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By
Khai Chiat THAM (40131843)
Department of Information Technology and
Electrical Engineering
The University of Queensland
Submitted for the degree of Bachelor of Engineering in
the division of Electrical Engineering
29
TH
October 2003
I
29
th
October 2003
Head
School of Information Technology and Electrical Engineering
The University of Queensland
St. Lucia, QLD 4072
Dear Professor Simon Kaplan,
In accordance with the requirements of the degree of Bachelor of Electrical Engineering
(Honours) in the School of Information Technology and Electrical Engineering at the University
of Queensland, I hereby present the following thesis titled: “Power System Stability”. This work
was performed under the supervision of Dr Zhao Yang DONG.
I hereby declare that all the work performed in this thesis is my work, except as acknowledged
accordingly, and has not been previously submitted for a degree at the University of Queensland
or any institution.
Yours sincerely,
Khai Chiat THAM
II
Abstract
The objective of this thesis project is to investigate and understand the stability of power system,
with the main focus on stability theories and power system modeling. The thesis looked into the
effects that advanced control techniques have on electrical power generation system and
transmission system. The thesis first explained the definition of power system stability and the
need for power system stability studies. It then proceeded to discuss on the various stability
problems after which the thesis provided a brief introduction on basic control theory and study.
Next the thesis examined the concept of system stability and some stability theories. The thesis
then performed a power system modeling and simulation of a twomachine, three bus power
system. The performance of the power system was simulated with the proposed advanced control
technique. The operating points and system parameters were varied to test the robustness of the
power system and the effectiveness of the proposed controller. Examples of the parameters that
were varied include the fault position λ, the power angle δ and the mechanical power input Pm.
Lastly, a conclusion was made on the overall effect of the controller on the power system and the
performance of the power system when its parameters were varied.
III
Acknowledgement
I would like to take this opportunity to express my utmost appreciation and gratitude to my thesis
project supervisor, Dr Zhao Yang DONG for his guidance and patience throughout the whole
thesis.
I would also like to thank my family and my girlfriend, Joyce Lee, who have always showered
me with their love and concern during the period of my study.
Last but not least a special thanks to whomever that I have missed out and had helped me in one
way or another.
IV
Nomenclature
i δ  the power angle of the ith generator, in rad
i ω  the relative speed of the ith generator, in rad/s
mi P  the mechanical input power, in p.u.
ei P  the electrical power, in p.u.
0 ω  the synchronous machine speed, in rad/s
i D  the per unit damping constant
i H  the inertia constant, in s
qi E′  the transient EMF in the quadrature axis, in p.u.
qi E  the EMF in the quadrature axis, in p.u.
fi E  the equivalent EMF in the excitation coil, in p.u.
doi T′  the direct axis transient shortcircuit time constant, in s
di x  the direct axis reactance, in p.u.
di x′  the direct axis transient reactance, in p.u.
ij B  the ith row and jth column element of nodal suspectance matrix at the internal nodes after
eliminating all physical buses, in p.u.
ei Q  the reactive power, in p.u.
fi I  the excitation current, in p.u.
di I  the direct axis current, in p.u.
qi I  the quadrature axis current, in p.u.
ci k  the gain of the excitation amplifier, in p.u.
fi u  the input of the SCR amplifier, in p.u.
adi x  the mutual reactance between the excitation coil and the stator coil, in p.u.
Ti x  the transformer reactance, in p.u.
ij x  the transmission line reactance between the ith generator and the jth generator, in p.u.
ti V  the terminal voltage of the ith generator, in p.u.
ei X  the steam valve opening of the ith generator, in p.u.
ci P  the power control input of the ith generator, in p.u.
mi T  the time constant of the ith machine’s turbine, in s
V
mi K  the gain of the ith machine’s turbine
ei T  the time constant of the ith machine’s speed governor, in s
ei K  the gain of the ith machine’s speed governor
i R  the regulation constant of the ith machine, in p.u.
VI
List of Figures
Figure 1: Electric power input to a motor as a function of torque angle δ 6
Figure 2: Electric power input to a motor as a function of torque angle δ . The diagram shows
when the load is suddenly increased from m0 P to m1 P , the motor will oscillate around 1 δ and
between 0 δ and 2 δ . 7
Figure 3: Geometrical illustration of Stability 10
Figure 4: Geometrical illustration of Asymptotic Stability 11
Figure 5: Geometric illustration of Asymptotic stability in the large 11
Figure 6: Block diagram of the system 20
Figure 7: Continuation method in state space and parameter space 23
Figure 8: Block diagram of system without control module 26
Figure 9: Block diagram of system with controller 27
Figure 10: Twomachine infinite bus power system 28
Figure 11: Case 1: Results of Subsystem 1 without controller 36
Figure 12: Case 1: Results of Subsystem 2 without controller 36
Figure 13: Case 1: Results of Subsystem 1 with controller 38
Figure 14: Case 1: Results of Subsystem 2 with controller 38
Figure 15: Case 2: Results of Subsystem 1 without controller 40
Figure 16: Case 2: Results of Subsystem 2 without controller 41
Figure 17: Case 2: Results of Subsystem 1 with controller 41
Figure 18: Case 2: Results of Subsystem 2 with controller 42
Figure 19: Case 3: Results of Subsystem 1 without controller 44
Figure 20: Case 3: Results of Subsystem 2 without controller 44
Figure 21: Case 3: Results for Subsystem 1 with controller 46
Figure 22: Case 3: Results for Subsystem 2 with controller 46
Figure 23: Comparing ω and δ of Subsystem 1 for Case 2 and Case 3 47
Figure 24: Comparing ω and δ of Subsystem 2 for Case 2 and Case 3 47
Figure 25: Comparing Pe of Subsystem 1 for Case 2 and Case 3 48
Figure 26: Comparing Pe of Subsystem 2 for Case 2 and Case 3 48
Figure 27: Case 4: Results of Subsystem 1 without controller 51
VII
Figure 28: Case 4: Results of Subsystem 2 without controller 51
Figure 29: Case 4: Results for Subsystem 1 with controller 52
Figure 30: Case 4: Results for Subsystem 2 with controller 52
Figure 31: Comparing ω and δ of Subsystem 1 for Case 3 and Case 4 53
Figure 32: Comparing ω and δ of Subsystem 2 for Case 3 and Case 4 53
Figure 33: Comparing Pe of Subsystem 1 for Case 2 and Case 3 54
Figure 34: Comparing Pe of Subsystem 2 for Case 3 and Case 4 54
Figure 35: Case 5: Results of Subsystem 1 without controller 55
Figure 36: Case 5: Results of Subsystem 2 without controller 56
Figure 37: Case 5: Results of Subsystem 1 with controller 56
Figure 38: Case 5: Results of Subsystem 2 with controller 57
Figure 39: Case 6: Results of Subsystem 1 without controller 59
Figure 40: Case 6: Results of Subsystem 2 without controller 59
Figure 41: Case 6: Results of Subsystem 1 with controller 60
Figure 42: Case 6: Results of Subsystem 2 with controller 60
Table of Contents
ABSTRACT II
ACKNOWLEDGEMENT III
NOMENCLATURE IV
CHAPTER 1: INTRODUCTION AND BASIC STABILITY THEORY 1
1.0 Overview of the thesis topic 1
1.01 Definition of stability of a system 1
1.02 Why the need for Power System Stability? 2
1.03 Stability studies 2
1.1 Stability Theories 4
1.1.1 Swing Equation 5
1.1.2 Equal Area Criterion 6
CHAPTER 2: ADVANCED STABILITY THEOREMS AND TECHNIQUES 8
2.0 Lyapunov’s Theorem 8
2.1 Definition of stability 9
2.1.1 Definition 1 9
2.1.2 Definition 2 10
2.1.3 Definition 3 11
2.1.4 Definition 4 12
2.1.5 Definition 5 12
2.2 Lyapunov function for Linear Time Invariant System 12
2.3 Lyapunov function for Nonlinear System 13
2.3.1 Method based on first integrals 13
2.3.2 Method based on quadratic form 14
2.3.3 Methods based on Variable Gradient Method 16
2.3.4 Method based on Zubov’s Method 17
2.3.4.1 Series solution for Zubov’s Method 18
2.3.5 Other methods for nonlinear systems 19
2.3.5.1 Popov’s Theorem 20
2.4 Continuation Method 22
2.4.1 Predictor 24
2.4.2 Corrector 24
2.4.3 Parameterization 25
CHAPTER 3: MODELLING OF POWER SYSTEM 26
3.0 Basic Control Theory 26
3.1 Power System Modelling 28
3.2 Power system dynamic model 29
3.3 Nonlinear Decentralized Control Scheme 34
CHAPTER 4: SIMULATION RESULTS 35
4.0 Overview 35
4.1 Simulation of system model 35
4.1.1 CASE 1 35
4.1.2 CASE 2: Variation of parameters 40
4.1.3 CASE 3: Variation of parameters power angle δ and mechanical power Pm 43
4.1.3.1 Comparison of Case 2 and Case 3 47
4.1.3.1.1 Effect on ω and δ 47
4.1.3.1.2 Effect on Pe 48
4.1.4 CASE 4: Variation of fault position λ 50
4.1.4.1 Comparison of Case 3 and Case 4 53
4.1.4.1.1 Effect on ω and δ 53
4.1.4.1.2 Effect on Pe 54
4.1.5 CASE 5 55
4.1.6 CASE 6: Variation of parameters system reactance x12, x13 and x23 58
4.1.6.1 Comparison of Case 5 and Case 6 61
CHAPTER 5: CONCLUSION 62
5.0 Conclusion 62
REFERENCE 64
APPENDIX 67
CHAPTER 1:
INTRODUCTION AND BASIC STABILITY
THEORY
1
Chapter 1: INTRODUCTION AND BASIC STABILITY THEORY
1.0 Overview of the thesis topic
An interconnected power system basically consists of several essential components. They are
namely the generating units, the transmission lines, the loads, the transformer, static VAR
compensators and lastly the HVDC lines [1]. During the operation of the generators, there may be
some disturbances such as sustained oscillations in the speed or periodic variations in the torque
that is applied to the generator. These disturbances may result in voltage or frequency fluctuation
that may affect the other parts of the interconnected power system. External factors, such as
lightning, can also cause disturbances to the power system. All these disturbances are termed as
faults. When a fault occurs, it causes the motor to lose synchronism if the natural frequency of
oscillation coincides with the frequency of oscillation of the generators. With these factors in
mind, the basic condition for a power system with stability is synchronism. Besides this condition,
there are other important condition such as steadystate stability, transient stability, harmonics
and disturbance, collapse of voltage and the loss of reactive power.
1.01 Definition of stability of a system
The stability of a system is defined as the tendency and ability of the power system to develop
restoring forces equal to or greater than the disturbing forces to maintain the state of equilibrium
[2].
Let a system be in some equilibrium state. If upon an occurrence of a disturbance and the system
is still able to achieve the equilibrium position, it is considered to be stable. The system is also
considered to be stable if it converges to another equilibrium position in the proximity of initial
equilibrium point. If the physical state of the system differs such that certain physical variable
increases with respect to time, the system is considered to be unstable.
2
Therefore, the system is said to remain stable when the forces tending to hold the machines in
synchronism with one another are enough to overcome the disturbances. The system stability that
is of most concern is the characteristic and the behaviour of the power system after a disturbance.
1.02 Why the need for Power System Stability?
The power system industry is a field where there are constant changes. Power industries are
restructured to cater to more users at lower prices and better power efficiency. Power systems are
becoming more complex as they become interconnected. Load demand also increases linearly
with the increase in users. Since stability phenomena limits the transfer capability of the system,
there is a need to ensure stability and reliability of the power system due to economic reasons.
1.03 Stability studies
The performance of a power system is affected when a fault occurs. This will result in
insufficient or loss of power. In order to compensate for the fault and resume normal operation,
corrective measures must be taken to bring the system back to its stable operating conditions.
Controllers are used for this function. Some of the control methods used to prevent loss of
synchronism in power systems are [19] [20]:
(1) Excitation control:
During a fault the excitation level of the generator drops considerably. The excitation
level is increased to counter the fault.
(2) An addition of a variable resistor at the terminals of the generator. This is to make
sure that the power generated is balanced as compared to the power transmitted.
(3) An addition of a variable series capacitor to the transmission lines. This is to reduce
3
the overall reactance of the line. It will also increase the maximum power transfer
capacity of the transmission line.
(4) Turbine valve control:
During a fault the electrical power output (Pe) of the generator decreases considerably.
The turbine mechanical input power (Pm) is decreased to counter the decrease of Pe.
Stability studies are generally categorized into two major areas: steadystate stability and
transient stability [2]. Steadystate stability is the ability of the power system to regain
synchronism after encountering slow and small disturbances. Example of slow and small
disturbances is gradual power changes. The ability of the power system to regain synchronism
after encountering small disturbance within a long time frame is known as dynamic stability.
Transient stability studies refer to the effects of large and sudden disturbances. Examples of such
faults are the sudden outrage of a transmission line or the sudden addition of removal of the loads.
Transient stability occurs when the power system is able to withstand the transient conditions
following a major disturbance.
When a major disturbance occurs, an imbalance is created between the generator and the load.
The power balance at each generating unit (mechanical input power – electrical input power)
differs from generator to generator. As a result, the rotor angles of the machines accelerate or
decelerate beyond the synchronous speed of for time greater than zero (t > 0). This phenomenon
is called the “swinging” of the machines.
There are two possible scenarios when the rotor angles are plotted as a function of time:
(1) The rotor angle increases together and swings in unison and eventually settles at
new angles. As the relative rotor angles do not increases, the system is stable and in
synchronism.
(2) One or more of the machine angles accelerates faster than the rest of the others. The
relative rotor angles diverges as time increase. This condition is considered unstable
or losing synchronism.
4
These studies are important in the sense that they are helpful in determining critical information
such as critical clearing time of the circuit breakers and the voltage level of the power system.
The main aim of this thesis project is to investigate the various power system stability problems,
after which one important problem will be singled out for discussion and research. A proposed
technique to solve the selected stability problem will also be explained in detail.
To maintain synchronism within the distribution system can proved to be difficult as most
modern power system are very large. For the purpose of this thesis report, a simplified two
machine infinite bus power system is studied.
1.1 Stability Theories
The aim of this thesis report is to investigate the various power system stability problems, the
effect of a fault on the stability condition of the system and also the poststability condition of the
system. This section will discuss about the concept and theories of stability study.
As mentioned previously, the main objective of stability studies is to determine whether the
rotors of the machines being disturbed return to the original constant speed operation. There are
three assumptions that are made in stability studies:
(i) We only consider the synchronous currents and voltages in the stator windings and the
power system. DC offsets and harmonic components are also ignored.
(ii) To represent unbalanced faults, symmetrical components are used.
(iii) The generated voltage is considered to be unaffected by the speed variations of the
machine.
5
1.1.1 Swing Equation
The Swing Equation governs the rotational dynamics of the synchronous machine in stability
studies [2]. Under normal operating conditions, the relative position of the rotor axis and the
resultant axis is fixed. The angle difference between the two axes is known as the power angle.
During disturbance to the machine, the rotor will accelerate or decelerate with respect to the
synchronous rotating air gap mmf. The “Swing” equation describes this relative motion. If the
rotor is able to resume its synchronous speed after this oscillation period, the generator will
maintain its stability. The rotor will return to its original position if the disturbance is not created
by any net changes in the power. However if the disturbance is created by a change in generation,
load or network conditions, the rotor will be in a new operation power angle relative to the
revolving field.
The Swing Equation (pu) is given as:
2H d2δ = Pm (pu) – Pe (pu)
Ws dt2
Where H is pu inertia constant,
Ws is electrical synchronous speed
δ is electrical power angle
Pm is shaft mechanical power input
Pe is electrical power p
d2δ is angular acceleration or deceleration due to excess or deficit power
dt2
With this basic concept, we are now able to discuss and review the Equal Area Criterion concept
in detail.
