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05 - Jota - Impact of Excitation System On Power System Stability
05 - Jota - Impact of Excitation System On Power System Stability
1. INTRODUCTION
ABB Industrie AG
ABB
-2-
Impact of excitation system on power system stability
HV SYSTEM
THE POWER STATION CONTROL ROOM
STEP UP
TRANSFORMER LV SWITCHGEAR
AC & DC
HV- BREAKER
AUXILIARY
SYSTEMS
CONTROL
AUX. SYSTEMS
PROTECTION
TRANSF
GOVERNOR .
1
GENERATOR
1 BREAKER
PT’s
&
CT’s
SYNCHRONIZING
SYNCHRONOUS EXCITATIO
TURBINE GENERATOR NSYSTEM
STAR
POINT EXCITATION
CUBICLE TRANSFORMER
ABB Industrie AG
ABB
-3-
Impact of excitation system on power system stability
If Synchronous Ug
Machine Grid
Excitation
System
Controller
ABB Industrie AG
ABB
-4-
Impact of excitation system on power system stability
~
=
SM E ~
SM =
ABB Industrie AG
ABB
-5-
Impact of excitation system on power system stability
Basic Requirements
• Excitation Current up to 10’000 amps
• Input frequency range from 16 Hz to 400 Hz
• Adaptable to different redundancy requirements for controls and
converters
• State of the art man machine interface
• Compatibility with most applied power plant control systems
• Remote diagnostics
• Comfortable commissioning tools
ABB Industrie AG
ABB
-6-
Impact of excitation system on power system stability
Operational Application
ABB Industrie AG
ABB
-7-
Impact of excitation system on power system stability
Main Components of an UNITROL 5000 System
AVR
ABB Industrie AG
ABB
-8-
Impact of excitation system on power system stability
System overview
AVR 2
AVR 1
CONVERTER N
Protection CONVERTER 2
Measuring
CONVERTER 1
Monitoring
Converter
AVR + FCR Control
Logic Control
ABB Industrie AG
FCR = Field Current Reg.
ABB
-9-
Impact of excitation system on power system stability
Main Functions of the AVR
with Field Current Controller
AVR Setpoint
UG, IG -V/Hz limiter PID
- Soft start _
- IQ Compensation
Σ Σ Σ
Underexcit. limiter
UG, IG, If -Q=F(P,U,UG)
-Stator current lead
-Min. field current
ABB Industrie AG
ABB
- 10 -
Impact of excitation system on power system stability
• Limiters
ABB Industrie AG
ABB
- 11 -
Impact of excitation system on power system stability
2.1 Voltage Control Dynamics ( controller, power stage and power source)
ABB Industrie AG
ABB
- 12 -
Impact of excitation system on power system stability
Computer representation of the AVR
ABB Industrie AG
ABB
- 13 -
Impact of excitation system on power system stability
IR
UR
IDR
UT
If Uf
IDT
IT
IDS
IS
US
Synchronous machine
ABB Industrie AG
three-phase representation ABB
- 14 -
Impact of excitation system on power system stability
D axis
ra
Id
Ψd Ud
Stator rdD
Ψ dD
IdD
δ
ω
rf Ψf
Ψq Q axis
Uf If Ψ Q1 Ψ Q2
IQ1
IQ2
rQ1 rQ2
ra
Iq
Rotor
Uq
US ⋅ Ep ⋅ sinδ
TE =
Xq + XT + XE
TM
Motion equation:
dω
TM − TE = 2 ⋅ H ⋅
0o 45o 180o dt
δ
UF ceiling b
UF nominal
a d
ABB
o
e=0.5s
ABB Industrie AG
- 17 -
