Power System Stability

GENERATOR CONTROL AND PROTECTION

Outline

Basis for Steady-State Stability

Transient Stability
Effect of Excitation System on Stability
Small Signal Stability
Power System Stabilizers

Speed Based
Integral of Accelerating Power

Case Studies

GENERATOR CONTROL AND PROTECTION

Mechanical and Electrical Torque

Applied to the Shaft
Te

G
TM

GENERATOR CONTROL AND PROTECTION

Stator, Rotor, and Resultant MMFs and Torque Angle

R

B'

C'

F1

A'

GENERATOR CONTROL AND PROTECTION

Synchronous Machine Tied to Infinite Bus

ET

E HV

EO

Xg

Infinite Bus
XL
XT

Eg

X E =X T +X L

GENERATOR CONTROL AND PROTECTION

Steady State Electrical Power

Output
EgET
Pe =
sin
Xg

GENERATOR CONTROL AND PROTECTION

Phasor Diagram - Generator Tied to

Infinite Bus
Eg
jIXg

ET
E0 jIXE

GENERATOR CONTROL AND PROTECTION

Transient Stability

GENERATOR CONTROL AND PROTECTION

Rubber Band Analogy

Rubber Bands

Weights
GENERATOR CONTROL AND PROTECTION

Change in Electrical Torque

T e = T s + T D

GENERATOR CONTROL AND PROTECTION

Transient Stability Illustration

PMAX

3
4
P DECEL
Stable

Retarding
Torque

Power

PM

Insufficient
Retarding
Torque

P ACCEL

2
0

90
Power Angle-

GENERATOR CONTROL AND PROTECTION

Turbine
Power
Unstable,
machine loses
Synchronism

180

Effect of Fault Clearing Time Equal Area Not Possible

P
E

PM

Power

Unit pulls out of sync

Breaker
clears

Fault

GENERATOR CONTROL AND PROTECTION

Effect of Fault Clearing Time Equal Area Substantial Margin

Rotor decelerates due to
PE max exceeding
mechanical power

P
E

System returns to
steady state, system stable

Power

PM

Breaker
clears faults

Fault

GENERATOR CONTROL AND PROTECTION

Equal Area
substantial margin

Effect of the Excitation System

on Stability

GENERATOR CONTROL AND PROTECTION

Steady State Electrical Power

Output
EgET
sin
Pe =
Xg

GENERATOR CONTROL AND PROTECTION

Effect of High Initial Response

Excitation System
P
E

B
P
E-A

Power

P
E-B

Fast excitation system

Maximum field forcing
First swing, system recovers
PM
Machine will lose
synchronism

GENERATOR CONTROL AND PROTECTION

Small Signal Stability

GENERATOR CONTROL AND PROTECTION

Change in Electrical Torque

T e = T s + T D

GENERATOR CONTROL AND PROTECTION

Inter-Unit Oscillations
Xg1
Eo

Eg1

1.5 - 3 Hertz
Xg2

Eg2

GENERATOR CONTROL AND PROTECTION

Local Mode Oscillations

Xg

XL

Eg

GENERATOR CONTROL AND PROTECTION

Eo

.7 - 2 Hertz

Inter-Area Oscillations
<0.5 Hertz
Xg1

XL

Eg1

GENERATOR CONTROL AND PROTECTION

Xg2

Eg2

Block Diagram of Generator Under

Voltage Regulator Control
K4

VREF

TM
+

Exciter

E fd

G ex (s)
-

K3

fd

+
K2

1+sT3

Te -

1
2Hs +KD

Field circuit
v 1

K1
K6

+
1

E t

1+sTR

+
K5

Voltage transducer

GENERATOR CONTROL AND PROTECTION

0
s

Power System Stabilizers

GENERATOR CONTROL AND PROTECTION

The "Swing Equation"

2

2H d
=

T
T
K
m
e
D
r
2
0 dt

GENERATOR CONTROL AND PROTECTION

Small Signal Version of "Swing

Equation"