6
1.1.2 Equal Area Criterion
Equal Area Criterion is a stability method used for quick prediction of stability [16]. Based on the
assumptions that the system is a purely reactive, a constant Pm and constant voltage behind
transient reactance, it is found that if the transient stability limit is not exceeded, the electrical
power angle δ oscillates around the equilibrium point with constant amplitude. Equal Area
Criterion is the method which determines stability under transient conditions, without needing to
solve the Swing Equation.
Originally the motor of the machine is operating at the synchronous speed with a torque angle
of 0 δ . The mechanical power output m0 P is equal to the electrical power input e P . When the
mechanical load is suddenly increased so that the power output is m1 P , it is greater than the
electrical power input at 0 δ . The difference in the power comes from the kinetic energy stored in
the rotating system. Thus it results in a decrease in speed. When the speed decreases, it will cause
the torque angle δ to increase.
Figure 1: Electric power input to a motor as a function of torque angle δ
7
As δ increases, the electrical power received will increase to a point where m1 e P P = . We shall
name this Point B. After passing through Point B, the electrical power e P is greater than m1 P . This
will result in an increase in kinetic energy and speed. Thus between Point B and C, the speed will
increase accordingly withδ , until the synchronous speed is again reached at Point C.
Figure 2: Electric power input to a motor as a function of torque angle δ . The diagram shows when the load is
suddenly increased from m0 P to m1 P , the motor will oscillate around 1 δ and between 0 δ and 2 δ .
At Point C, the torque angle is m δ . e P is still greater than m1 P and the speed of the motor will
continue to increase. However, δ will start to decrease as soon as the speed of the motor exceeds
the synchronous speed. Therefore the maximum value of δ is at Point C.
As δ increases, Point B is reached again with the speed above the synchronous speed. The torque
angle δ will continue to decrease until Point is achieved. This will imply that the motor is again
operating at synchronous speed. The cycle is then repeated.
When the accelerating area (AA) is equal to the decelerating area (DA), the system is considered
to be stable.
A
B
C
CHAPTER 2:
ADVANCED STABILITY THEOREMS AND
TECHNIQUES
8
CHAPTER 2: ADVANCED STABILITY THEOREMS AND TECHNIQUES
2.0 Lyapunov’s Theorem
The stability of linear timeinvariant systems can be determined by applying several known
theorems such as Nyquist and RouthHurwitz. However, there was no systematic procedure to
determine the stability of nonlinear systems.
In 1892, A. M. Lyapunov founded the general framework for the solution for the stability of non
linear systems. Lyapunov founded two approaches to the problem of stability. The first one was
known as the Lyapunov’s “First method” and the other was known as the “second method”. The
latter method is also commonly known as the Direct Method [12].
The principle idea of the Direct Method is as follow: If the rate of change
dt
dE
of the energy E(x)
of an isolated physical system is negative for every state x except for a single equilibrium state
e
x ,
then the energy will continue to decrease until it finally assumes its minimum value ) E(x
e
.
This idea was developed into a mathematical form by Lyapunov. The energy function of E(x)
was replaced by the scalar function V(x). For a given system, if V(x) is always positive except at
x = 0 and its derivative (x) V
&
is less than 0 except at x = 0, then we say that the system has
returned to the origin if it is disturbed. The origin is said to be stable if there exist a scalar
function V(x) > 0 in the neighbourhood of the origin such that (x) V
&
is less than or equal to 0 in
that origin. The function V(x) is known as the Lyapunov function. The system equations are as
shown below:
x = f(x), f(0) = 0
dt
dx
x
V
.....
dt
dx
x
V
dt
dx
x
V
(x) V
n
n
2
2
1
1
∂
∂
∂
∂
+
∂
∂
=
&
9
>
∂
∂
=< x ,
x
V
&
> >=< =< f(x) GradV, x GradV,
2.1 Definition of stability
An undisturbed motion s x is considered to be stable when the disturbed motion remains close to
the undisturbed motion after encountering small disturbance. To elaborate on the above statement:
(1) If small disturbances were encountered and the effect on the motion is small, the
undisturbed motion is considered to be stable
(2) If small disturbances were encountered and the effect on the motion is considerable, the
undisturbed motion is termed “unstable”.
(3) If small disturbances were encountered and the effect tends to disappear, the disturbed
motion is considered “asymptotically stable”.
(4) If regardless of the magnitude of the disturbances and the effect tends to disappear, the
disturbed is considered “asymptotically stable in the large”.
2.1.1 Definition 1
The origin is said to be stable in the sense of Lyapunov if for every real number 0 ε > and initial
time c tc > , there is a real number 0 δ > which is dependent on ε and on t such that for all initial
conditions it satisfy the following criteria:
δ < 0 x
10
and the motion satisfies
ε < x(t) for all t > 0 t
Figure 3: Geometrical illustration of Stability
The geometrical illustration of the definition is shown above. This stability concept of Lyapunov
is a local concept as it does not indicate the value of δ that is to be chosen. The origin is
considered to be unstable if the above condition is not satisfied.
2.1.2 Definition 2
The origin is said to be asymptotically stable if it is stable and that every motion starts close to
the origin and converges to the origin as t tends towards infinity.
0 x(t) lim
t
→
∞ →
However this definition does not indicate the magnitude of the disturbances in order for the
motions to converge to the origin. This definition is also considered a local concept. The
geometrical illustration of Asymptotic Stability is shown below.
11
Figure 4: Geometrical illustration of Asymptotic Stability
2.1.3 Definition 3
The origin is said to be asymptotically stable in the large when it is asymptotically stable and
every motion starting at any point in the state space returns to the origin as t tends towards
infinity. The geometrical illustration is shown below.
Figure 5: Geometric illustration of Asymptotic stability in the large
This definition is useful in power system as the magnitude of the disturbance need not be
considered.
12
2.1.4 Definition 4
A function V(x) is considered to be positive definite if V(x) = 0 and if it is around the origin V(x)
≥ 0 for 0 x ≠ .
2.1.5 Definition 5
A function V(x) is considered to be positive semidefinite if V(0) = 0 and if it is around the origin
V(x) ≥ 0.
2.2 Lyapunov function for Linear Time Invariant System
In this section we will examine the stability of linear time invariant system using the Lyapunov’s
method [12]. First let us consider a system:
Ax x = &
Let the origin of the system be the only equilibrium point. The stability of the system can be
examined by solving the eigenvalues of A and see whether any of it is in the right half plane. The
stability of the system can also be determined by using the Routh Hurwitz method. However both
methods failed to give insight into the class of A matrices that are stable, and the Lyapunov
function is able to provide such information. By constructing the Lyapunov function of a
quadratic form, we are able to obtain the conditions that affect the stability of the system.
Consider the following matrix equation:
Q PA A
T
− = +
where A = n x n matrix
P and Q = symmetric n x n matrices
13
Let n 2 1 ,.....λ λ , λ be the eigenvalues of the matrix A. The above equation has a unique solution for
P if and only if:
0 λ λ j i ≠ + for all I, j = 1, 2, ….., n
This will indicate that when A has no zero eigenvalues and no real eigenvalues which are of
opposite sign, there is a unique solution. The system will satisfy the Lyapunov matrix equation if
the matrix A has no eigenvalues with positive real parts and has some distinct eigenvalues with
zero real parts for a given Q > 0 and P > 0.
2.3 Lyapunov function for Nonlinear System
As we have examined in the previous section for a time linear invariant system, there is a
systematic approach to solving for the stability of the system using the Lyapunov function. This
section will attempt to examine a few different methods used to construct the Lyapunov functions
for nonlinear systems [12]. The methods are as follow:
(1) The method based on first integrals
(2) The method based on quadratic forms
(3) The method based on solving the partial differential equation
(4) The method based on quadratic and integral of nonlinearity type Lyapunov function
Several of the methods will be explained and discussed in details.
2.3.1 Method based on first integrals
The basis of this method is to construct the Lyapunov functions using the linear combination of
the first integrals of the system equations. Let us consider the following equation:
14
) x ,....., x , (x f x n 2 1 i i =
we can also say that f(x) = x
f(0) = 0
We understand that an integral is a differentiable function ) ,.....x x , G(x n 2 1 defined in Domain D of
the state space such that when s x i ′ establish a solution, ) ,.....x x , G(x n 2 1 will have a constant value
C. A conservative system can be defined by the existence of a first integral. A necessary
condition to have a first integral is as follow:
0
x
f
i
i
n
1 i
=
∂
∂
∑
=
2.3.2 Method based on quadratic form
The basis of this method is that the Lyapunov function is of the form of A(x)x x
T
. This method is
also known as the Krasovskii’s method. Let us consider the autonomous system below:
x = f(x), f(o) = 0
Let us assume that f(x) has continuos first partial derivatives. The Jacobian matrix is defined as
follow:
(
(
(
(
(
(
(
(
¸
(
¸
∂
∂
∂
∂
∂
∂
∂
∂
=
∂
∂
=
n
n
1
n
n
1
1
1
x
f
..........
x
f
.......... ..........
.......... ..........
.......... ..........
x
f
..........
x
f
x
f
J(x)
15
Let’s define the Q(x) matrix is defined as Q(x) = P J(x) + (x) J
T
P.
If a positive definite matrix P is obtained such that the Q(x) matrix is negative definite, then the
origin of the system is considered to be asymptotically stable in the large.
Let us consider the Lyapunov function below:
V(x) =
T
f P F
The assumption is made that the function is positive definite in the f space. V(x) is also positive
definite in the x space as there is a one to one mapping between the x space and the f space. The
derivative of V(x) is as follow:
f P f Pf f V(x)
T T
& &
+ =
By applying chain rule,
x J(x) (x) f &
&
=
= J(x) f(x)
therefore,
PJ(x)]f (x)P [J f (x) V
T T
+ =
&
(x) V
&
is considered negative definite as the term inside the bracket of the equation above is
negative definite. Therefore the origin is asymptotically stable in the large.
16
2.3.3 Methods based on Variable Gradient Method
The basis of this method is that a vector V ∇ is assumed to have undetermined components. Both
the V and V
&
can be determined from the gradient function. Let’s consider the following equation:
n
n
1
1
x
x
V
..... x
x
V
dt
dV
& &
∂
∂
+
∂
∂
=
> ∇ =< x V, &
and
> ∇ < ∫ = dx V, V
x
0
As the upper limit of the integral is x, it indicates that the line integral is to an arbitrary point in
the x space. It is also independent of the path of the integration.
In order to determine the gradient V ∇ , there are certain procedures to the construction of V(x).
They are as follow:
1) The n dimensional curl of V ∇ is zero.
2) V and V
&
is determined from V ∇ for V > 0 and V
&
<0. If V
&
< 0, then actions must be
taken to ensure that it is not zero along any other solution other than the origin.
17
The matrix V ∇ will be in the form of:
V ∇ =
¸
(x) α
.
.
.
(x) α
n1
11
(x) α
.
.
.
(x) α
n2
12
. ..........
..........
(
(
(
(
(
(
¸
(
(x)
.
.
.
(x) α
nn
1n
α
(
(
(
(
(
(
¸
(
¸
n
1
x
.
.
.
x
The ij α s consist of a constant term ijk α and a variable term ijv α . The parameters may be
considered to be constant unless cancellation or the generalized curl equations require a more
complicated form. After obtaining the variable gradient the dV/dt equation will be formed, where
> ∇ =< f(x) V,
dt
dV
The dV/dt equation is constrained to be negative semidefinite. This will also give some
constraint on the coefficients. The curl equation is used to determine the remaining unknown
coefficients. We are then able to determine V from the known gradient. Lastly by applying the
necessary theorem, we are able to the condition of stability of the system.
2.3.4 Method based on Zubov’s Method
This method is not only able to generate the Lyapunov function but it is also able to construct a
region of attraction or an approximation to it. The method is based on solving a linear partial
differential equation. When the solution obtained is if a closed form, we would have a unique
Lyapunov function and an exact stability region. However, if the solution obtained is not of
closed form, we would then solve for a series solution. In this way we are also able to get an
approximation to the exact stability region. The theorem of this method is explained in the
following.
18
First we would let U be a set containing the origin. The conditions for U to be the exact domain
of attraction such that the two functions V(x) and θ(x) are:
1) V(x) is defined and continuos in U. θ(x) is defined and continuos in the entire state space.
2) θ(x) is positive definite for all x.
3) V(x) is positive definite in U with V(0) = 0.
4) On the boundary of U, V(x) = 1.
5) The following partial differential equation is satisfied:
) f V(x))(1 θ(x)(1 (x) f
x
V 2
i
i
n
1 i
+ − − =
∂
∂
∑
=
2.3.4.1 Series solution for Zubov’s Method
As it is not possible to expect a closed form solution from the partial differential equation, the
series solution is used to counter this problem. The equation f(x) x = & may be expanded into the
following:
g(x) Ax x + = &
where A is the linear part of the equation and g(x) is of second degree or higher. A is assumed to
be stable and has all eigenvalues with negative real parts. φ(x) is chosen to be a positive definite
quadratic form. The solution of the partial differential equation is as follow:
v(x)) φ(x)(1 (x) f
x
V
i
i
n
1 i
− − =
∂
∂
∑
=
and
19
..... (x) V (x) V V(x) 3 2 + + =
where (x) V2 is quadratic in x and (x) Vm , where m = 3,4,5, …, are homogenous in degree m,
meaning m V ( γ x) = V(x) γ
m
for any constant γ . In order to find (x) Vm , the original system
differential equation is substituted with the above equation. Due to the assumption made on g(x)
and (x) Vm , (x) V2 is the Lyapunov function for the linear equation. Therefore,
Ax x = &
(x) Vm can be obtained from:
(x) R (x) f
x
V
m i
i
m
n
1 i
=
∂
∂
∑
=
(x) Rm can be found after (x) V2 has been determined. The region of asymptotic stability that is
found by using more terms does not necessarily converge to the exact stability boundary
uniformly. Due to the assumptions that we made on A, we are able to get a positive definite (x) V2 .
2.3.5 Other methods for nonlinear systems
Previously we have examined the various methods that are used to determine the stability of the
nonlinear systems that have no restrictions on the nonlinearities. However there are some
scenarios where there are restrictions to the nonlinearities. This occurs when the nonlinearity lies
in the first and the third quadrant or in a section thereof. A systematic approach will then be
possible to construct the Lyapunov function. This section will attempt to examine one of the
methods that are used to obtain the stability of such system.
20
2.3.5.1 Popov’s Theorem
Let’s consider the system below:
bξ Ax x + = &
φ(σ) ξ − =
x c σ
T
=
where A is a n x n matrix,
x, b and c are nvectors
φ(σ) is a nonlinearity which lies in the first and third quadrant
The block diagram of the system is shown below.
Figure 6: Block diagram of the system
The transfer function of the system is:
b A) (sI c
ξ(s)
σ(s)
G(s)
1 T −
− = =
21
G(s) will have all poles with negative real parts if matrix A is a stable matrix.
We will now look at the special cases where G(s) has poles which are on the imaginary axis. The
case that we are examining is that G(s) has a single pole at the origin. This implies that matrix A
has a zero eigenvalue. Therefore the state space is:
(
¸
(
¸
ξ
x
&
&
=
¸
0
A
(
¸
(
0
0
(
¸
(
¸
ξ
x
+
(
¸
(
¸
1
b
u
where u = φ(σ) −
dξ x c σ
T
+ =
The system is absolutely stable for all nonlinearities when the following sector condition is
satisfied:
2
kσ φ(σ) 0 < <
or when a finite real q exist such that:
)} q)G(j j Re{(1
k
1
ω ω + + > 0 for all 0 ω ≥
and d > 0
One of the advantage of the Popov’s method is that we are able to construct the Lyapunov
function in a systematic manner if we can establish absolute stability. The Lyapunov function is
the quadratic and the integral of the nonlinearity. The construction of the Lyapunov function
through the solution of nonlinear algebraic equations is as follow:
T T
uu εQ PA P A − − = +
22
u d)] b (c [ αdc c A
2
1
Pb
2
1
T T
+ + + = β β
where q=
αd
β
2
,
0 ε ≥ and small and
u is the (n1) vector
We will be able to obtain the solution for q if the Popov’s criterion is satisfied. Thus the solution
of the Lyapunov function will be in the form of:
V(x) = φ(σ)dσ q dξ
2
1
Px x
σ
0
2 T
∫
+ +
2.4 Continuation Method
The Continuation Method is used to determine proximity to saddlenode bifurcations in dynamic
system [17]. The principle behind the Continuation Method is that if a set of equations is
underdetermined, where a single parameter is free to vary and the system is underconstrained, the
results of the solution will be curves and not points. The purpose of the Continuation Method is
to determine the curves. In this section, a brief explanation of this method will be discussed.