Impact of excitation system on power system stability
- Size of exciter power and speed power and speed power and speed power
Electrical
- Rectifier not required static external static rotary static
ABB Industrie AG
ABB
- 18 -
Impact of excitation system on power system stability
Reliability (MTBF)
- Machine, Transformer good good good better
Maintenance
- Machine, Transf. at standstill at standstill at standstill at standstill
ABB Industrie AG
ABB
- 19 -
Impact of excitation system on power system stability
Ceiling limit
ABB Industrie AG
ABB
- 20 -
Impact of excitation system on power system stability
2.2 LIMITERS
ABB Industrie AG
ABB
- 21 -
Impact of excitation system on power system stability
Setpoint building
Automatic
channel
-Setpoint
-Soft start effective setpoint
-V/Hz limiter
-Q influence
-P influence Power system
Follow up
Automatic stabilizer
(PSS)
Ug +
Ucmax
AC -
Transducer Ug actual
and filter Σ Gain
HV + DC +
Gate Gain Uc AVR
HF gain
Under excitation LV +
Σ
+
Σ Uc
limiters (UEL) Gate P gain
α
Gain
DC
Gain
IF -
Transducer
and filter
Σ P gain
Uc FCR
1/TA 1/TB ω
AVR
Manual set point
FCR
Follow up Manual Ucmin
Uc AVR
Follow up
Follow up control Uc FCR
Automatic
ABB Industrie AG
ABB
- 22 -
Impact of excitation system on power system stability
Practical stability Declared rated
Theorectical limit operation point of
stability limit P [p.u.] generating unit
Turbine ouput
power limit
Thermal limit of
stator
IF
r≈
Sn
we
ϕn
wer
po
on
nt po
ati
Thermal limit
cit
of rotor
Ex
pare
LEADING LAGGING
(underexcited) (overexcited)
d ap
-1.0 p.u. U2 U2 Minimum FieldRate 1.0 Q [p.u.]
Xq Xd current limit
Safe operation range
ABB Industrie AG
ABB
- 23 -
Impact of excitation system on power system stability
Synchronous machine operation Limits
Theoretical
stability limit
-Q 1/Xd +Q
ABB Industrie AG
ABB
- 24 -
Impact of excitation system on power system stability
ABB Industrie AG
ABB
- 25 -
Impact of excitation system on power system stability
ABB
VOLTAGE REGULATOR WITH LIMITERS
ABB Industrie AG
- 26 -
Impact of excitation system on power system stability
Supply
Voltage
setpoint
+
Ifth setpoint
∫ I dt max
2
Ifact Ifmax
-
+ ∫ I dt COMP
2
=/~ U
= /#
SM =
ABB Industrie AG
ABB
- 27 -
Impact of excitation system on power system stability
Ceiling limit
Field current x IFN
thermal limit
setpoint
switch time
Time [s]
ABB Industrie AG
ABB
- 28 -
Impact of excitation system on power system stability
Machine
frequency V / Hz Limiter
fT [p.u] 1 x y
y=KVHZ.x+U_fn-KVHZ UTMAX
1+ sTR
Machine
-
U_V/HZ
terminal KVHZ Σ x>0 Delay Volt/Hz
voltage + T_V_Hz 0
UT [p.u] U_fn influence
UTMAX signal
to AVR
Machine field
current
[p.u.]
IF [p.u.]
Max. field current limiter
1 -
Σ KIFmax
1+ sTR
+ +
Σ x2 π
EmaxF
- y
KCF
1 x
KHF s x>y
x>0 0
IFmax1
IFmax2
IFth1
Setpoint 2 for IFth2
IF max limiter
(option)
LV
Gate
Stator
Current Stator current limiter
IT [p.u.]
