Impact of excitation system on power system stability

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1. INTRODUCTION

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Impact of excitation system on power system stability

HV SYSTEM

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THE POWER STATION

STEP UP TRANSFORMER LV SWITCHGEAR AC & DC AUXILIARY SYSTEMS

CONTROL ROOM

HV- BREAKER

GOVERNOR 1 GENERATOR BREAKER

AUX. TRANSF .

PROTECTION 1

CONTROL SYSTEMS

SYNCHRONIZING

PTs & CTs EXCITATIO NSYSTEM

TURBINE

SYNCHRONOUS GENERATOR

STAR POINT CUBICLE

EXCITATION TRANSFORMER

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Impact of excitation system on power system stability

If Ug

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Synchronous Machine

Grid

Excitation System Controller The automatic voltage control system

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Impact of excitation system on power system stability

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~
SM E

=
SM

1 a 200 A Rotating exciter

100 a 10000 A Static excitation

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Impact of excitation system on power system stability

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Basic Requirements
Excitation Current up to 10000 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

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Impact of excitation system on power system stability

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Operational Application

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Impact of excitation system on power system stability

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Main Components of an UNITROL 5000 System

AVR

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Impact of excitation system on power system stability

System overview

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AVR 2 AVR 1 Measuring Protection Monitoring AVR + FCR Logic Control

CONVERTER N CONVERTER 2 CONVERTER 1

Converter Control

Field flashing Field suppression

Fieldbreaker
AVR = Autom. Voltage Reg. FCR = Field Current Reg.

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Impact of excitation system on power system stability

Main Functions of the AVR with Field Current Controller
UG, IG UG Measuring and A/D conversion UG, IG, If AVR Setpoint Min. / max. value priority
-V/Hz limiter - Soft start - IQ Compensation - IP Compensation

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_ +

PID

Underexcit. limiter
-Q=F(P,U,UG) -Stator current lead -Min. field current

Overexcit. limiter UG, IG, If UG, IG

-Max field current -Stator current lag

To pulse generation

Power System Stabilizer PSS Man setpoint

_ +

PI

If

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Impact of excitation system on power system stability 2. IMPACT ON POWER SYSTEM STABILITY
Voltage Control Dynamics ( controller, power stage and power source) Limiters Power System Stabilizer

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Impact of excitation system on power system stability

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2.1 Voltage Control Dynamics ( controller, power stage and power source)

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Impact of excitation system on power system stability

Computer representation of the AVR

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from under-excitation Limiters UEL

from over-excitation Limiters OEL LV Gate + +

UP + TB1 KR TC 1 1+sTC2 1+sTB2 UP TB1 KR TC 1

Parameter TR Ts KIR KIA KR Kc TB1 TB2 TC1 TC2 Up+ Up-

UP + KR 1+sTC1 1+sTB1 UP KR 1

Up+ UTKc If Uf [p.u.]

Generator voltage [p.u.]

UT

1 1+sTR

HV Gate

KR

1+sTs Up- UT

UT setpoint [p.u.] QT Generator Reactive Power [p.u.] PT Generator Active Power [p.u.] 1 1+sTR

UST Stabilizing signal from PSS

KIR

1 1+sTR

KIA

Description Measuring filter time constant Gate control unit and converter time constant Reactive power compensation factor active power compensation factor Steady state gain Voltage drop to commutations and impedances Controller first lag time constant Controller second lag time constant Controller first lead time constant Controller second lead time constant AVR output positive ceiling value AVR output negative ceiling value

Unit s s p.u. p.u. p.u. p.u. s s s s p.u. p.u.

Range 0.020 0.004 -0.20...+0.20 -0.20...+0.20 10...1000 Acc. Transf. TB1TB2 0<TB2TC2 0.01...10 0.01...2 Fixed Fixed

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Impact of excitation system on power system stability

IR UR

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IDR

UT If IT IDT Uf

IDS

IS

US

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Synchronous machine three-phase representation

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Impact of excitation system on power system stability

D axis ra

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Id

Ud

Stator

rdD

dD

IdD

rf Uf If

f Q1 IQ1
rQ1

Q2 IQ2
rQ2

Q axis

ra Iq

Rotor

Uq

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d-q decomposition

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Impact of excitation system on power system stability

Torque

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TM =

PM speed

US Ep sin TE = Xq + XT + XE
TM

Motion equation:

0o

45o

180o

d TM TE = 2 H dt

The characteristic Dynamic Equation

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Impact of excitation system on power system stability