The continuation method uses a threestep approach to solve for the equilibrium points. As
mentioned earlier, one of the parameter in the system is free to vary. The method is used to find
the solution to the power flow equations for a given set of parameter values. The power flow
equation is shown as follow:
f(z, λ) = 0
23
The loading factor λ is the varying parameter. However, the classical power flow Jacobian
becomes unsatisfactory as the system gets closer to bifurcation. A parameterization will convert
the Jacobian into non singular at the voltage collapse point.
Figure 7: Continuation method in state space and parameter space
The figure above shows the Continuation method geometry in state space and parameter space.
The boldface curve represents the system equilibria as the parameters of the system changes.
Let’s assume that the system is initially at the state (z1, λ1). The new equilibria (z2, λ2) can be
predicted by using ∆λ and the scaled tangent vector 1 ∆z , where ∆λ and ∆z is given by:
dz/dλ
k
∆λ = and
dλ
dz
∆λ ∆z =
where k = scaling constant
The following steps are used to obtain the actual values of z2 and λ2.
24
2.4.1 Predictor
The purpose of this procedure is to find the step zˆ ∆ and∆p. The equation is given as below.
p
f
dp
zˆ d
) p , zˆ f( D 1 1
zˆ
∂
∂
− =
Therefore, by setting parameter p to λ and the state variable zˆ to z,
/dp zˆ d
k
∆p = and
dp
zˆ d
∆p zˆ ∆ =
The parameter p is likely to change to one of the bus voltage as the process approaches
bifurcation and the loading factor λ will become part of zˆ .
2.4.2 Corrector
The purpose of this procedure is to find the intersection between the perpendicular plane to the
tangent and the branch. The equations are as follow.
0 p) , zˆ f( =
0 ) zˆ ∆ zˆ zˆ ( zˆ ∆ ∆p) p ∆p(p 1
T
1 = − − + − −
The values of p1 and 1 ˆ z are obtained from the previous iteration. By setting the initial value of zˆ
to zˆ ∆ zˆ1 + and p to p1 +∆p, the equations above can be solved by one or two iterations.
25
2.4.3 Parameterization
This procedure is to check the relative changes in all system variables. The parameter p is then
traded with the variable that presents the largest change.
The Jacobian of equations is nonsingular at the point of bifurcation. This is done by changing
the parameter p from λ to a state variable z zi ∈ . The tangent vector dz/dλ is a scaled version of
the right eigenvector v at the bifurcation point.
As the method naturally goes around the collapse point, we are able to find the unstable side of
the branch.
CHAPTER 3:
Modelling of power system
26
CHAPTER 3: MODELLING OF POWER SYSTEM
3.0 Basic Control Theory
In a control function block, the various parts of the system are broken down into the following
function blocks.
(1) The plant, which is the transmission network
(2) The fault module
(3) The control system, which is the controller
The plant module consists of all the basic function of the transmission system. However it does
not include the controller function. Thus the plant module is considered an open loop system as it
has no feedback capability. The plant module will also only react to the faults with its own
natural dynamics and damping system as it has not have any form of corrective functions.
The function of the fault module is to provide the new line impedances and voltages when the
fault occurs. The fault module will only generate one value of the line impedance, depending on
the location of the fault. The plant module will then receive this value when there is an
occurrence of the fault. Otherwise, the plant module will use its original value of line impedance.
The controller module provides the feedback to the plant so that adjustment can be made to
sustain the fault and regain its synchronism. The block diagrams of a system without controller
and a system with control are shown as below.
Figure 8: Block diagram of system without control module
Fault
Plant
f(t)
r(t)
27
Figure 9: Block diagram of system with controller
The block diagram in Figure is a simplified closed loop control system. The output of the system
r(t) is sent back to the comparator to be compared with the input u(t). The difference between the
feedback and the input e(t) is then fed to the controller. The controller will perform and output
the necessary control output y(t) to the plant module. The fault module, which acts as a
disturbance, is also fed into the plant module. The cycle is then repeated.
Plant
Plant Controller

u(t)
r(t)
y(t)
f(t)
r(t) e(t)
28
3.1 Power System Modelling
The power system modelling is based on a twomachine, three bus power system. The
performance of the power system will be simulated with the proposed advanced control technique,
Nonlinear Decentralized Controller [18]. The operating points and system parameters will be
varied to test the robustness of the power system and the effectiveness of the proposed controller.
The diagram of the model is shown below.
Figure 10: Twomachine infinite bus power system
29
3.2 Power system dynamic model
Power System Plant Model [18]
Mechanical Equations:
i i ω δ = (1)
Swing equation:
( ) i ei mi
i
0
i
i
i d P  P
2H
ω
ω
2H
D
ω + + − = & (2)
Generator electrical dynamics:
) E (E
T
1
E qi fi
oi d
qi −
′
= ′
&
(3)
Turbine Dynamics:
ei
mi
mi
mi
mi
mi X
T
K
P
T
1
P + =
&
(4)
Turbine valve control:
ci
ei
ei
ei
i
0 i ei
ei
ei P
T
1
X
T
1
ω
ω R T
K
X + − − =
&
(5)
Electrical equations:
, )I x (x E E di di di qi qi ′ − + ′ = (6)
, u K E fi ci fi = (7)
), δ sin(δ B E E P j i ij qj qi
n
1 j
ei − ′ ′ =
∑
=
(8)
30
), δ cos(δ B E E Q j i ij qj qi
n
1 j
ei − ′ ′ − =
∑
=
(9)
), δ cos(δ B E I j i ij qi
n
1 j
di − ′ − =
∑
=
(10)
), δ sin(δ B E I j i ij qj
n
1 j
qi − ′ =
∑
=
(11)
, I x E fi adi qi = (12)
2
qi di
2
di di qi ti ) I x ( ) I x E ( V ′ + ′ − ′ = (13)
Excitation control loop:
By applying direct feedback linearization compensation,
i i ω δ =
i ei
i
0
i
i
i
i d ∆P
2H
ω
ω
2H
D
ω + − − = &
), , ( γ V
T
1
∆P
T
1
P ∆ i fi
doi
ei
doi
ei ω δ +
′
+
′
− =
&
(14)
where
, P P ∆P mi0 ei ei − = (15)
j j i ij qj
n
1 j
qi j i ij qj
n
1 j
qi ) δ cos(δ B E E ) δ sin(δ B E E ω) γ(δ, ω − ′ ′ − − ′ ′ =
∑ ∑
= =
& &
(16)
i ei d0i mi0 di qi di di fi ci qi fi ω Q T P I )I x (x U K I V ′ − − ′ − − = (17)
31
Assuming no load condition,
max, ei ij qj qi P B E E ≤ ′ ′ (18)
min
d0j
max qi
max
qi fi
d0j
qj
T
1
E 4 ] E [E
T
1
E
′
≤ −
′
≤ ′
&
(19)
which is followed by
ωj Q ) δ sin(δ P
T
4
) ( γ
max
ei
n
1 j
j i
max
ei
min
d0j
n
i j 1, j
i
∑ ∑
= ≠ =
+ −
′
≤ δ,ω
ωj Q P ) sinδ sinδ ( P
T
4P
max
ei 2ij
n
1 j
j i
max
ei
min
d0j
1ij
n
i j 1, j
∑ ∑
= ≠ =
+ +
′
≤
), ωj γ sinδ (γ i2 j i1j
n
1 j
+ =
∑
=
(20)
where
¦
¦
¹
¦
¦
´
¦
′
′
=
∑
≠ =
max
ei
min
d0j
1ij
max
ei
min
d0j
1ij n
i j 1, j
∆
i1j
P
T
4P
P
T
4P
γ
max
ei 2ij
∆
i2 Q P γ = (21)
Steam valve control loop:
i ω δ =
&
i i mi
i
0
i
i
i
i d )] ( g [P
2H
ω
ω
2H
D
ω + − + − = δ &
ei
mi
mi
mi
mi
mi X
T
K
P
T
1
P + − =
&
32
, u
T
1
X
T
1
ω
ω R T
K
X i
ei
ei
ei
i
0 i ei
ei
ei + − − =
&
(22)
where
), δ sin(δ B E E ) ( g j i ij qj qi
n
1 j
i − ′ ′ =
∑
=
δ (23)
ei i P u = (24)
Using the parameters stated in (18), we can express ) ( gi δ (the interconnected term) as the
following nonlinear function regardless of uncertain qj qi E , E ′ ′ and network parameters.
) δ sin(δ P ) ( g j i
max
ei
n
1 j 1, j
i − ≤
∑
≠ =
δ
) sinδ sinδ ( P P j1 i
max
ei 1ij
n
1 j 1, j
+ ≤
∑
≠ =
, sinx g j1 ij
n
1 j
∑
=
≤ (25)
where
{
max
ei 1ij
n
1 j 1, j
∆
ij P P g
∑
≠ =
= when j=1 (26)
{
max
ei 1ij P P when j ≠ 1
The parameters that are used in the power system modeling are as shown below [18]:
314.159 (rad/s) ω0 =
0.55 (p.u.) x12 =
0.53 (p.u.) x13 =
0.6 (p.u.) x23 =
33
For Generator #1
1.863 (p.u.) xd =
0.257 (p.u.) x d = ′
0.129 (p.u.) xT =
1.712 (p.u.) xad =
6.9 (p.u.) T d0 = ′
H(s) = 4
D(p.u.) = 5
0.35 (s) Tm =
0.1 (s) Te =
R = 0.05
1.0 Km =
1.0 Ke =
1 kc =
For Generator #2
2.36 (p.u.) xd =
0.319 (p.u.) x d = ′
0.11 (p.u.) xT =
1.712 (p.u.) xad =
7.96 (p.u.) T d0 = ′
H(s) = 5.1
D(p.u.) = 3
0.35 (s) Tm =
0.1 (s) Te =
R = 0.05
1.0 Km =
34
1.0 Ke =
1 kc =
3.3 Nonlinear Decentralized Control Scheme
Power systems are often modelled as large nonlinear highly structured system. This is due to the
fact that the function of conventional linear control is limited as it can only deal with small
disturbances about an operating point. Due to the physical limitations on the system structure,
information transfers between the subsystems are unfeasible. In order to solve this problem,
decentralized controllers are applied.
The proposed controller that is used for the power system modelling is the Nonlinear
Decentralized Controller [18]. The excitation control and steam valve control are designed to
enhance the transient stability. The design of the excitation control of the controller involves the
application of robust backstepping. By bounding the interconnections with nonlinear functions
instead of bounding them with firstorder polynomials, conservatism of the controller gain is
reduced.
Persistent disturbances, such as permanent symmetrical threephase short circuit fault and load
changes, are applied to the system. The decentralized power controllers are then applied to
restore and maintain the transient stability of the closedloop system.
The equations of the nonlinear decentralized controller are as follow:
) Pm 93.81(P 20.60ω ) δ 19.68(δ v 10 e1 1 10 1 f1 − − + − =
) Pm (P 95 . 73 21.45ω ) δ 19.69( v 20 e2 2 20 2 f2 − − + − = δ
CHAPTER 4:
Simulation results
35
CHAPTER 4: SIMULATION RESULTS
4.0 Overview
In this chapter, the power system model in Chapter 3 is simulated with the derived equations
using the software MATLAB. The simulation results reflect the condition power system model
when the fault occurs and the condition power system model with controller when the fault
occurs. Various parameters are also varied and the results are catogorised into 5 different cases.
In each case, both the simulation of system without controller and system with controller are
examined. The simulation results consist of the relative speed, the power angle, the control input,
the electrical power Pe and the terminal voltage Vt. The results of the simulations and their
effects are then discussed.
4.1 Simulation of system model
4.1.1 CASE 1
The parameters of the transmission line are shown as below:
Reactance of transmission line 0.55p.u. X12 =
Reactance of transmission line 0.53p.u. X13 =
Reactance of transmission line 0.6p.u. X23 =
Power angle
o
10 60.78 δ =
Power angle
o
20 60.64 δ =
Mechanical power 1.10p.u. Pm10 =
Mechanical power 1.01p.u. Pm20 =
Terminal voltage of generator 1.0p.u. Vt10 =
Terminal voltage of generator 1.0p.u. Vt20 =
Fault position 0.2 λ =
36
Simulation of results without Controller
Subsystem 1
Figure 11: Case 1: Results of Subsystem 1 without controller
Subsystem 2
Figure 12: Case 1: Results of Subsystem 2 without controller
37
Firstly, the simulation result for the system model without the controller is examined. When the
symmetrical threephase short circuit fault occurs at the transmission line between Generator 1
and Generator 2 at 0.2 λ = , the condition of the system is very unstable. The dynamics of the
system is expected to change accordingly after occurrence of the fault. From the equations that
were given in Chapter 3, we can see that when there are changes in the network impedances,
there is an affect on the EMF in the quadrature axis Eq. This will in turn affect the value of the
electrical power Pe. With the change in Pe, the swing equation will change accordingly and the
acceleration of the system will be affected. Likewise, both the power angle δ and relative speed ω
will be affected.
From Figure 5 and Figure 6, we can see that at the approximately t = 0.1 sec, there are changes to
the system conditions. When the three phase symmetrical fault occurs at t = 0.1 sec, we can see a
sudden drop in Pe due to the reduction in line impedances. Also, as the current at the line where
the fault occur is able to find another route with relatively less impedance to flow, it results in the
fluctuation in Vt. The oscillation shown in the relative speed and the power angle is the result of
the natural damping of the system. The system tries to regain synchronism after encountering the
fault.
38
Simulation of results with Nonlinear Decentralized Controller
Subsystem 1
Figure 13: Case 1: Results of Subsystem 1 with controller
Subsystem 2
Figure 14: Case 1: Results of Subsystem 2 with controller
39
When the nonlinear decentralized controller is applied to the system model, there is a significant
improvement in the condition of the system. The controller improved the transient stability of the
system model. The disturbances caused by the fault are also reduced to a considerably small
amount. The oscillations of the power angle are also dampened.
40
4.1.2 CASE 2: Variation of parameters
The system parameters are changed to simulate new results for the system model. This is to
examine the robustness of the controller and its ability to adapt to new conditions.
The parameters of the transmission line are shown as below:
Reactance of transmission line 0.55p.u. X12 =
Reactance of transmission line 0.53p.u. X13 =
Reactance of transmission line 0.6p.u. X23 =
Power angle
o
10 51 . 18 δ =
Power angle
o
20 68 . 23 δ =
Mechanical power 0.32p.u. Pm10 =
Mechanical power 0.42p.u. Pm20 =
Terminal voltage of generator 1.0p.u. Vt10 =
Terminal voltage of generator 1.0p.u. Vt20 =
Fault position 0.05 λ =
Simulation of results without Controller
Subsystem 1
Figure 15: Case 2: Results of Subsystem 1 without controller
41
Subsystem 2
Figure 16: Case 2: Results of Subsystem 2 without controller
Without the nonlinear decentralized controller, the system model is again unable to regain its
synchronism upon encountering the fault. The condition of the system is unstable.