1 -
1+ sTR
Σ KITind
+ +
Σ x2 π
EmaxS
- y To OEL limiter
KCS gate of AVR
1 x
KHS s x>y
x>0 0
ITmax
To UEL limiter
ITth gate of AVR
-
+
Σ KITcap
ABB
Generator
active power
PT [p.u.] Look-up
1
Table π
1+ sTR yn = f (xn)
ABB Industrie AG
- 29 -
Impact of excitation system on power system stability
ABB Industrie AG
ABB
- 30 -
Impact of excitation system on power system stability
I
Xq(s) XT XE
Ep UG US
XT+XE Infinite
Bus
Ep
δEp-S = I. Xq
Ep’
H
=I.Xq’
1 + sTq' 1 + sT q''
UG X q(s ) = X q ⋅ ⋅
1 + sT q o ' 1 + sT q o ''
= I. (XE+XT)
US
ABB Industrie AG
Stationary and transient air gap voltages ABB
- 31 -
Impact of excitation system on power system stability
Ep
Pe ω UG
US
90o
∆ω
phasor
rotation
∆PE
Transient behavior of ∆ω and ∆PE
ABB Industrie AG
ABB
- 32 -
Impact of excitation system on power system stability
Infinite Bus
A) H
XT+XE
B) H1 ⋅ H2
H1 H2 Equivalent Inertia Heq =
XT+XE H1 + H2
dω d2 δ
taking
TM − TE = 2 ⋅ H ⋅ TM − TE = 2 ⋅ H ⋅ 2
dt dt
For small oscillations keeping the driving
torque constant the dynamic equation
linearized can be written as: 2 ⋅ H d2 δ D dδ
⋅ 2 + ⋅ + K1∆δ = 0
ωn dt ωn dt
Inertia. Ang. Acc. Damping Synchronizing
torque Torque
∆T Ep'.Us
K1 = slope = = ⋅ cos δo'
∆Te=K1.∆δ ∆δ Xq'+ XE + XT
Resulting
Torque
δo 90o δ
Synchronizing Axis 0o
ABB Industrie AG
Phasor diagram of machine+grid
for small oscillations ( without AVR) ABB
- 34 -
Impact of excitation system on power system stability
2 ⋅ H d2δ D dδ
⋅ 2 + ⋅ + K1 ⋅ ∆δ + K2 ⋅ ∆Ep' = 0
ωn dt ωn dt
Inertia.Ang. Acc. Damping Synchron. Add .Torque
torque Torque from exc. system
phasor rotation
Negative Damping ∆UG
D/ws*∆ω
(Unstable Region) Positive Damping
(Stable Region)
K2.∆Ep’ ∆ω
-∆UG
Synchronizing Axis
ABB Industrie AG
Phasor diagram of machine+grid+excitation system
for small oscillations ABB
- 35 -
Impact of excitation system on power system stability
FINAL
CTRL
ELEMENT
ALTERNATIVE
AVR PSS
U
G
P ,Q
ABB Industrie AG
ABB
- 36 -
Impact of excitation system on power system stability
ABB Industrie AG
ABB
- 37 -
Impact of excitation system on power system stability
PSS2A acc. IEEE 421.5 1992 ∆PM
1 + s.2.H
∆PA
1 + s.2.H VSTmax VSTmax
+ N
+
s.TW1 s.TW2 (1 + s ⋅ T 8) 1+s.T1 1+s.T3 VST
ω Σ (1 + s ⋅ T 9)M Σ Ks1
1 + s.TW1 1 + s.TW2 1+s.T2 1+s.T4
+ -
VSTmin VSTmin
Ks3
∆PE
1 + s.2.H
ABB Industrie AG
ABB
- 38 -
Impact of excitation system on power system stability
Adaptive PSS (APSS) – Alternative to PSS2A
Driving Power Pa
UG , IG
Uf Synchronous
Uref + + GRID
AVR Generator
+
+ -
Measurement
UG
P
Filter
APSS 3rd Order System Model
∆P
Estimator
White + Regulator
noise +
ABB Industrie AG
ABB
- 39 -
Impact of excitation system on power system stability
Multi Band PSS (MBPSS)
FB1(s)
+
Σ Kb
-
FB2(s)
+ Output
FI1(s) Limit
+ To
∆ω AVR
Σ K i Σ
-
FI2(s)
+
FH1(s)
+
Σ Kh
FH2(s) -
ABB Industrie AG
ABB