AVR - Voltage control dynamic System type (Static excitation, Brush-less, DC Exciter) Settings of control algorithm Response time Ceiling capabilities Excitation system nominal response IEEE 421.1
NR= c UF ceiling b ce-ao

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(ao)(oe)

UF nominal

e=0.5s

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Impact of excitation system on power system stability

Comparison of Excitation System Types
DC-Exciter Mechanical - Conversion of mech. to electr. Energy - Size of exciter - Sliprings Electrical - Rectifier - Direct measuring of field current - Fast field suppression yes AC-Exciter stat. diodes yes AC-Exciter rot. diodes yes Stat. Exciter stat. thyristors main machine

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power and speed yes

power and speed yes static external possible

power and speed no static rotary not possible

power yes static possible

not required possible

possible

possible

not possible

possible

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Impact of excitation system on power system stability

Comparison of Exciter Characteristics
DC-Exciter Dynamic Performance - Major time constant of control circuit - Ceiling factor - Negative field current Reliability (MTBF) - Machine, Transformer - Converter Maintenance - Machine, Transf. - Converter AC-Exciter stat. diodes TdL+TE not limited not possible AC-Exciter rot. diodes TdL+TE limited not possible Stat. Exciter stat. thyristors TdL not limited possible

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TdL+TE limited possible

good good at standstill at standstill

good better at standstill during operation

good better at standstill at standstill

better better at standstill during operation

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Impact of excitation system on power system stability

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Ceiling limit

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Impact of excitation system on power system stability

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2.2 LIMITERS

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Impact of excitation system on power system stability

Setpoint building Automatic channel -Setpoint -Soft start effective setpoint -V/Hz limiter -Q influence -P influence

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Follow up Automatic Ug AC

Power system stabilizer (PSS)

Ucmax

Transducer and filter

Ug actual

HV Gate
+

Gain DC Gain P gain + HF gain +

Under excitation limiters (UEL) Over excitation limiters (OEL)

LV Gate

Uc AVR Uc

1/TA Ucmin Gain

1/TB

Ucmax

IF

Transducer and filter

DC Gain Uc FCR P gain

1/TA

1/TB

AVR FCR

Manual set point Follow up Manual Follow up Automatic Follow up control

Uc AVR Uc FCR Ucmin

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Impact of excitation system on power system stability

Theorectical stability limit Practical stability limit P [p.u.] Declared rated operation point of generating unit

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Turbine ouput power limit

IF Rate d ap pare nt po wer Sn

Ex cit ati on

po we r

Thermal limit of stator

LEADING (underexcited)

LAGGING (overexcited)

Thermal limit of rotor

-1.0 p.u.

U2 U2 Xq Xd

Minimum Field current limit Safe operation range

1.0

Q [p.u.]

The Power Chart of a solid pole synchronous machine

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Impact of excitation system on power system stability

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Synchronous machine operation Limits

Max. field current limiter Min. field current limiter Stator current limiter Under excitation P,Q limiter

Theoretical stability limit

-Q

1/Xd

+Q

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Impact of excitation system on power system stability

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Main duty of the limiters: Keep the synchronous machine operating within the safe and stable operation limits, avoiding the action of protection devices that may trip the unit.

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Impact of excitation system on power system stability

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VOLTAGE REGULATOR WITH LIMITERS

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Impact of excitation system on power system stability

Supply Voltage setpoint

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~ =

+ +

Ifth setpoint Ifact +

LOWER VAL. GATE Ifmax

I dt max
2

SM

= ~
THE OPERATING PHILOSOPHY OF Ifmax LIMITER

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=/~

2 I dt

COMP /#

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Impact of excitation system on power system stability

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Ceiling limit Field current x IFN

thermal limit setpoint switch time

Time [s]

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Impact of excitation system on power system stability

Machine frequency fT [p.u] 1 1+ sTR Machine terminal voltage UT [p.u] Machine field current IF [p.u.]

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V / Hz Limiter x
KVHZ U_fn

y=KVHZ.x+U_fn-KVHZ

UTMAX

x>0 + T_V_Hz

Delay
UTMAX

Max. field current limiter

1 1+ sTR

U_V/HZ Volt/Hz influence signal to AVR [p.u.]

x2 KCF KHF

+
EmaxF

KIFmax

y x x>y

x>0
IFth1 IFth2

IFmax1 IFmax2

1 s

Setpoint 2 for IF max limiter (option) Stator Current IT [p.u.]