Simulation of results with Nonlinear Decentralized Controller
Subsystem 1
Figure 17: Case 2: Results of Subsystem 1 with controller
42
Subsystem 2
Figure 18: Case 2: Results of Subsystem 2 with controller
It is observed that even with different system parameters, the system is able to return to
synchronism and stable conditions with the introduction of the nonlinear decentralized controller.
The controller is effective in enhancing the transient stability of the system model even with
variations in system parameters, operating points and fault location.
43
4.1.3 CASE 3: Variation of parameters power angle δ and mechanical power
Pm
For Case 3, four of the parameters are varied, namely the power angles 10 δ and 20 δ , and the
mechanical input power Pm10 and Pm20. The fault location remains the same as Case 2. The
objective of Case 3 is to examine the condition of the system model when the system parameters
are changed but with the fault occurring at the same fault location. The results will be then
compared to Case 2 and discussion will be made.
The parameters of the transmission line are shown as below:
Reactance of transmission line 0.55p.u. X12 =
Reactance of transmission line 0.53p.u. X13 =
Reactance of transmission line 0.6p.u. X23 =
Power angle
o
10 5 . 30 δ =
Power angle
o
20 5 . 32 δ =
Mechanical power 0.57p.u. Pm10 =
Mechanical power 0.56p.u. Pm20 =
Terminal voltage of generator 1.0p.u. Vt10 =
Terminal voltage of generator 1.0p.u. Vt20 =
Fault position 0.05 λ =
44
Simulation of results without Controller
Subsystem 1
Figure 19: Case 3: Results of Subsystem 1 without controller
Subsystem 2
Figure 20: Case 3: Results of Subsystem 2 without controller
45
The results yield from Case 3 is similar to the results from Case 1 and 2. The system model is
unable to regain its synchronism upon the occurrence of a fault. However comparing the above
results with the results from Case 2, it can assume that the level of disturbance in Case 3 is higher
since the relative speed ω, the power angle δ, the mechanical power input Pe and the terminal
voltage Vt produced a zero value for Subsystem 2.
46
Simulation of results with Nonlinear Decentralized Controller
Subsystem 1
Figure 21: Case 3: Results for Subsystem 1 with controller
Subsystem 2
Figure 22: Case 3: Results for Subsystem 2 with controller
47
From the above results, we can see that the system model is able to regain synchronism and
equilibrium with the aid of the nonlinear decentralized controller. The result also proved that the
controller is capable and robust enough to handle the occurrence of the fault and the variation in
the system parameters.
4.1.3.1 Comparison of Case 2 and Case 3
The effects of varying the power angle δ and mechanical power Pm on the system are as follow:
4.1.3.1.1 Effect on ω and δ
CASE 2 CASE 3
Figure 23: Comparing ω and δ of Subsystem 1 for Case 2 and Case 3
CASE 2 CASE 3
Figure 24: Comparing ω and δ of Subsystem 2 for Case 2 and Case 3
48
Firstly, the effect on the δ is examined. From the figures above, it can be seen that the oscillation
is smaller with smaller initial power angles (Case 2) as compared to larger initial power angles
(Case 3). The rate of damping is also considerably faster.
Next, the effect on the ω is observed. It can be seen that the amplitude of the oscillations reduces
as the initial angle is smaller.
4.1.3.1.2 Effect on Pe
CASE 2 CASE 3
Figure 25: Comparing Pe of Subsystem 1 for Case 2 and Case 3
CASE 2 CASE 3
Figure 26: Comparing Pe of Subsystem 2 for Case 2 and Case 3
49
From the figures above, it can be seen that the oscillations after the occurrence of the fault tends
to be larger with larger initial values of δ (Case 3). The rate of damping of Case 2 is also faster as
compared to Case 3 as Case 2 has a smaller value of δ. The value of the electrical power Pe is
also approximately the same as the value of the mechanical input power Pm.
50
4.1.4 CASE 4: Variation of fault position λ
For Case 4, the network parameters are identical to Case 3 but the fault location is changed. This
is to examine the effect of the fault location of the performance of the system. The results will be
then compared to Case 2 and discussion will be made.
The parameters of the transmission line are shown as below:
Reactance of transmission line 0.55p.u. X12 =
Reactance of transmission line 0.53p.u. X13 =
Reactance of transmission line 0.6p.u. X23 =
Power angle
o
10 5 . 30 δ =
Power angle
o
20 5 . 32 δ =
Mechanical power 0.57p.u. Pm10 =
Mechanical power 0.56p.u. Pm20 =
Terminal voltage of generator 1.0p.u. Vt10 =
Terminal voltage of generator 1.0p.u. Vt20 =
Fault position 0.5 λ =
51
Simulation of results without Controller
Subsystem 1
Figure 27: Case 4: Results of Subsystem 1 without controller
Subsystem 2
Figure 28: Case 4: Results of Subsystem 2 without controller
The results shown above are again similar to the previous cases that were discussed earlier. The
system model is unable to sustain the fault and loses its synchronism.
52
Simulation of results with Nonlinear Decentralized Controller
Subsystem 1
Figure 29: Case 4: Results for Subsystem 1 with controller
Subsystem 2
Figure 30: Case 4: Results for Subsystem 2 with controller
53
The introduction of the nonlinear decentralized controller is able to improve and enhance the
transient stability of the system model even with a variation in the fault location λ.
4.1.4.1 Comparison of Case 3 and Case 4
The effects of varying the fault location λ on the system are as follow:
4.1.4.1.1 Effect on ω and δ
CASE 3 CASE 4
Figure 31: Comparing ω and δ of Subsystem 1 for Case 3 and Case 4
CASE 3 CASE 4
Figure 32: Comparing ω and δ of Subsystem 2 for Case 3 and Case 4
54
It is observed from the figures above that a smaller λ (Case 3) produced more oscillation in the
waveform of ω. This shows that faults which are nearer to the generator bus are more disruptive
as compared to faults further down the transmission line. The variation of the fault location seems
to have little effect on δ.
4.1.4.1.2 Effect on Pe
CASE 3 CASE 4
Figure 33: Comparing Pe of Subsystem 1 for Case 2 and Case 3
CASE 3 CASE 4
Figure 34: Comparing Pe of Subsystem 2 for Case 3 and Case 4
From the figures above, it can be seen that there are more fluctuations in the waveform for a
smaller value of λ (Case 3). When the fault location is nearer to the generator bus, the Pe of the
system model will take a longer time to regain stability.
55
4.1.5 CASE 5
For Case 5, all the systems parameters are changed except for the terminal voltage of the
generators and the reactance of the transmission lines.
The parameters of the transmission line are shown as below:
Reactance of transmission line 0.55p.u. X12 =
Reactance of transmission line 0.53p.u. X13 =
Reactance of transmission line 0.6p.u. X23 =
Power angle
o
10 08 . 64 δ =
Power angle
o
20 33 . 65 δ =
Mechanical power 0.95p.u. Pm10 =
Mechanical power 0.95p.u. Pm20 =
Terminal voltage of generator 1.0p.u. Vt10 =
Terminal voltage of generator 1.0p.u. Vt20 =
Fault position 0.5 λ =
Simulation of results without Controller
Subsystem 1
Figure 35: Case 5: Results of Subsystem 1 without controller
56
Subsystem 2
Figure 36: Case 5: Results of Subsystem 2 without controller
Without the aid of the controller, the condition of the system model is unstable. The system is
unable to sustain its equilibrium and after the occurrence of the fault.
Simulation of results with Nonlinear Decentralized Controller
Subsystem 1
Figure 37: Case 5: Results of Subsystem 1 with controller
57
Subsystem 2
Figure 38: Case 5: Results of Subsystem 2 with controller
The results yield above is similar to the previous cases. With the aid of the controller, the
transient stability of the system is enhanced. It has also proven once again that the nonlinear
decentralized controller is robust enough to handle any uncertain network parameters.
58
4.1.6 CASE 6: Variation of parameters system reactance x12, x13 and x23
For Case 6, the system parameters are similar to Case 5 but the reactances of the transmission
lines are altered. The results of Case 5 and Case 6 will be compared to examine the effect on the
system due to the different reactance.
The parameters of the transmission line are shown as below:
Reactance of transmission line 0.7p.u. X12 =
Reactance of transmission line 0.7p.u. X13 =
Reactance of transmission line 0.7p.u. X23 =
Power angle
o
10 08 . 64 δ =
Power angle
o
20 33 . 65 δ =
Mechanical power 0.95p.u. Pm10 =
Mechanical power 0.95p.u. Pm20 =
Terminal voltage of generator 1.0p.u. Vt10 =
Terminal voltage of generator 1.0p.u. Vt20 =
Fault position 0.5 λ =
59
Simulation of results without Controller
Subsystem 1
Figure 39: Case 6: Results of Subsystem 1 without controller
Subsystem 2
Figure 40: Case 6: Results of Subsystem 2 without controller
60
Simulation of results with Nonlinear Decentralized Controller
Subsystem 1
Figure 41: Case 6: Results of Subsystem 1 with controller
Subsystem 2
Figure 42: Case 6: Results of Subsystem 2 with controller
61
4.1.6.1 Comparison of Case 5 and Case 6
From the figures, it can be seen that when the reactance of the transmission line is varied, there is
not much effect on the performance of the system model that is running on the same network
parameters. This shows that even when there are sudden changes to the reactance of the
transmission lines, the controller is able to sustain the fault and bring the system back to the
stable condition. Thus the nonlinear decentralized controller is robust and is able to adapt to any
uncertain network conditions.
CHAPTER 5:
Conclusion
62
CHAPTER 5: CONCLUSION
5.0 Conclusion
As the economic demand and environmental pressure continues to mount, largescale power
system around the world are getting more and more interconnected. The modern power systems
are also much more complex. The ability to maintain system stability in a deregulated power
system environment is a major challenge. Stability phenomena can cause significant damage
economically, thus the limits of stability and the reliability and efficiency of the power system are
much sought after issues.
This thesis attempted to provide an insight into the various power system stability issues. In the
first part of the thesis, the definition of power system stability was discussed. Several reasons
were also provided to justify the need to study the area power system stability. Some basic
stability theorems were discussed briefly in order to aid understanding in the topic. In the second
part of the thesis, several advanced stability theorem and techniques were examined. These
techniques were useful in determining the stability of complex power systems.
In the latter part of the thesis, a power system modelling was attempted. Simulations were
performed on the power system model to acquire the conditions of the system model in an event
of an occurrence of a three phase symmetrical fault. A proposed nonlinear decentralized control
scheme was then implemented to the power system model. Comparisons were then made to
examine the effect of the controller. Various system operating points were also varied to test the
robustness of the controller.
From the various simulation results, it can be seen that the nonlinear decentralized controller is
effective in enhancing the transient stability of the system model. The proposed controller
ensured the overall stability of the system model. It is also robust enough to withstand uncertain
network parameters. The simulation results showed that the transient stability of the system
model was enhanced and synchronism regained regardless of the location of the threephase
63
symmetrical fault, the variations in the system operating points and network parameters and the
persistent disturbances.
In conclusion, as power systems are growing at a tremendous rate and are getting more
interconnected, transient stability is an important area of study. The financial gain and economic
pressure also encourage the exploration of methods to maintain and enhance the transient stability
of the power systems.
REFERENCE
64
Reference
[1] M .A Pai, Power System Stability
New York: NorthHolland, 1981
[2] H. Saadat, Power System Analysis
McGrawHill International Editions, 1999
[3] L. Z. Racz and B. Bokay, Power System Stability
Amsterdam; New York: Elsevier, 1988