Te = Ts + TD

GENERATOR CONTROL AND PROTECTION

Response of Speed and Angle

to Small Disturbances

Stable
PositiveTs
PositiveTD

TD

Ts

Te

Oscillatory

Instability
PositiveTs
NegativeTD TD

GENERATOR CONTROL AND PROTECTION

Ts

Te

PSS with AVR, Exciter and

Generator
r

G P S(s)

K4
vs
+
VREF

TM
-

E fd
G ex (s)
+

Exciter

K3

fd

+
K2

1+sT3

Te -

1
2Hs +KD r

Field circuit

v 1

K1
K6

+
1

E t

1+sTR

+
K5

Voltage transducer

GENERATOR CONTROL AND PROTECTION

0
s

GENERATOR CONTROL AND PROTECTION

PSS Theory of Operation

Speed Based Stabilizers

GENERATOR CONTROL AND PROTECTION

Speed-Based Stabilizer
High-Pass Filter

Torsional Filter

Stabilizer Gain & Phase Lead

Limits
Vstmax

Speed

1
1 + s T6

s T5
1 + s T5

1
1 + A1 s + A2 s

Ks1

1 + s T1
1 + s T2

1 + s T3

Output

1 + s T4

Vstmin

GENERATOR CONTROL AND PROTECTION

PSS Theory of Operation

Dual Input Stabilizers

GENERATOR CONTROL AND PROTECTION

Small Signal Version of "Swing

Equation"

Te = Ts + TD

GENERATOR CONTROL AND PROTECTION

Speed Deviation from Net

Accelerating Power

d
1
r =
(Tm Te K D r )
dt
2H

GENERATOR CONTROL AND PROTECTION

Accelerating Power Based on

Integral of Mechanical and
Electrical Power

1
=
[ Tm Te ]
2H

GENERATOR CONTROL AND PROTECTION

Block Diagram of Dual-Input

Power System Stabilizer
Ramp-Tracking
Filter

High-Pass Filters

Freq

sTw1
1 + sTw1

sTw2
1 + sTw2

1+sT8

(1+s T9 )

Stabilizer Gain & Phase Lead

Limits
Vstmax

1+sT1
Ks1 1+sT
2

1+ sT3
1+ sT4

Output

Vstmin

High-Pass Filters & Integrator

Power

sTw3
1+sTw3

Ks2
1+sT7

GENERATOR CONTROL AND PROTECTION

Speed Derived from VT and CT Signals

Generator

EI

It

jXqI t
Et

d-axis

GENERATOR CONTROL AND PROTECTION

q-axis

Accelerating-Power Design (Speed

Input)
High-Pass Filters
Compensated Frequency
Equivalent to Rotor Speed

s Tw1

s Tw 2

1 + s Tw1

1 + s Tw2

Generator Speed Deviation

Signal (i.e. no steady state component)

GENERATOR CONTROL AND PROTECTION

Integral of Electrical Power Block

Diagram
High-Pass Filters & Integrator

Active Power

s Tw3
1 + s Tw3

K 2
1 + s T7

GENERATOR CONTROL AND PROTECTION

Integral-of-Power
Deviation

Output Stage of PSS to AVR

Stabilizer Gain & Phase Lead
Filtered
Speed

Ks1

1 + s T1
1 + s T2

Limits
Vstmax

1 + s T3
1 + s T4

Output to AVR

Vstmin

GENERATOR CONTROL AND PROTECTION

Case Studies

GENERATOR CONTROL AND PROTECTION

Case 1 - Hydro Generator without PSS

10

11

12 13 14 15

Time (seconds)

GENERATOR CONTROL AND PROTECTION

Case 1 - Hydro Generator with PSS

10

11

12

Time (seconds)