LV Gate

Stator current limiter

1 1+ sTR

x2 KCS KHS

+
EmaxS

KITind
To OEL limiter gate of AVR

y x x>y

x>0
ITmax ITth

1 s 0

To UEL limiter gate of AVR

KITcap

Min. field current limiter

+ IFmin

KIFmin

HV Gate

Generator reactive power QT [p.u.] Generator terminal voltage UT [p.u.] Generator active power PT [p.u.]

1 1+ sTR

P/Q limiter

+ x2

KPQ

1 1+ sTR

Look-up Table yn = f (xn)

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Impact of excitation system on power system stability

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2.3 Power system Stabilizer

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Impact of excitation system on power system stability

Xq(s) I XT XE

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Ep

UG XT+XE Ep

US Infinite Bus

Ep-S
Ep H UG = I. (XE+XT) US =I.Xq

= I. Xq

X q(s ) = X q

1 + sTq' 1 + sT q'' 1 + sT q o ' 1 + sT q o ''

Stationary and transient air gap voltages

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Impact of excitation system on power system stability

Pe
Ep
UG

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US

90o

phasor rotation

Transient behavior of and PE

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PE

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Impact of excitation system on power system stability

A) H XT+XE Infinite Bus

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B)

H1 XT+XE

H2

Equivalent Inertia

Heq =

H1 H2 H1 + H2

taking

d TM TE = 2 H dt

d2 TM TE = 2 H 2 dt

For small oscillations keeping the driving torque constant the dynamic equation linearized can be written as:

2 H d2 D d 2 + + K1 = 0 n dt n dt
Inertia. Ang. Acc. Damping torque Synchronizing Torque

Dynamic equation of synchronous machine+grid for small oscillations

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Impact of excitation system on power system stability

Oscillation frequency phasor rotation

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K1 n rad/s 2H

Negative Damping (Unstable Region)

UG

D/ws*
Torque

Positive Damping (Stable Region) Damping axis

K1=synchronizing coefficient
operating point
K1 = slope = T Ep'.Us = cos o' Xq'+ XE + XT

Te=K1. Resulting Torque Synchronizing Axis 0o o 90o

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Phasor diagram of machine+grid for small oscillations ( without AVR)

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Impact of excitation system on power system stability

2 H d2 D d 2 + + K1 + K2 Ep' = 0 n dt n dt
Inertia.Ang. Acc. Damping torque Synchron. Torque Add .Torque from exc. system

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phasor rotation Negative Damping (Unstable Region) K2.Ep UG D/ws* Positive Damping (Stable Region)

-UG

Resulting torque component without excitation system Resulting torque component with excitation system

Te=K1. Synchronizing Axis

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Phasor diagram of machine+grid+excitation system for small oscillations

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Impact of excitation system on power system stability

FINAL CTRL ELEMENT ALTERNATIVE

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~
AVR PSS

M P ,Q

Fig3: PSS in the excitation system

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Impact of excitation system on power system stability

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Main Target of PSS:

It provides an additional torque component in order to get: 1) A positive resulting torque component on damping axis, even for the highest possible rotor oscillation frequency. 2) A positive torque component on synchronizing axis for partial compensation of generator terminal voltage variations even for the highest possible oscillation frequency

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Impact of excitation system on power system stability

PSS2A acc. IEEE 421.5 1992
PM 1 + s.2.H PA 1 + s.2.H s.TW1 1 + s.TW1 s.TW2 1 + s.TW2 VSTmax 1+s.T1 1+s.T2 VSTmin Ks3

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VSTmax 1+s.T3 1+s.T4 VST

+ +

(1 + s T 8) (1 + s T 9)M

+ Ks1

VSTmin

PE

s.TW3 1 + s.TW3

s.TW4 1 + s.TW4

Ks2 1 + s.T7 PE 1 + s.2.H

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Impact of excitation system on power system stability Adaptive PSS (APSS) Alternative to PSS2A
Driving Power Pa Uref + + -

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AVR

+ +

Uf

Synchronous Generator

UG , IG

GRID

Measurement
UG P

APSS

Filter 3rd Order System Model Estimator

P

White noise

+ +

Regulator

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Impact of excitation system on power system stability

Multi Band PSS (MBPSS)

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FB1(s) FB2(s)

+ -

Kb

FI1(s) FI2(s)

+ + K
i

Output Limit

To AVR

FH1(s) FH2(s)

+ -

Kh

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