[4] I. A. Hiskens and D. J. Hills, “Energy Functions, Transient Stability and Voltage
Behaviour in Power System with NonLinear Loads”, IEEE Trans. on Power Systems,
Vol 4, No.4, October 1989
[5] P. A Lof and G. Andersson, “Voltage Stability Indices for Stressed Power System”,
IEEE Trans. on Power System, Vol 8, No.1, February 1993
[6] Y. Y. Wang, L. Gao, D. J. Hills and R. H. Middleton, “Transient Stability
Enhancement and Voltage Regulation of Power System”, IEEE Trans. on Power
System, Vol.8, No.2, May 1993
[7] D. J. Hill and I. M. Y. Mareels, “Stability Theory for Differential/ Algebraic Systems
with Application to Power System”, IEEE Trans. on Circuit and System,
Vol.37, No.11, November 1990
[8] D. J. Hills and I. A. Hiskens, “Dynamic Analysis of Voltage Collapse in Power
Systems”, Department of Electrical & Computer Engineering, The University of
Newcastle, University Drive, Callaghan, NSW 2308, Australia, December 1992
65
[9] Y. V. Makarov, Z. Y. Dong and D. J. Hills, “A General Method for Small Signal
Stability Analysis”, Department of Electrical Engineering, The University of Sydney,
NSW 2006, Australia
[10] M. Sharma, “Power System Security Assessment in a Competitive Market”,
School of Information Technology and Electrical Engineering,
University of Queensland, Australia,
[11] Glover / Sarma, Power system analysis and design
PWS Publishers Boston, 1987
[12] M. A. Pai, Power System Stability Volume 3: Analysis by the Direct Method of
Lyapunov, New York: NorthHolland, 1981
[13] Selden B. Crary, Power System Stability Volume 2: Transient Stability,
New York: John Wiley & Sons INC, 1962
[14] Allan M. Krall, Stability Techniques for Continuous Linear Systems,
Thomas Nelson and Sons Ltd, 1967
[15] Edward Wilson Kimbark, Power System Stability Volume 1: Elements of Stability
Calculations, John Wiley & Sons INC, 1957
[16] William D. Stevenson, Jr, Elements of Power System Analysis,
McGrawHill Book Company INC, 1962
[17] Claudio A. Canizares and Fernando L. Alvarado, “Point of Collapse and Continuous
Methods for large AC/ DC system”, IEEE Transaction on Power System,
Volume 8, No. 1, February 1993
66
[18] Yi Guo, David J. Hill and Youyi Wang, “Nonlinear decentralized control of large
scale power systems”, Automatica, December 1999
[19] S S Choi, G Shrestha and F Jiang, “Power System Stability Enhancement by
Variable Series Compensation”, IPEC 95, Precedings of the International Power
Engineering Conference, Vol 1, NTU, Singapore, 27 Feb – 1 Mar 1995
[20] J J Grainger, W D Stevenson, Jr, Power System Analysis,
McGraw – Hill, 1994
APPENDIX
67
Appendix
Main Program [18]
global Pm10 Pm20 delta10 delta20
global Bpre Bflt Bclr
Pm10=0.95;
Pm20=0.95;
delta10=64.08*pi/180;
delta20=65.33*pi/180;
lambda=0.5;
[Bpre,Bflt,Bclr]=mtxBfun2(lambda);
[yeqp,Vt10,Vt20]=eqpmain;
Eq10prime=yeqp(1);
Eq20prime=yeqp(2);
keyboard;
[t,y]=ode45('pwsimfunC2',0,6,[delta10,0,Eq10prime,delta20,0,Eq20prime]);
y1=y(:,1);
y2=y(:,2);
y3=y(:,3);
y4=y(:,4);
y5=y(:,5);
y6=y(:,6);
[uf1,uf2,Pe1,Pe2,Vt1,Vt2]=pwconfun1(Pm10,Pm20,delta10,delta20,Bpre,Bflt,Bclr,t,y1,y2,y3,y4,
y5,y6);
Eq1prime=y3;
68
Eq2prime=y6;
for i=1:length(t)
if t(i)<0.1
y1(i)=delta10;
y4(i)=delta20;
y2(i)=0;
y5(i)=0;
Pe1(i)=Pe1(1);
Pe2(i)=Pe2(1);
Vt1(i)=Vt1(1);
Vt2(i)=Vt2(1);
uf1(i)=uf1(1);
uf2(i)=uf2(1);
end
end
pwplottry
69
ODE Function Program
function xdot=pwsimfunC2(t,x)
global Bpre Bflt Bclr
global Pm10 Pm20 delta10 delta20
if t<0.1
B11=Bpre(1,1);
B12=Bpre(1,2);
B13=Bpre(1,3);
B21=Bpre(2,1);
B22=Bpre(2,2);
B23=Bpre(2,3);
elseif t>=0.1 & t<0.25
B11=Bflt(1,1);
B12=Bflt(1,2);
B13=Bflt(1,3);
B21=Bflt(2,1);
B22=Bflt(2,2);
B23=Bflt(2,3);
elseif t>=0.25 & t<1.0
B11=Bclr(1,1);
B12=Bclr(1,2);
B13=Bclr(1,3);
B21=Bclr(2,1);
B22=Bclr(2,2);
B23=Bclr(2,3);
70
else
B11=Bpre(1,1);
B12=Bpre(1,2);
B13=Bpre(1,3);
B21=Bpre(2,1);
B22=Bpre(2,2);
B23=Bpre(2,3);
end
xd1=1.863;
xd1prime=0.257;
xT1=0.129;
Td01prime=6.9;
xd2=2.36;
xd2prime=0.319;
xT2=0.11;
Td02prime=7.96;
H1=4;
D1=5;
kc1=1;
H2=5.1;
D2=3;
kc2=1;
x12=0.55;
x13=0.53;
x23=0.6;
omega0=314.159;
xad1=1.712;
xad2=1.712;
71
delta1=x(1);
omega1=x(2);
Eq1prime=x(3);
delta2=x(4);
omega2=x(5);
Eq2prime=x(6);
System1:
Id1=(Eq1prime*B11+Eq2prime*B12*cos(delta1delta2)+1*B13*cos(delta10));
Eq1=Eq1prime+(xd1xd1prime)*Id1;
Pe1=Eq1prime*Eq2prime*B12*sin(delta1delta2)+Eq1prime*1*B13*sin(delta10);
Iq1=Eq2prime*B12*sin(delta1delta2)+B13*sin(delta1);
Qe1=(Eq1prime^2*B11+Eq1prime*Eq2prime*B12*cos(delta1
delta2)+Eq1prime*1*B13*cos(delta10));
System 2:
Id2=(Eq2prime*B22+Eq1prime*B21*cos(delta2delta1)+1*B23*cos(delta20));
Eq2=Eq2prime+(xd2xd2prime)*Id2;
Pe2=Eq2prime*Eq1prime*B21*sin(delta2delta1)+Eq2prime*1*B23*sin(delta20);
Iq2=Eq1prime*B21*sin(delta2delta1)+B23*sin(delta2);
Qe2=(Eq2prime^2*B22+Eq2prime*Eq1prime*B21*cos(delta2
delta1)+Eq2prime*1*B23*cos(delta20));
72
a1=0.95;
b1=0.051;
n1=8.727;
a2=0.935;
b2=0.064;
n2=10.878;
kf1=1+b1/a1*Eq1prime^(n11);
kf2=1+b2/a2*Eq2prime^(n21);
Controller:
vf1=19.68*(x(1)delta10)+20.60*x(2)93.81*(Pe1Pm10);
vf2=19.69*(x(4)delta20)+21.45*x(5)73.95*(Pe2Pm20);
%vf1=0
%vf2=0
uf1=1/Iq1*(vf1+Pm10+(xd1xd1prime)*Iq1*Id1+Td01prime*Qe1*omega1);
uf2=1/Iq2*(vf2+Pm20+(xd2xd2prime)*Iq2*Id2+Td02prime*Qe2*omega2);
if uf1<3
uf1=3;
end
if uf1>6
uf1=6;
end
if uf2<3
uf2=3;
end
73
if uf2>6
uf2=6;
end
Ef1=kc1*uf1;
Ef2=kc2*uf2;
xdot(1)=omega1;
xdot(2)=D1/(2*H1)*omega1+omega0/(2*H1)*(Pm10Pe1)+0.3;
xdot(3)=1/Td01prime*(Ef1Eq1(1kf1)*Eq1prime);
xdot(4)=omega2;
xdot(5)=D2/(2*H2)*omega2+omega0/(2*H2)*(Pm20Pe2)+0.3;
xdot(6)=1/Td02prime*(Ef2Eq2(1kf2)*Eq2prime);
74
Calculation of initial conditions
function [y,Vt1,Vt2]=eqpmain
global Pm10 Pm20 delta10 delta20 Bpre
delta1=delta10;
delta2=delta20;
xd1=1.863;
xd1prime=0.257;
xT1=0.129;
Td01prime=6.9;
xd2=2.36;
xd2prime=0.319;
xT2=0.11;
Td02prime=7.96;
H1=4;
D1=5;
kc1=1;
H2=5.1;
D2=3;
kc2=1;
x12=0.55;
x13=0.53;
x23=0.6;
omega0=314.159;
xad1=1.712;
xad2=1.712;
75
B11=Bpre(1,1);
B12=Bpre(1,2);
B13=Bpre(1,3);
B21=Bpre(2,1);
B22=Bpre(2,2);
B23=Bpre(2,3);
options=foptions;
options(1)=1;
options(2)=1e8;
[y,options]=fsolve('eqp1',[1.0,1.0],options)
Eq1prime=y(1);
Eq2prime=y(2);
Id1=(Eq1prime*B11+Eq2prime*B12*cos(delta1delta2)+1*B13*cos(delta10));
Id2=(Eq2prime*B22+Eq1prime*B21*cos(delta2delta1)+1*B23*cos(delta20));
Iq1=Eq2prime*B12*sin(delta1delta2)+B13*sin(delta1);
Iq2=Eq1prime*B21*sin(delta2delta1)+B23*sin(delta2);
Eq1=Eq1prime(xd1xd1prime)*Id1;
Eq2=Eq2prime(xd2xd2prime)*Id2;
Vtq1=Eq1prime+xd1prime*Id1;
Vtq2=Eq2prime+xd2prime*Id2;
Vtd1=xd1prime*Iq1;
Vtd2=xd2prime*Iq2;
76
Vt1=sqrt(Vtq1^2+Vtd1^2);
Vt2=sqrt(Vtq2^2+Vtd2^2);
77
Function Program
function f=eqp1(x)
global Pm10 Pm20 delta10 delta20 Bpre
delta1=delta10;
delta2=delta20;
xd1=1.863;
xd1prime=0.257;
xT1=0.129;
Td01prime=6.9;
xd2=2.36;
xd2prime=0.319;
xT2=0.11;
Td02prime=7.96;
H1=4;
D1=5;
kc1=1;
H2=5.1;
D2=3;
kc2=1;
x12=0.55;
x13=0.53;
x23=0.6;
omega0=314.159;
xad1=1.712;
xad2=1.712;
78
Pe1=Pm10;
Pe2=Pm20;
Eq1prime=x(1);
Eq2prime=x(2);
B11=Bpre(1,1);
B12=Bpre(1,2);
B13=Bpre(1,3);
B21=Bpre(2,1);
B22=Bpre(2,2);
B23=Bpre(2,3);
s1=Eq1prime*Eq2prime*B12*sin(delta1delta2)+Eq1prime*1*B13*sin(delta10)Pe1;
s2=Eq2prime*Eq1prime*B21*sin(delta2delta1)+Eq2prime*1*B23*sin(delta20)Pe2;
f=[s1,s2];
79
Calculation of Controller
function
[uf1,uf2,Pe1,Pe2,Vt1,Vt2]=pwconfun1(Pm10,Pm20,delta10,delta20,Bpre,Bflt,Bclr,t,y1,y2,y3,y4,
y5,y6)
Formulate matrix B:
for i=1:length(t)
if t(i)<0.1
B11(i)=Bpre(1,1);
B12(i)=Bpre(1,2);
B13(i)=Bpre(1,3);
B21(i)=Bpre(2,1);
B22(i)=Bpre(2,2);
B23(i)=Bpre(2,3);
elseif t(i)>=0.1 & t(i)<0.25
B11(i)=Bflt(1,1);
B12(i)=Bflt(1,2);
B13(i)=Bflt(1,3);
B21(i)=Bflt(2,1);
B22(i)=Bflt(2,2);
B23(i)=Bflt(2,3);
elseif t(i)>=0.25 & t(i)<1.0
B11(i)=Bclr(1,1);
B12(i)=Bclr(1,2);
B13(i)=Bclr(1,3);
B21(i)=Bclr(2,1);
B22(i)=Bclr(2,2);
B23(i)=Bclr(2,3);
80
else
B11(i)=Bpre(1,1);
B12(i)=Bpre(1,2);
B13(i)=Bpre(1,3);
B21(i)=Bpre(2,1);
B22(i)=Bpre(2,2);
B23(i)=Bpre(2,3);
end
end
xd1=1.863;
xd1prime=0.257;
Td01prime=6.9;
xd2=2.36;
xd2prime=0.319;
Td02prime=7.96;
Pe1=y3.*y6.*B12'.*sin(y1y4)+y3.*B13'.*sin(y10);
Pe2=y6.*y3.*B21'.*sin(y4y1)+y6.*B23'.*sin(y40);
vf1=19.68*(y1delta10)+20.60*y293.81*(Pe1Pm10);
vf2=19.69*(y4delta20)+21.45*y573.95*(Pe2Pm20);
Id1=(y3.*B11'+y6.*B12'.*cos(y1y4)+B13'.*cos(y10));
Iq1=y6.*B12'.*sin(y1y4)+B13'.*sin(y1);
Qe1=(y3.^2.*B11'+y3.*y6.*B12'.*cos(y1y4)+y3.*B13'.*cos(y10));
Id2=(y6.*B22'+y3.*B21'.*cos(y4y1)+B23'.*cos(y40));
Iq2=y3.*B21'.*sin(y4y1)+B23'.*sin(y4);
81
Qe2=(y6.^2.*B22'+y6.*y3.*B21'.*cos(y4y1)+y6.*B23'.*cos(y40));
uf1=(1./Iq1).*(vf1+Pm10(xd1xd1prime).*Iq1.*Id1+Td01prime*Qe1.*y2);
uf2=(1./Iq2).*(vf2+Pm20(xd2xd2prime).*Iq2.*Id2+Td02prime*Qe2.*y5);
for i=1:length(t)
if uf1(i)<3
uf1(i)=3;
end
if uf1(i)>6
uf1(i)=6;
end
if uf2(i)<3
uf2(i)=3;
end
if uf2(i)>6
uf2(i)=6;
end
end
Eq1prime=y3;
Eq2prime=y6;
Vtq1=Eq1prime+xd1prime*Id1;
Vtq2=Eq2prime+xd2prime*Id2;
82
Vtd1=xd1prime*Iq1;
Vtd2=xd2prime*Iq2;
Vt1=sqrt(Vtq1.^2+Vtd1.^2);
Vt2=sqrt(Vtq2.^2+Vtd2.^2);
83
Calculation of matrix
function [Ypre,Yflt,Yclr]=mtxBfun2(lambda)
xd1=1.863;
xd1prime=0.257;
xT1=0.129;
xd2=2.36;
xd2prime=0.319;
xT2=0.11;
x12=0.7;
x13=0.7;
x23=0.7;
ys1=1/(xd1prime+xT1);
y13=1/x13;
ys2=1/(xd2prime+xT2);
y23=1/x23;
y12=1/x12;
Ya=[ys1 0 0;0 ys2 0;0 0 (y13+y23)];
Yb=[ys1 0;0 ys2;y13 y23];
Yc=[ys1 0 y13;0 ys2 y23];
Yd=[(ys1+y12+y13) y12;y12 (ys2+y12+y23)];
Ypre=YaYb*inv(Yd)*Yc;
84
y12=1/(2*x12);
yf1=1/(2*lambda*x12);
yf2=1/(2*(1lambda)*x12);
Ya=[ys1 0 0;0 ys2 0;0 0 (y13+y23)];
Yb=[ys1 0;0 ys2;y13 y23];
Yc=[ys1 0 y13;0 ys2 y23];
Yd=[(ys1+y12+y13+yf1) y12;y12 (ys2+y12+y23+yf2)];
Yflt=YaYb*inv(Yd)*Yc;
y12=1/(2*x12);
Ya=[ys1 0 0;0 ys2 0;0 0 (y13+y23)];
Yb=[ys1 0;0 ys2;y13 y23];
Yc=[ys1 0 y13;0 ys2 y23];
Yd=[(ys1+y12+y13) y12;y12 (ys2+y12+y23)];
Yclr=YaYb*inv(Yd)*Yc;
85
ODE23 Function
function [tout, yout] = ode23(ypfun, t0, tfinal, y0, tol, trace)
pow = 1/3;
if nargin < 5, tol = 1.e3; end
if nargin < 6, trace = 0; end
t = t0;
hmax = (tfinal  t)/4;
h = hmax/2;
y = y0(:);
chunk = 8;
tout = zeros(chunk,1);
yout = zeros(chunk,length(y));
k = 1;
tout(k) = t;
yout(k,:) = y.';
if trace
clc, t, h, y
end
The main loop
iter=0; iter_max=851;
global alpha
while (t < tfinal) & (t + h > t) & (iter < iter_max)
if t + h > tfinal, h = tfinal  t; end
if(round(iter/25)==iter/25)
fprintf('ODE23Z in porcess for the %4.0fth loop for alpha=%3.6f\n',iter,alpha);
end
86
s1 = feval(ypfun, t, y); s1 = s1(:);
s2 = feval(ypfun, t+h, y+h*s1); s2 = s2(:);
s3 = feval(ypfun, t+h/2, y+h*(s1+s2)/4); s3 = s3(:);
delta = norm(h*(s1  2*s3 + s2)/3,'inf');
tau = tol*max(norm(y,'inf'),1.0);
if delta <= tau
t = t + h;
y = y + h*(s1 + 4*s3 + s2)/6;
k = k+1;
if k > length(tout)
tout = [tout; zeros(chunk,1)];
yout = [yout; zeros(chunk,length(y))];
end
tout(k) = t;
yout(k,:) = y.';
end
if trace
home, t, h, y
end
if delta ~= 0.0
h = min(hmax, 0.9*h*(tau/delta)^pow);
end
iter=iter+1;
end
87
global ode_flag;
ode_flag=0;
if (t < tfinal)
disp('Singularity likely.')
ode_flag=1;
end
tout = tout(1:k);
yout = yout(1:k,:);
88
ODE45 Function
function [tout, yout] = ode45(ypfun, t0, tfinal, y0, tol, trace)
alpha = [1/4 3/8 12/13 1 1/2]';
beta = [ [ 1 0 0 0 0 0]/4
[ 3 9 0 0 0 0]/32
[ 1932 7200 7296 0 0 0]/2197
[ 8341 32832 29440 845 0 0]/4104
[6080 41040 28352 9295 5643 0]/20520 ]';
gamma = [ [902880 0 3953664 3855735 1371249 277020]/7618050
[ 2090 0 22528 21970 15048 27360]/752400 ]';
pow = 1/5;
if nargin < 5, tol = 1.e6; end
if nargin < 6, trace = 0; end
t = t0;
hmax = (tfinal  t)/16;
h = hmax/8;
y = y0(:);
f = zeros(length(y),6);
chunk = 128;
tout = zeros(chunk,1);
yout = zeros(chunk,length(y));
k = 1;
tout(k) = t;
yout(k,:) = y.';
if trace
clc, t, h, y
end
89
The main loop
iter=0; iter_max=1000;
while (t < tfinal) & (t + h > t) & (iter<iter_max)
if t + h > tfinal, h = tfinal  t; end
if(round(iter/25) == iter/25)
fprintf('ODE45 in the %3.0fth iteration\t',iter);
end
temp = feval(ypfun,t,y);
f(:,1) = temp(:);
for j = 1:5
temp = feval(ypfun, t+alpha(j)*h, y+h*f*beta(:,j));
f(:,j+1) = temp(:);
end
delta = norm(h*f*gamma(:,2),'inf');
tau = tol*max(norm(y,'inf'),1.0);
if delta <= tau
t = t + h;
y = y + h*f*gamma(:,1);
k = k+1;
if k > length(tout)
tout = [tout; zeros(chunk,1)];
yout = [yout; zeros(chunk,length(y))];
end
tout(k) = t;
yout(k,:) = y.';
end
90
if trace
home, t, h, y
end
if delta ~= 0.0
h = min(hmax, 0.8*h*(tau/delta)^pow);
end
iter=iter+1;
end
global ode_flag;
ode_flag=0;
if (t < tfinal)
disp('Singularity likely.')
