to 0.3 are chosen to study the influences of load characteristics on small signal stability in this paper.

$ Influences of different load models on small signal

stability analysis In this section, the influences of different ZIP load models and dynamic load models on small signal stability analysis under two different operating modes are presented in Table and Table respectively. In the research followed, load model Z, I, P are defined as 100% constant impedance, 100% constant current, 100% constant power respectively, H is defined as proportion of constant impedance in ZIP load model and K is defined as proportion of induction motor in dynamic load model.
TABLE I. EIGENVALUE MODES FOR DIFFERENT LOAD MODELS UNDER OPERATING MODE 1

In Table and Table, we can conclude that inter-area damping provided by load model I is more than that provided by load model Z, but less than that provided by load model P. Under the two operating modes, with the increasing H, we can see that the real part of 2 increases, frequency of inter-area mode increases in a small range and damping ratio decreases. With the increasing K, we can see that the real part of 2 increases, damping ratio decreases and frequency of inter-area mode increases up to a certain quantity firstly, then decreases down to a certain quantity under operating mode 1, whereas decreases in a small range under operating mode 2. We also can conclude that small signal stability analysis results may be totally different as the variation of load model, such as the variation from load model P to load model I as shown in Table . Under the same operating mode, the damping of inter-area mode using static load model is more than that using dynamic load model. And on the same basis of power flow result, the more obvious dynamic load level is, the more obvious influence is.

Load model P I Z H=0.2 H=0.4 H=0.6 H=0.8 K=0.2 K=0.4 K=0.6 K=0.8 K=0.9 K=1.0 TABLE II.

Inter-area mode
1

% Influence of induction-motor load parameters on small

f
0.235494 0.235704 0.235913 0.235746 0.235788 0.235829 0.235871 0.235949 0.235975 0.235991 0.235996 0.235995 0.235991

51.0898 50.7214 50.3551 50.6480 50.5747 50.5014 50.4282 50.2273 50.0999 49.9733 49.8472 49.7846 49.7221

0.00747j0 0.00676j0 0.00619j0 0.00663j0 0.00652j0 0.00640j0 0.00630j0 0.00622j0 0.00620j0 0.00617j0 0.00615j0 0.00614j0 0.00612j0

-0.87938j1.47965 -0.87161j1.48097 -0.86393j1.48228 -0.87007j1.48124 -0.86853j1.48150 -0.86699j1.48176 -0.86546j1.48202 -0.86113j1.48251 -0.85831j1.48268 -0.85547j1.48277 -0.85262j1.48281 -0.85119j1.48280 -0.84975j1.48277

signal stability analysis In this section, a dynamic load model containing 50% constant impedance and 50% induction motor is used to analyze the influences of some load parameters on small signal stability analysis under two different operating modes. 1. Influences of stator reactance on small signal stability analysis under two operating modes The influences of induction-motor stator reactance on small signal stability analysis are presented in Table and Table respectively. No matter the test system is small signal unstable as shown in Table or small signal stable as shown in Table, with the increasing stator reactance, we can see that the real part of 2 decreases firstly then increases, frequency of interarea mode increases in a small range and damping ratio decreases. According to the definition of damping ratio, we also can conclude that in appropriate variation range of load model parameters, the larger stator reactance is, the worse power system small signal stability is. 2. Influences of rotor resistance on small signal stability analysis under two operating modes The influences of induction-motor rotor resistance on small signal stability analysis under two operating modes are presented in TablG and TablG respectively. No matter the test system is small signal unstable as shown in Table or small signal stable as shown in Table, with the increasing rotor resistance in load model, we can see that the real part of 2 decreases, frequency of inter-area mode decreases in a small range and damping ratio increases. According to the definition of damping ratio, we also can conclude that in appropriate variation range of load model parameters, the larger rotor resistance is, the better power system small signal stability is. 3. Influences of rotor reactance on small signal stability analysis under two operating modes

EIGENVALUE MODES FOR DIFFERENT LOAD MODELS UNDER OPERATING MODE 2

Load model P I Z H=0.2 H=0.4 H=0.6 H=0.8 K=0.2 K=0.4 K=0.6 K=0.8 K=0.9 K=1.0

Inter-area mode
1

f
0.237499 0.237852 0.238204 0.237923 0.237993 0.238063 0.238133 0.238190 0.238164 0.238127 0.238079 0.238050 0.238019

50.8480 50.4622 50.0781 50.3853 50.3084 50.2315 50.1548 49.9490 49.8208 49.6937 49.5678 49.5053 49.4432

0.00002 j0.01014 Void Void Void Void Void Void Void Void Void Void Void Void

-0.88120j1.49225 -0.87352j1.49447 -0.86591j1.49668 -0.87199j1.49491 -0.87046j1.49535 -0.86894j1.49580 -0.86742j1.49624 -0.86288j1.49659 -0.85984j1.49643 -0.85680j1.49620 -0.85374j1.49589 -0.85222j1.49571 -0.85069j1.49552