Dual Input Stabilizer, Phase Lead=(1+0.05s)/(1+0.01s), Gain=40

GENERATOR CONTROL AND PROTECTION

Case 2 - On-line Step Response Frequency Type PSS

Ks=6, 92MW
Hydro Turbine
Generator

A single input
PSS measures
only frequency,
power or speed

GENERATOR CONTROL AND PROTECTION

Case 2 - On-line Step Response Dual input PSS

Ks=7.5, 92MW
Hydro Turbine
Generator

The
PSS monitors
frequency and
power for superior
performance

GENERATOR CONTROL AND PROTECTION

Case 3 Step
Response
All generators
in service,
Stabilizer OFF

GENERATOR CONTROL AND PROTECTION

Case 3
Step Response
All generators
in service,
Stabilizer Gain = 1

GENERATOR CONTROL AND PROTECTION

Case 4 - 1165MW Nuclear Unit - Baseline

WATTS

0.875

POSTLIM OUT

0.87

0.5

0.865
0
0.86
-0.5

0.855
0.85
0

10

12

14

16

18

20

GEN TERM V

0.975

-1

10

12

14

16

18

20

14

16

18

20

14

16

18

20

PSS OUT

0.01
0.008

0.97

0.006
0.004

0.965

0.002
0.96
0
-1.5

10

12

14

16

18

20

0
0

GEN TERM F

x10-4

0.008

-2.5

0.006

-3

0.004

-3.5

0.002

-4
2

10
12
Time (Sec)

14

16

18

20

10

12

TEST OUT

0.01

-2

0
0

GENERATOR CONTROL AND PROTECTION

10
12
Time (Sec)

Case 4 - 1165MW Nuclear Unit - Final Setting

-3

WATTS

0.87

0.865

POSTLIM OUT

x10

0.86
0
0.855
-1

0.85
0.845
0

10

12

14

16

18

20

-2
0

GEN TERM V

0.98

x10

10

0.97

0.965

x10-4

10

12

14

16

18

20

0.008

0.006

0.004

-2

0.002
2

12
10
Time (Sec)

14

16

18

20

12

14

16

18

20

10

12

14

16

18

20

14

16

18

20

TEST OUT

0.01

10

-5

GEN TERM F

-4

PSS OUT

15

0.975

0.96

2
-3

0
0

10
12
Time (Sec)

GENERATOR CONTROL AND PROTECTION

300

Case 5
SCT/PPT

260

53 MW
41 MW
28 MW
14 MW
7 MW
stabilizer phase compensation

240
220
200
180
Phase (degrees)

Phase
Compensation
Requirements

280

160
140
120
100
80
60
40
20
0
0.1

1
Frequency (Hz)

GENERATOR CONTROL AND PROTECTION

10

Terminal V
(kV)

14.2
14.1
14.0
13.9
13.8
Active Power
(MW)

57
55
53
51
Reactive Power
(MVAr)

Case 5:
On-Line Step
Test
with PSS Off

0
-4
-8
-12

Gen Freq
(Hz)

60.02
60.01
60.00
59.99

Field
(Vdc)

240
160
80
0

Field
(Adc)

330
310
290
270
250

10
Time (seconds)

GENERATOR CONTROL AND PROTECTION

15

Terminal V
(kV)

14.3
14.2
14.1

Active Power
(MW)

14.0

Reactive Power
(MVAr)

Case 5:
On-Line Step
Test with PSS
On

14.4

60
59
58
57
56
55
8
4
0
-4
-8

Gen Freq
(Hz)

60.03
60.02
60.01

Field
(Vdc)

60.00
250
200
150
100
50
0

PSS+Test
(%)

1
0
-1
-2
-3

10
Time (seconds)

GENERATOR CONTROL AND PROTECTION

15

Case 6: Off-Line Step of Reference Test

GENERATOR CONTROL AND PROTECTION

Case 6: On-Line Step of Reference Test - PSS Off

GENERATOR CONTROL AND PROTECTION

Case 6: Off-Line Step of Reference Test PSS On

GENERATOR CONTROL AND PROTECTION

Power System Stability

A function of fast protective relaying
PSS is used to provide damping to prevent
power system oscillations
Provide damping via excitation control
PSS has little effect on first swing stability, but
restores damping lost by adding high initial
response excitation systems
Many different stabilizing schemes exist - focus
on integral of accelerating power

GENERATOR CONTROL AND PROTECTION

QUESTIONS?

GENERATOR CONTROL AND PROTECTION