ode_flag=1;
end
tout = tout(1:k);
yout = yout(1:k,:);
91
Plotting of graph
subplot(3,2,1)
plot(t,y2,'r',t,y3,'g');grid;
title('Subsystem 1');
xlabel('time (s)');
ylabel('states');
subplot(3,2,2)
plot(t,uf1);
grid;
xlabel('time (s)');
ylabel('control input #1');
subplot(3,2,3)
plot(t,Pe1,'r');
grid;
xlabel('time (s)');
ylabel('Pe (pu)');
subplot(3,2,4)
plot(t,Vt1,'r');
grid;
xlabel('time (s)');
ylabel('Vt (pu)');
92
subplot(3,2,1)
plot(t,y5,'r',t,y6,'g');
grid;
title('Subsystem 2');
xlabel('time (s)');
ylabel('states');
subplot(3,2,2)
plot(t,uf2);
grid;
xlabel('time (s)');
ylabel('control input #2');
subplot(3,2,3)
plot(t,Pe2,'r');
grid;
xlabel('time (s)');
ylabel('Pe (pu)');
subplot(3,2,4)
plot(t,Vt2,'r');
grid;
xlabel('time (s)');
ylabel('Vt (pu)');
29th October 2003 Head School of Information Technology and Electrical Engineering The University of Queensland St. Lucia, QLD 4072
Dear Professor Simon Kaplan, In accordance with the requirements of the degree of Bachelor of Electrical Engineering (Honours) in the School of Information Technology and Electrical Engineering at the University of Queensland, I hereby present the following thesis titled: “Power System Stability”. This work was performed under the supervision of Dr Zhao Yang DONG. I hereby declare that all the work performed in this thesis is my work, except as acknowledged accordingly, and has not been previously submitted for a degree at the University of Queensland or any institution. Yours sincerely,
Khai Chiat THAM
I
Abstract
The objective of this thesis project is to investigate and understand the stability of power system, with the main focus on stability theories and power system modeling. The thesis looked into the effects that advanced control techniques have on electrical power generation system and transmission system. The thesis first explained the definition of power system stability and the need for power system stability studies. It then proceeded to discuss on the various stability problems after which the thesis provided a brief introduction on basic control theory and study. Next the thesis examined the concept of system stability and some stability theories. The thesis then performed a power system modeling and simulation of a twomachine, three bus power system. The performance of the power system was simulated with the proposed advanced control technique. The operating points and system parameters were varied to test the robustness of the power system and the effectiveness of the proposed controller. Examples of the parameters that were varied include the fault position λ, the power angle δ and the mechanical power input Pm. Lastly, a conclusion was made on the overall effect of the controller on the power system and the performance of the power system when its parameters were varied.
II
Acknowledgement I would like to take this opportunity to express my utmost appreciation and gratitude to my thesis project supervisor. Joyce Lee. I would also like to thank my family and my girlfriend. Dr Zhao Yang DONG for his guidance and patience throughout the whole thesis. who have always showered me with their love and concern during the period of my study. Last but not least a special thanks to whomever that I have missed out and had helped me in one way or another. III .
in rad/s the per unit damping constant the inertia constant.u. in p. in p. the quadrature axis current. in p. in p.u. in p.u. the direct axis transient reactance. in rad/s the mechanical input power. in p.Nomenclature δi  the power angle of the ith generator. the power control input of the ith generator. the time constant of the ith machine’s turbine. in s xdi x ′di  Bij Qei Ifi Idi  Iqi kci  ufi xadi xTi xij Vti Xei Pci Tmi  IV .u.u. in p. the input of the SCR amplifier.u. in p. the equivalent EMF in the excitation coil. in s T ′doi . the mutual reactance between the excitation coil and the stator coil. the direct axis current. in p. the transmission line reactance between the ith generator and the jth generator. the gain of the excitation amplifier.u.u.u. the terminal voltage of the ith generator. in p. in s ω0 Di Hi  E′qi . in p. in rad ωi Pmi Pei  the relative speed of the ith generator. the excitation current. in p.u. the reactive power. the direct axis reactance. Eqi Efi  the EMF in the quadrature axis.the transient EMF in the quadrature axis.u. in p. in p. the ith row and jth column element of nodal suspectance matrix at the internal nodes after eliminating all physical buses. in p.u. the electrical power.u.u. in p.u.u. the synchronous machine speed. the transformer reactance.u. in p. in p.the direct axis transient shortcircuit time constant. in p. the steam valve opening of the ith generator.u.u.u. in p.
V .u.Kmi Tei Kei Ri  the gain of the ith machine’s turbine the time constant of the ith machine’s speed governor. in p. in s the gain of the ith machine’s speed governor the regulation constant of the ith machine.
the motor will oscillate around δ1 and between δ0 and δ2 .List of Figures Figure 1: Electric power input to a motor as a function of torque angle δ Figure 2: Electric power input to a motor as a function of torque angle δ . The diagram shows when the load is suddenly increased from Pm0 to Pm1 . Figure 3: Geometrical illustration of Stability Figure 4: Geometrical illustration of Asymptotic Stability Figure 5: Geometric illustration of Asymptotic stability in the large Figure 6: Block diagram of the system Figure 7: Continuation method in state space and parameter space Figure 8: Block diagram of system without control module Figure 9: Block diagram of system with controller Figure 10: Twomachine infinite bus power system Figure 11: Case 1: Results of Subsystem 1 without controller Figure 12: Case 1: Results of Subsystem 2 without controller Figure 13: Case 1: Results of Subsystem 1 with controller Figure 14: Case 1: Results of Subsystem 2 with controller Figure 15: Case 2: Results of Subsystem 1 without controller Figure 16: Case 2: Results of Subsystem 2 without controller Figure 17: Case 2: Results of Subsystem 1 with controller Figure 18: Case 2: Results of Subsystem 2 with controller Figure 19: Case 3: Results of Subsystem 1 without controller Figure 20: Case 3: Results of Subsystem 2 without controller Figure 21: Case 3: Results for Subsystem 1 with controller Figure 22: Case 3: Results for Subsystem 2 with controller Figure 23: Comparing ω and δ of Subsystem 1 for Case 2 and Case 3 Figure 24: Comparing ω and δ of Subsystem 2 for Case 2 and Case 3 Figure 25: Comparing Pe of Subsystem 1 for Case 2 and Case 3 Figure 26: Comparing Pe of Subsystem 2 for Case 2 and Case 3 Figure 27: Case 4: Results of Subsystem 1 without controller 7 10 11 11 20 23 26 27 28 36 36 38 38 40 41 41 42 44 44 46 46 47 47 48 48 51 6 VI .
Figure 28: Case 4: Results of Subsystem 2 without controller Figure 29: Case 4: Results for Subsystem 1 with controller Figure 30: Case 4: Results for Subsystem 2 with controller Figure 31: Comparing ω and δ of Subsystem 1 for Case 3 and Case 4 Figure 32: Comparing ω and δ of Subsystem 2 for Case 3 and Case 4 Figure 33: Comparing Pe of Subsystem 1 for Case 2 and Case 3 Figure 34: Comparing Pe of Subsystem 2 for Case 3 and Case 4 Figure 35: Case 5: Results of Subsystem 1 without controller Figure 36: Case 5: Results of Subsystem 2 without controller Figure 37: Case 5: Results of Subsystem 1 with controller Figure 38: Case 5: Results of Subsystem 2 with controller Figure 39: Case 6: Results of Subsystem 1 without controller Figure 40: Case 6: Results of Subsystem 2 without controller Figure 41: Case 6: Results of Subsystem 1 with controller Figure 42: Case 6: Results of Subsystem 2 with controller 51 52 52 53 53 54 54 55 56 56 57 59 59 60 60 VII .
3.3 Lyapunov function for Nonlinear System 2.1 Predictor 2.4 Continuation Method 2.2 Method based on quadratic form 2.1 Series solution for Zubov’s Method 2.1.1.Table of Contents ABSTRACT ACKNOWLEDGEMENT NOMENCLATURE CHAPTER 1: INTRODUCTION AND BASIC STABILITY THEORY 1.3.01 Definition of stability of a system 1.2 Definition 2 2.4.3.5 Other methods for nonlinear systems 2.03 Stability studies 1.1 Swing Equation 1.3.1.3.1.2 Equal Area Criterion CHAPTER 2: ADVANCED STABILITY THEOREMS AND TECHNIQUES 2.1 Popov’s Theorem 2.1.1 Definition of stability 2.0 Lyapunov’s Theorem 2.0 Overview of the thesis topic 1.1 Stability Theories 1.5.1 Definition 1 2.3 Parameterization II III IV 1 1 1 2 2 4 5 6 8 8 9 9 10 11 12 12 12 13 13 14 16 17 18 19 20 22 24 24 25 .4 Method based on Zubov’s Method 2.1.3 Definition 3 2.5 Definition 5 2.4.3.3.1 Method based on first integrals 2.4.2 Corrector 2.4.4 Definition 4 2.02 Why the need for Power System Stability? 1.1.3 Methods based on Variable Gradient Method 2.2 Lyapunov function for Linear Time Invariant System 2.
CHAPTER 3: MODELLING OF POWER SYSTEM 3.0 Basic Control Theory 3.1 Power System Modelling 3.2 Power system dynamic model 3.3 Nonlinear Decentralized Control Scheme CHAPTER 4: SIMULATION RESULTS 4.0 Overview 4.1 Simulation of system model 4.1.1 CASE 1 4.1.2 CASE 2: Variation of parameters 4.1.3 CASE 3: Variation of parameters power angle δ and mechanical power Pm 4.1.3.1 Comparison of Case 2 and Case 3 4.1.3.1.1 Effect on ω and δ 4.1.3.1.2 Effect on Pe 4.1.4 CASE 4: Variation of fault position λ 4.1.4.1 Comparison of Case 3 and Case 4 4.1.4.1.1 Effect on ω and δ 4.1.4.1.2 Effect on Pe 4.1.5 CASE 5 4.1.6 CASE 6: Variation of parameters system reactance x12, x13 and x23 4.1.6.1 Comparison of Case 5 and Case 6 CHAPTER 5: CONCLUSION 5.0 Conclusion REFERENCE APPENDIX
26 26 28 29 34 35 35 35 35 40 43 47 47 48 50 53 53 54 55 58 61 62 62 64 67
CHAPTER 1:
INTRODUCTION AND BASIC STABILITY THEORY
Chapter 1: INTRODUCTION AND BASIC STABILITY THEORY 1.0 Overview of the thesis topic
An interconnected power system basically consists of several essential components. They are namely the generating units, the transmission lines, the loads, the transformer, static VAR compensators and lastly the HVDC lines [1]. During the operation of the generators, there may be some disturbances such as sustained oscillations in the speed or periodic variations in the torque that is applied to the generator. These disturbances may result in voltage or frequency fluctuation that may affect the other parts of the interconnected power system. External factors, such as lightning, can also cause disturbances to the power system. All these disturbances are termed as faults. When a fault occurs, it causes the motor to lose synchronism if the natural frequency of oscillation coincides with the frequency of oscillation of the generators. With these factors in mind, the basic condition for a power system with stability is synchronism. Besides this condition, there are other important condition such as steadystate stability, transient stability, harmonics and disturbance, collapse of voltage and the loss of reactive power.
1.01 Definition of stability of a system
The stability of a system is defined as the tendency and ability of the power system to develop restoring forces equal to or greater than the disturbing forces to maintain the state of equilibrium [2]. Let a system be in some equilibrium state. If upon an occurrence of a disturbance and the system is still able to achieve the equilibrium position, it is considered to be stable. The system is also considered to be stable if it converges to another equilibrium position in the proximity of initial equilibrium point. If the physical state of the system differs such that certain physical variable increases with respect to time, the system is considered to be unstable.
1
The system stability that is of most concern is the characteristic and the behaviour of the power system after a disturbance. In order to compensate for the fault and resume normal operation. The excitation level is increased to counter the fault. 1. Load demand also increases linearly with the increase in users. (3) An addition of a variable series capacitor to the transmission lines.Therefore.03 Stability studies The performance of a power system is affected when a fault occurs. corrective measures must be taken to bring the system back to its stable operating conditions.02 Why the need for Power System Stability? The power system industry is a field where there are constant changes. 1. Power systems are becoming more complex as they become interconnected. This is to reduce 2 . This will result in insufficient or loss of power. the system is said to remain stable when the forces tending to hold the machines in synchronism with one another are enough to overcome the disturbances. This is to make sure that the power generated is balanced as compared to the power transmitted. (2) An addition of a variable resistor at the terminals of the generator. Some of the control methods used to prevent loss of synchronism in power systems are [19] [20]: (1) Excitation control: During a fault the excitation level of the generator drops considerably. Controllers are used for this function. Power industries are restructured to cater to more users at lower prices and better power efficiency. there is a need to ensure stability and reliability of the power system due to economic reasons. Since stability phenomena limits the transfer capability of the system.
This phenomenon is called the “swinging” of the machines. (4) Turbine valve control: During a fault the electrical power output (Pe) of the generator decreases considerably. (2) One or more of the machine angles accelerates faster than the rest of the others. This condition is considered unstable or losing synchronism. The turbine mechanical input power (Pm) is decreased to counter the decrease of Pe. As the relative rotor angles do not increases. Stability studies are generally categorized into two major areas: steadystate stability and transient stability [2]. Transient stability studies refer to the effects of large and sudden disturbances. Transient stability occurs when the power system is able to withstand the transient conditions following a major disturbance. Examples of such faults are the sudden outrage of a transmission line or the sudden addition of removal of the loads. There are two possible scenarios when the rotor angles are plotted as a function of time: (1) The rotor angle increases together and swings in unison and eventually settles at new angles. the system is stable and in synchronism. When a major disturbance occurs. Steadystate stability is the ability of the power system to regain synchronism after encountering slow and small disturbances.the overall reactance of the line. the rotor angles of the machines accelerate or decelerate beyond the synchronous speed of for time greater than zero (t > 0). As a result. It will also increase the maximum power transfer capacity of the transmission line. 3 . The ability of the power system to regain synchronism after encountering small disturbance within a long time frame is known as dynamic stability. The power balance at each generating unit (mechanical input power – electrical input power) differs from generator to generator. an imbalance is created between the generator and the load. Example of slow and small disturbances is gradual power changes. The relative rotor angles diverges as time increase.
DC offsets and harmonic components are also ignored. For the purpose of this thesis report. (ii) To represent unbalanced faults. the main objective of stability studies is to determine whether the rotors of the machines being disturbed return to the original constant speed operation. the effect of a fault on the stability condition of the system and also the poststability condition of the system. (iii) The generated voltage is considered to be unaffected by the speed variations of the machine.These studies are important in the sense that they are helpful in determining critical information such as critical clearing time of the circuit breakers and the voltage level of the power system. 1.1 Stability Theories The aim of this thesis report is to investigate the various power system stability problems. To maintain synchronism within the distribution system can proved to be difficult as most modern power system are very large. As mentioned previously. 4 . This section will discuss about the concept and theories of stability study. a simplified twomachine infinite bus power system is studied. A proposed technique to solve the selected stability problem will also be explained in detail. There are three assumptions that are made in stability studies: (i) We only consider the synchronous currents and voltages in the stator windings and the power system. The main aim of this thesis project is to investigate the various power system stability problems. after which one important problem will be singled out for discussion and research. symmetrical components are used.