The influences of induction-motor rotor reactance on small signal stability analysis are presented in Table and Table respectively. No matter the test system is small signal unstable as shown in Table or small signal stable as shown in Table, with the increasing rotor reactance in load model, we can see that the real part of 2 increases gradually, frequency of interarea mode increases in a small range and damping ratio decreases. We also can conclude that in appropriate variation range of load model parameters, the larger rotor reactance is, the worse power system small signal stability is. 
TABLE III. EIGENVALUE MODES FOR DIFFERENT INDUCTION-MOTOR STATOR REACTANCE UNDER OPERATING MODE 1

TABLE VII.

EIGENVALUE MODES FOR DIFFERENT INDUCTION-MOTOR ROTOR REACTANCE UNDER OPERATING MODE 1

Rotor reactance 0.08 0.10 0.12 0.14 0.16 TABLE VIII.

Inter-area mode
1

f
0.235481 0.235730 0.235985 0.236246 0.236513

50.1202 50.0794 50.0365 49.9915 49.9440

0.00619j0 0.00619j0 0.00619j0 0.00619j0 0.00619j0

-0.85697j1.47957 -0.85694j1.48113 -0.85689j1.48273 -0.85681j1.48437 -0.85670j1.48606

EIGENVALUE MODES FOR DIFFERENT INDUCTION-MOTOR ROTOR REACTANCE UNDER OPERATING MODE 2

Stator reactance 0.1 0.15 0.2 0.25 0.275 0.3 TABLE IV.

Inter-area mode
1

f
0.233930 0.234441 0.234961 0.235494 0.235765 0.236040

50.3529 50.2803 50.2022 50.1181 50.0735 50.0271

Rotor reactance 0.08 0.10 0.12 0.14 0.16

Inter-area mode
1

f
0.237630 0.237885 0.238147 0.238416 0.238691

49.8426 49.8009 49.7571 49.7111 49.6626

0.00619j0 0.00619j0 0.00619j0 0.00619j0 0.00619j0 0.00619j0

-0.85662j1.46983 -0.85683j1.47303 -0.85695j1.47631 -0.85697j1.47965 -0.85694j1.48135 -0.85688j1.48308

void void void void void

-0.85841j1.49307 -0.85838j1.49468 -0.85832j1.49632 -0.85823j1.49801 -0.85811j1.49974

V.

CONCLUSION

EIGENVALUE MODES FOR DIFFERENT INDUCTION-MOTOR STATOR REACTANCE UNDER OPERATING MODE 2

Stator reactance 0.1 0.15 0.2 0.25 0.275 0.3 TABLE V.

Inter-area mode
1

f
0.236036 0.236561 0.237096 0.237643 0.237922 0.238204

50.0799 50.0059 49.9263 49.8404 49.7948 49.7475

void void void void void void

-0.85807j1.48306 -0.85828j1.48635 -0.85840j1.48972 -0.85841j1.49316 -0.85837j1.49491 -0.85830j1.49668

In this paper, the conclusion is that the inter-area mode of small signal stability is influenced by different load models and load model parameters, and the influences have some certain regularity. Based on the research, its helpful for us to apply much more appropriate load models and load model parameters in power system stability analysis and simulation. But we also can see that the regularity mentioned in this paper just refers to a certain power system, and the universality of regularity is still in research. REFERENCES
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EIGENVALUE MODES FOR DIFFERENT INDUCTION-MOTOR ROTOR RESISTANCE UNDER OPERATING MODE 1

Rotor resistance 0.01 0.015 0.02 0.025 0.03 TABLE VI.

Inter-area mode
1

f
0.241743 0.237666 0.235984 0.235052 0.234451

48.8085 49.7241 50.0365 50.2043 50.3169

[3]

0.00619j0 0.00619j0 0.00619j0 0.00619j0 0.00619j0

-0.84941j1.51892 -0.85583j1.49330 -0.85689j1.48273 -0.85733j1.47688 -0.85770j1.47310

[4]

[5]

[6] EIGENVALUE MODES FOR DIFFERENT INDUCTION-MOTOR ROTOR RESISTANCE UNDER OPERATING MODE 2

Rotor resistance 0.01 0.015 0.02 0.025 0.03

Inter-area mode
1

[7]

f
0.244068 0.239877 0.238147 0.237188 0.236569

48.4969 49.4364 49.7571 49.9298 50.0461

void void void void void

-0.85041j1.53352 -0.85717j1.50719 -0.85832j1.49632 -0.85881j1.49030 -0.85923j1.48641

[8] [9]