The angle difference between the two axes is known as the power angle. load or network conditions. the relative position of the rotor axis and the resultant axis is fixed. The rotor will return to its original position if the disturbance is not created by any net changes in the power. the rotor will accelerate or decelerate with respect to the synchronous rotating air gap mmf.1. However if the disturbance is created by a change in generation. If the rotor is able to resume its synchronous speed after this oscillation period.1. During disturbance to the machine. we are now able to discuss and review the Equal Area Criterion concept in detail. The “Swing” equation describes this relative motion. the rotor will be in a new operation power angle relative to the revolving field. The Swing Equation (pu) is given as: 2H d2δ = Pm (pu) – Pe (pu) Ws dt2 Where H is pu inertia constant. 5 . Under normal operating conditions.1 Swing Equation The Swing Equation governs the rotational dynamics of the synchronous machine in stability studies [2]. the generator will maintain its stability. Ws is electrical synchronous speed δ is electrical power angle Pm is shaft mechanical power input Pe is electrical power p d2δ is angular acceleration or deceleration due to excess or deficit power dt2 With this basic concept.
1.1.2 Equal Area Criterion
Equal Area Criterion is a stability method used for quick prediction of stability [16]. Based on the assumptions that the system is a purely reactive, a constant Pm and constant voltage behind transient reactance, it is found that if the transient stability limit is not exceeded, the electrical power angle δ oscillates around the equilibrium point with constant amplitude. Equal Area Criterion is the method which determines stability under transient conditions, without needing to solve the Swing Equation. Originally the motor of the machine is operating at the synchronous speed with a torque angle of δ0 . The mechanical power output Pm0 is equal to the electrical power input Pe . When the mechanical load is suddenly increased so that the power output is Pm1 , it is greater than the electrical power input at δ0 . The difference in the power comes from the kinetic energy stored in the rotating system. Thus it results in a decrease in speed. When the speed decreases, it will cause the torque angle δ to increase.
Figure 1: Electric power input to a motor as a function of torque angle δ
6
As δ increases, the electrical power received will increase to a point where Pe = Pm1 . We shall name this Point B. After passing through Point B, the electrical power Pe is greater than Pm1 . This will result in an increase in kinetic energy and speed. Thus between Point B and C, the speed will increase accordingly with δ , until the synchronous speed is again reached at Point C.
C B
A
Figure 2: Electric power input to a motor as a function of torque angle δ . The diagram shows when the load is suddenly increased from Pm0 to Pm1 , the motor will oscillate around δ1 and between δ0 and δ2 .
At Point C, the torque angle is δm . Pe is still greater than Pm1 and the speed of the motor will continue to increase. However, δ will start to decrease as soon as the speed of the motor exceeds the synchronous speed. Therefore the maximum value of δ is at Point C. As δ increases, Point B is reached again with the speed above the synchronous speed. The torque angle δ will continue to decrease until Point is achieved. This will imply that the motor is again operating at synchronous speed. The cycle is then repeated. When the accelerating area (AA) is equal to the decelerating area (DA), the system is considered to be stable. 7
CHAPTER 2:
ADVANCED STABILITY THEOREMS AND TECHNIQUES
The latter method is also commonly known as the Direct Method [12]. there was no systematic procedure to determine the stability of nonlinear systems. if V(x) is always positive except at & x = 0 and its derivative V(x) is less than 0 except at x = 0. For a given system. This idea was developed into a mathematical form by Lyapunov. However. then the energy will continue to decrease until it finally assumes its minimum value E(x e ) .CHAPTER 2: ADVANCED STABILITY THEOREMS AND TECHNIQUES 2.. dE of the energy E(x) dt The principle idea of the Direct Method is as follow: If the rate of change of an isolated physical system is negative for every state x except for a single equilibrium state x e . The origin is said to be stable if there exist a scalar & function V(x) > 0 in the neighbourhood of the origin such that V(x) is less than or equal to 0 in that origin. f(0) = 0 ∂V dx n ∂V dx 1 ∂V dx 2 & + . M. Lyapunov founded two approaches to the problem of stability.0 Lyapunov’s Theorem The stability of linear timeinvariant systems can be determined by applying several known theorems such as Nyquist and RouthHurwitz. The function V(x) is known as the Lyapunov function. In 1892. The system equations are as shown below: x = f(x).. Lyapunov founded the general framework for the solution for the stability of nonlinear systems. V(x) = ∂x n dt ∂x 1 dt ∂x 2 dt 8 . The first one was known as the Lyapunov’s “First method” and the other was known as the “second method”. A. The energy function of E(x) was replaced by the scalar function V(x)... then we say that the system has returned to the origin if it is disturbed.
(3) If small disturbances were encountered and the effect tends to disappear.1 Definition 1 The origin is said to be stable in the sense of Lyapunov if for every real number ε > 0 and initial time tc > c . To elaborate on the above statement: (1) If small disturbances were encountered and the effect on the motion is small.=< ∂V & .1. the undisturbed motion is termed “unstable”.x > ∂x =< GradV. 2. the undisturbed motion is considered to be stable (2) If small disturbances were encountered and the effect on the motion is considerable. the disturbed is considered “asymptotically stable in the large”. x >=< GradV. f(x) > 2. there is a real number δ > 0 which is dependent on ε and on t such that for all initial conditions it satisfy the following criteria: x0 < δ 9 . (4) If regardless of the magnitude of the disturbances and the effect tends to disappear. the disturbed motion is considered “asymptotically stable”.1 Definition of stability An undisturbed motion xs is considered to be stable when the disturbed motion remains close to the undisturbed motion after encountering small disturbance.
This definition is also considered a local concept.and the motion satisfies x(t) < ε for all t > t0 Figure 3: Geometrical illustration of Stability The geometrical illustration of the definition is shown above. The origin is considered to be unstable if the above condition is not satisfied. lim x(t) 0 → t → ∞ However this definition does not indicate the magnitude of the disturbances in order for the motions to converge to the origin.1. The geometrical illustration of Asymptotic Stability is shown below. This stability concept of Lyapunov is a local concept as it does not indicate the value of δ that is to be chosen. 2. 10 .2 Definition 2 The origin is said to be asymptotically stable if it is stable and that every motion starts close to the origin and converges to the origin as t tends towards infinity.
Figure 5: Geometric illustration of Asymptotic stability in the large This definition is useful in power system as the magnitude of the disturbance need not be considered.1.3 Definition 3 The origin is said to be asymptotically stable in the large when it is asymptotically stable and every motion starting at any point in the state space returns to the origin as t tends towards infinity.Figure 4: Geometrical illustration of Asymptotic Stability 2. 11 . The geometrical illustration is shown below.
2. However both methods failed to give insight into the class of A matrices that are stable. 2. we are able to obtain the conditions that affect the stability of the system. The stability of the system can be examined by solving the eigenvalues of A and see whether any of it is in the right half plane. The stability of the system can also be determined by using the Routh Hurwitz method.2 Lyapunov function for Linear Time Invariant System In this section we will examine the stability of linear time invariant system using the Lyapunov’s method [12]. First let us consider a system: & x = Ax Let the origin of the system be the only equilibrium point.2. By constructing the Lyapunov function of a quadratic form. Consider the following matrix equation: A T + PA = −Q where A = n x n matrix P and Q = symmetric n x n matrices 12 . and the Lyapunov function is able to provide such information.4 Definition 4 A function V(x) is considered to be positive definite if V(x) = 0 and if it is around the origin V(x) ≥ 0 for x ≠ 0 .5 Definition 5 A function V(x) is considered to be positive semidefinite if V(0) = 0 and if it is around the origin V(x) ≥ 0.1.1.
there is a systematic approach to solving for the stability of the system using the Lyapunov function... The methods are as follow: (1) The method based on first integrals (2) The method based on quadratic forms (3) The method based on solving the partial differential equation (4) The method based on quadratic and integral of nonlinearity type Lyapunov function Several of the methods will be explained and discussed in details.. …. 2. n This will indicate that when A has no zero eigenvalues and no real eigenvalues which are of opposite sign. Let us consider the following equation: 13 . there is a unique solution..3 Lyapunov function for Nonlinear System As we have examined in the previous section for a time linear invariant system..λn be the eigenvalues of the matrix A..Let λ1.. λ2. The above equation has a unique solution for P if and only if: λi + λj ≠ 0 for all I. 2.1 Method based on first integrals The basis of this method is to construct the Lyapunov functions using the linear combination of the first integrals of the system equations.3. This section will attempt to examine a few different methods used to construct the Lyapunov functions for nonlinear systems [12]. j = 1. 2. The system will satisfy the Lyapunov matrix equation if the matrix A has no eigenvalues with positive real parts and has some distinct eigenvalues with zero real parts for a given Q > 0 and P > 0.
... ∂f = . x2.. G(x1....... f(o) = 0 Let us assume that f(x) has continuos first partial derivatives... x2..... J(x) = ∂x . ∂fn ∂fn ......xi = fi(x1... A conservative system can be defined by the existence of a first integral......... xn) we can also say that f(x) = x f(0) = 0 We understand that an integral is a differentiable function G(x1.......... The Jacobian matrix is defined as follow: ∂f1 ∂f1 ∂x1 ....... x2.. A necessary condition to have a first integral is as follow: n ∑ i =1 ∂fi =0 ∂xi 2...3................2 Method based on quadratic form The basis of this method is that the Lyapunov function is of the form of x T A(x)x ........... ∂xn .. Let us consider the autonomous system below: x = f(x)....xn) defined in Domain D of the state space such that when x ′is establish a solution....... This method is also known as the Krasovskii’s method..... ∂xn ∂x1 14 ..xn) will have a constant value C...
& V(x) = f T [J T (x)P + PJ(x)]f & V(x) is considered negative definite as the term inside the bracket of the equation above is negative definite. V(x) is also positive definite in the x space as there is a one to one mapping between the x space and the f space. The derivative of V(x) is as follow: & & V(x) = f T Pf + f T Pf By applying chain rule.Let’s define the Q(x) matrix is defined as Q(x) = P J(x) + J T (x) P. Let us consider the Lyapunov function below: V(x) = f T P F The assumption is made that the function is positive definite in the f space. & & f(x) = J(x)x = J(x) f(x) therefore. then the origin of the system is considered to be asymptotically stable in the large. Therefore the origin is asymptotically stable in the large. If a positive definite matrix P is obtained such that the Q(x) matrix is negative definite. 15 .
& & & 2) V and V is determined from ∇V for V > 0 and V <0. x > and x V = ∫ 0 < ∇V. Both & the V and V can be determined from the gradient function.2.. xn ∂xn dt ∂x1 & =< ∇V. They are as follow: 1) The n dimensional curl of ∇V is zero. Let’s consider the following equation: ∂V dV ∂V & & = x1 + . In order to determine the gradient ∇V .. If V < 0.. it indicates that the line integral is to an arbitrary point in the x space. dx > As the upper limit of the integral is x. then actions must be taken to ensure that it is not zero along any other solution other than the origin.. there are certain procedures to the construction of V(x).3 Methods based on Variable Gradient Method The basis of this method is that a vector ∇V is assumed to have undetermined components. 16 .3. It is also independent of the path of the integration.
. However.. xn The αij s consist of a constant term αijk and a variable term αijv . .. The theorem of this method is explained in the following.. Lastly by applying the necessary theorem. . .. . .. In this way we are also able to get an approximation to the exact stability region... f(x) > dt The dV/dt equation is constrained to be negative semidefinite. This will also give some constraint on the coefficients. . we are able to the condition of stability of the system.3. We are then able to determine V from the known gradient. 2.. we would then solve for a series solution...The matrix ∇V will be in the form of: α11(x) α12(x) . After obtaining the variable gradient the dV/dt equation will be formed.. where dV =< ∇V.4 Method based on Zubov’s Method This method is not only able to generate the Lyapunov function but it is also able to construct a region of attraction or an approximation to it. if the solution obtained is not of closed form.. αnn(x) x1 . α1n(x) . The curl equation is used to determine the remaining unknown coefficients. .. The parameters may be considered to be constant unless cancellation or the generalized curl equations require a more complicated form. The method is based on solving a linear partial differential equation.... When the solution obtained is if a closed form. .. ∇V = . αn1(x) αn2(x) . we would have a unique Lyapunov function and an exact stability region. . 17 ..
A is assumed to be stable and has all eigenvalues with negative real parts. 2) θ(x) is positive definite for all x. 4) On the boundary of U. 5) The following partial differential equation is satisfied: n ∑ i =1 ∂V 2 fi(x) = −θ(x)(1 − V(x))(1 + f ) ∂xi 2. φ(x) is chosen to be a positive definite quadratic form. V(x) = 1.3. The equation x = f(x) may be expanded into the following: & x = Ax + g(x) where A is the linear part of the equation and g(x) is of second degree or higher. θ(x) is defined and continuos in the entire state space.First we would let U be a set containing the origin. The conditions for U to be the exact domain of attraction such that the two functions V(x) and θ(x) are: 1) V(x) is defined and continuos in U. the & series solution is used to counter this problem.4.1 Series solution for Zubov’s Method As it is not possible to expect a closed form solution from the partial differential equation. 3) V(x) is positive definite in U with V(0) = 0. The solution of the partial differential equation is as follow: n ∑ i =1 ∂V fi(x) = −φ(x)(1 − v(x)) ∂xi and 18 .
are homogenous in degree m. …. we are able to get a positive definite V2(x) .V(x) = V2(x) + V3(x) + .. the original system differential equation is substituted with the above equation. In order to find Vm(x) ... This occurs when the nonlinearity lies in the first and the third quadrant or in a section thereof. Due to the assumption made on g(x) and Vm(x) .3. A systematic approach will then be possible to construct the Lyapunov function.5.4.. This section will attempt to examine one of the methods that are used to obtain the stability of such system. where V2(x) is quadratic in x and Vm(x) . meaning Vm ( γ x) = γ m V(x) for any constant γ . 2. V2(x) is the Lyapunov function for the linear equation. The region of asymptotic stability that is found by using more terms does not necessarily converge to the exact stability boundary uniformly. However there are some scenarios where there are restrictions to the nonlinearities. & x = Ax Vm(x) can be obtained from: ∑ i =1 n ∂Vm fi(x) = Rm(x) ∂xi Rm(x) can be found after V2(x) has been determined. where m = 3. Therefore. Due to the assumptions that we made on A.5 Other methods for nonlinear systems Previously we have examined the various methods that are used to determine the stability of the nonlinear systems that have no restrictions on the nonlinearities. 19 .
1 Popov’s Theorem Let’s consider the system below: & x = Ax + bξ ξ = −φ(σ) σ = cT x where A is a n x n matrix.2. b and c are nvectors φ(σ) is a nonlinearity which lies in the first and third quadrant The block diagram of the system is shown below. Figure 6: Block diagram of the system The transfer function of the system is: σ(s) = c T (sI − A) −1 b ξ(s) 20 G(s) = .3.5. x.
This implies that matrix A has a zero eigenvalue. The case that we are examining is that G(s) has a single pole at the origin. We will now look at the special cases where G(s) has poles which are on the imaginary axis. Therefore the state space is: & x A & = ξ 0 0 x b + u 0 ξ 1 where u = − φ(σ) σ = c T x + dξ The system is absolutely stable for all nonlinearities when the following sector condition is satisfied: 0 < φ(σ) < kσ 2 or when a finite real q exist such that: 1 + Re{(1 + jωq)G(jω)} > 0 k for all ω ≥ 0 and d > 0 One of the advantage of the Popov’s method is that we are able to construct the Lyapunov function in a systematic manner if we can establish absolute stability. The construction of the Lyapunov function through the solution of nonlinear algebraic equations is as follow: A T P + PA = −εQ − uu T 21 .G(s) will have all poles with negative real parts if matrix A is a stable matrix. The Lyapunov function is the quadratic and the integral of the nonlinearity.
λ) = 0 22 . 2αd 1 ε ≥ 0 and small and u is the (n1) vector We will be able to obtain the solution for q if the Popov’s criterion is satisfied. In this section. Thus the solution of the Lyapunov function will be in the form of: σ 1 V(x) = x Px + dξ 2 + q ∫ φ(σ)dσ 2 0 T 2. The continuation method uses a threestep approach to solve for the equilibrium points. The power flow equation is shown as follow: f(z. As mentioned earlier. The method is used to find the solution to the power flow equations for a given set of parameter values. where a single parameter is free to vary and the system is underconstrained. one of the parameter in the system is free to vary. The purpose of the Continuation Method is to determine the curves. the results of the solution will be curves and not points. The principle behind the Continuation Method is that if a set of equations is underdetermined.4 Continuation Method The Continuation Method is used to determine proximity to saddlenode bifurcations in dynamic system [17].1 Pb = βA T c + αdc + [ β (c T b + d)] 2 u 2 where q= β . a brief explanation of this method will be discussed.
The new equilibria (z2. Let’s assume that the system is initially at the state (z1. λ2) can be predicted by using ∆λ and the scaled tangent vector ∆z1 . A parameterization will convert the Jacobian into non singular at the voltage collapse point. However. λ1). 23 . The boldface curve represents the system equilibria as the parameters of the system changes. where ∆λ and ∆z is given by: ∆λ = k dz/dλ dz dλ and ∆z = ∆λ where k = scaling constant The following steps are used to obtain the actual values of z2 and λ2. Figure 7: Continuation method in state space and parameter space The figure above shows the Continuation method geometry in state space and parameter space. the classical power flow Jacobian becomes unsatisfactory as the system gets closer to bifurcation.The loading factor λ is the varying parameter.
By setting the initial value of z ˆ ˆ to z1 + ∆z and p to p1 + ∆p . ∆p = k ˆ dz/dp ˆ dz dp and ˆ ∆z = ∆p The parameter p is likely to change to one of the bus voltage as the process approaches ˆ bifurcation and the loading factor λ will become part of z .4. ˆ f(z. p) = 0 ˆ ˆ ˆ ˆ ∆p(p − p1 − ∆p) + ∆z T (z − z1 − ∆z) = 0 ˆ ˆ The values of p1 and z1 are obtained from the previous iteration. The equations are as follow.2. 24 .4. The equation is given as below.2 Corrector The purpose of this procedure is to find the intersection between the perpendicular plane to the tangent and the branch. 2. p1) ˆ ˆ ˆ dz ∂f =− dp ∂p ˆ Therefore. by setting parameter p to λ and the state variable z to z. D z f(z1.1 Predictor ˆ The purpose of this procedure is to find the step ∆z and ∆p . the equations above can be solved by one or two iterations.
we are able to find the unstable side of the branch.2. As the method naturally goes around the collapse point. The Jacobian of equations is nonsingular at the point of bifurcation. 25 .4. The parameter p is then traded with the variable that presents the largest change.3 Parameterization This procedure is to check the relative changes in all system variables. The tangent vector dz/dλ is a scaled version of the right eigenvector v at the bifurcation point. This is done by changing the parameter p from λ to a state variable zi ∈ z .
CHAPTER 3: Modelling of power system .
CHAPTER 3: MODELLING OF POWER SYSTEM 3. Otherwise. (1) The plant. The plant module will then receive this value when there is an occurrence of the fault. Fault f(t) Plant r(t) Figure 8: Block diagram of system without control module 26 . Thus the plant module is considered an open loop system as it has no feedback capability. The plant module will also only react to the faults with its own natural dynamics and damping system as it has not have any form of corrective functions. which is the transmission network (2) The fault module (3) The control system. However it does not include the controller function. the plant module will use its original value of line impedance. which is the controller The plant module consists of all the basic function of the transmission system. The controller module provides the feedback to the plant so that adjustment can be made to sustain the fault and regain its synchronism. The block diagrams of a system without controller and a system with control are shown as below.0 Basic Control Theory In a control function block. The function of the fault module is to provide the new line impedances and voltages when the fault occurs. the various parts of the system are broken down into the following function blocks. The fault module will only generate one value of the line impedance. depending on the location of the fault.
27 . The output of the system r(t) is sent back to the comparator to be compared with the input u(t). The difference between the feedback and the input e(t) is then fed to the controller. The controller will perform and output the necessary control output y(t) to the plant module. The fault module. is also fed into the plant module. which acts as a disturbance. The cycle is then repeated.Plant f(t) u(t) r(t) e(t) Controller y(t) Plant r(t) Figure 9: Block diagram of system with controller The block diagram in Figure is a simplified closed loop control system.
The performance of the power system will be simulated with the proposed advanced control technique. Figure 10: Twomachine infinite bus power system 28 . three bus power system. The operating points and system parameters will be varied to test the robustness of the power system and the effectiveness of the proposed controller. The diagram of the model is shown below.1 Power System Modelling The power system modelling is based on a twomachine. Nonlinear Decentralized Controller [18].3.
2 Power system dynamic model Power System Plant Model [18] Mechanical Equations: δi = ωi (1) Swing equation: & ωi = − D ω0 ωi + (Pmi . j=1 (8) 29 .Pei ) + di 2Hi 2Hi (2) Generator electrical dynamics: 1 & E′qi = (Efi − Eqi) T′doi Turbine Dynamics: 1 Kmi & Pmi = Pmi + Xei Tmi Tmi (3) (4) Turbine valve control: & Xei = − Kei 1 1 ωi − Xei + Pci TeiRiω0 Tei Tei (5) Electrical equations: Eqi = E′qi + (xdi − x ′di)Idi. Efi = Kciufi. n (6) (7) Pei = ∑ E′qiE′qjBijsin(δi − δj).3.
j=1 n Iqi = ∑ E′qjBijsin(δi − δj). (12) Vti = (E′qi − x ′diIdi) 2 + (x ′diIqi) 2 (13) Excitation control loop: By applying direct feedback linearization compensation. ω) = E ′qi ∑ E′qjBijsin(δi − δj) − E′qi ∑ E′qjBijcos(δi − δj)ωj j=1 j=1 n n (16) Vfi = IqiKciUfi − (xdi − x ′di)IqiIdi − Pmi0 − T′d0iQeiωi 30 (17) . δi = ωi Di ω0 ωi − ∆Pei + di 2Hi 2Hi 1 1 ∆Pei + Vfi + γi(δ . j=1 n (11) Eqi = xadiIfi.Qei = − ∑ E ′qiE ′qjBijcos(δi − δj). (15) & & γ(δ. T ′doi T ′doi & ωi = − & ∆Pei = − (14) where ∆Pei = Pei − Pmi0. ω ). j=1 n (9) (10) Idi = −∑ E′qiBijcos(δi − δj).
j≠ i ∑ n 4 T′d0j min Pei max sin(δi − δj) + ∑ Qei max ωj j=1 n j=1.ω) ≤ ≤ j=1. j≠i n ∑ n n 4P1ij Pei max ( sinδi + sinδj ) + ∑ P2ij Qei max ωj T′d0j min j=1 = ∑ (γi1j sinδj + γi2 ωj ). j=1 (20) where 4P1ij n Pei max ∑ j=1. (18) 1 1 & [Efi − Eqi] E ′qj ≤ ≤ 4 Eqi max T′d0j min T′d0j max (19) which is followed by γi(δ. E′qiE ′qjBij ≤ Pei max. j≠i T′d0j ∆ min γi1j = 4P1ij Pei max T′d0j min γi2 = P2ij Qei max ∆ (21) Steam valve control loop: & δ = ωi ω0 Di [Pmi − gi(δ )] + di ωi + 2Hi 2Hi & ωi = − Kmi 1 & Xei Pmi + Pmi = − Tmi Tmi 31 .Assuming no load condition.
j≠1 ∑ n n Pei max sin(δi − δj) P1ij Pei max ( sinδi + sinδj1 ) (25) j=1.u.6 32 . j=1 n (23) ui = Pei (24) Using the parameters stated in (18). Xei + ωi − Tei Tei TeiRiω0 (22) where gi(δ ) = ∑ E′qiE′qjBijsin(δi − δj). gi(δ ) ≤ ≤ j=1. E′qj and network parameters.) = 0.159 x12(p.) = 0.u.) = 0.u.& Xei = − 1 1 Kei ui. j≠1 P1ij Pei n ∆ { max when j=1 when j ≠ 1 (26) {P 1ij Pei max The parameters that are used in the power system modeling are as shown below [18]: ω0(rad/s) = 314. we can express gi(δ ) (the interconnected term) as the following nonlinear function regardless of uncertain E′qi.55 x13(p.53 x23(p. j≠1 n ∑ ≤ ∑ gij sinxj1 . j=1 where gij = ∑ j=1.
u.05 Km = 1.863 x ′d(p.35 Te(s) = 0.u.) = 3 Tm(s) = 0.u.u.u.05 Km = 1.u.0 Ke = 1.) = 0.) = 2.1 R = 0.) = 5 Tm(s) = 0.257 xT(p.u.u.129 xad(p.712 T′d0(p.u.35 Te(s) = 0.96 H(s) = 5.319 xT(p.) = 0.36 x ′d(p.0 kc = 1 For Generator #2 xd(p.) = 0.1 D(p.u.11 xad(p.) = 0.u.9 H(s) = 4 D(p.) = 1.1 R = 0.712 T′d0(p.u.) = 6.For Generator #1 xd(p.) = 7.0 33 .) = 1.) = 1.
60ω1 − 93. information transfers between the subsystems are unfeasible. conservatism of the controller gain is reduced.81(Pe1 − Pm10) vf2 = 19. In order to solve this problem.0 kc = 1 3.45ω2 − 73. Persistent disturbances. The decentralized power controllers are then applied to restore and maintain the transient stability of the closedloop system. This is due to the fact that the function of conventional linear control is limited as it can only deal with small disturbances about an operating point.69(δ 2 − δ20) + 21. By bounding the interconnections with nonlinear functions instead of bounding them with firstorder polynomials. The excitation control and steam valve control are designed to enhance the transient stability.95(Pe2 − Pm20) 34 . are applied to the system.68(δ1 − δ10) + 20.Ke = 1. The proposed controller that is used for the power system modelling is the Nonlinear Decentralized Controller [18].3 Nonlinear Decentralized Control Scheme Power systems are often modelled as large nonlinear highly structured system. such as permanent symmetrical threephase short circuit fault and load changes. decentralized controllers are applied. The design of the excitation control of the controller involves the application of robust backstepping. Due to the physical limitations on the system structure. The equations of the nonlinear decentralized controller are as follow: vf1 = 19.
CHAPTER 4: Simulation results .
1 CASE 1 The parameters of the transmission line are shown as below: Reactance of transmission line X12 = 0.CHAPTER 4: SIMULATION RESULTS 4. the control input.u.01p. Reactance of transmission line X23 = 0.u.64 o Mechanical power Pm10 = 1.u.1 Simulation of system model 4. Fault position λ = 0.10p. the power angle.2 35 .u.u.78o Power angle δ20 = 60. Mechanical power Pm20 = 1. Reactance of transmission line X13 = 0. the electrical power Pe and the terminal voltage Vt. both the simulation of system without controller and system with controller are examined.u.0p.55p. In each case. Terminal voltage of generator Vt20 = 1.0 Overview In this chapter.53p.1. Power angle δ10 = 60.6p. the power system model in Chapter 3 is simulated with the derived equations using the software MATLAB. 4. Terminal voltage of generator Vt10 = 1. Various parameters are also varied and the results are catogorised into 5 different cases. The simulation results reflect the condition power system model when the fault occurs and the condition power system model with controller when the fault occurs. The results of the simulations and their effects are then discussed.0p. The simulation results consist of the relative speed.u.
Simulation of results without Controller Subsystem 1 Figure 11: Case 1: Results of Subsystem 1 without controller Subsystem 2 Figure 12: Case 1: Results of Subsystem 2 without controller 36 .
The dynamics of the system is expected to change accordingly after occurrence of the fault. When the symmetrical threephase short circuit fault occurs at the transmission line between Generator 1 and Generator 2 at λ = 0. Also. we can see that when there are changes in the network impedances. it results in the fluctuation in Vt. This will in turn affect the value of the electrical power Pe. there is an affect on the EMF in the quadrature axis Eq. From the equations that were given in Chapter 3. When the three phase symmetrical fault occurs at t = 0. there are changes to the system conditions. The oscillation shown in the relative speed and the power angle is the result of the natural damping of the system.1 sec. both the power angle δ and relative speed ω will be affected. Likewise. 37 .1 sec. as the current at the line where the fault occur is able to find another route with relatively less impedance to flow. we can see that at the approximately t = 0.Firstly.2 . From Figure 5 and Figure 6. The system tries to regain synchronism after encountering the fault. the simulation result for the system model without the controller is examined. the condition of the system is very unstable. the swing equation will change accordingly and the acceleration of the system will be affected. With the change in Pe. we can see a sudden drop in Pe due to the reduction in line impedances.
Simulation of results with Nonlinear Decentralized Controller Subsystem 1 Figure 13: Case 1: Results of Subsystem 1 with controller Subsystem 2 Figure 14: Case 1: Results of Subsystem 2 with controller 38 .
there is a significant improvement in the condition of the system.When the nonlinear decentralized controller is applied to the system model. The disturbances caused by the fault are also reduced to a considerably small amount. 39 . The oscillations of the power angle are also dampened. The controller improved the transient stability of the system model.
6p.0p.u.u.53p.2 CASE 2: Variation of parameters The system parameters are changed to simulate new results for the system model.u.u. Mechanical power Pm20 = 0.42p. Power angle δ10 = 18.u.u.55p.05 Simulation of results without Controller Subsystem 1 Figure 15: Case 2: Results of Subsystem 1 without controller 40 .51o Power angle δ20 = 23.32p.4.0p. Terminal voltage of generator Vt20 = 1. Fault position λ = 0. Terminal voltage of generator Vt10 = 1.1. Reactance of transmission line X13 = 0. The parameters of the transmission line are shown as below: Reactance of transmission line X12 = 0. Reactance of transmission line X23 = 0.68 o Mechanical power Pm10 = 0.u. This is to examine the robustness of the controller and its ability to adapt to new conditions.
Simulation of results with Nonlinear Decentralized Controller Subsystem 1 Figure 17: Case 2: Results of Subsystem 1 with controller 41 .Subsystem 2 Figure 16: Case 2: Results of Subsystem 2 without controller Without the nonlinear decentralized controller. The condition of the system is unstable. the system model is again unable to regain its synchronism upon encountering the fault.
Subsystem 2 Figure 18: Case 2: Results of Subsystem 2 with controller It is observed that even with different system parameters. operating points and fault location. 42 . The controller is effective in enhancing the transient stability of the system model even with variations in system parameters. the system is able to return to synchronism and stable conditions with the introduction of the nonlinear decentralized controller.
57p.6p.1.5o Mechanical power Pm10 = 0. The parameters of the transmission line are shown as below: Reactance of transmission line X12 = 0.56p. Terminal voltage of generator Vt10 = 1.0p.4.u. Reactance of transmission line X13 = 0.3 CASE 3: Variation of parameters power angle δ and mechanical power Pm For Case 3.u. four of the parameters are varied.0p. namely the power angles δ10 and δ20 . Mechanical power Pm20 = 0.5o Power angle δ20 = 32. Reactance of transmission line X23 = 0.05 43 . The fault location remains the same as Case 2. Power angle δ10 = 30.53p. Terminal voltage of generator Vt20 = 1. The results will be then compared to Case 2 and discussion will be made.u. The objective of Case 3 is to examine the condition of the system model when the system parameters are changed but with the fault occurring at the same fault location.55p.u.u. and the mechanical input power Pm10 and Pm20. Fault position λ = 0.u.u.
Simulation of results without Controller Subsystem 1 Figure 19: Case 3: Results of Subsystem 1 without controller Subsystem 2 Figure 20: Case 3: Results of Subsystem 2 without controller 44 .
it can assume that the level of disturbance in Case 3 is higher since the relative speed ω. The system model is unable to regain its synchronism upon the occurrence of a fault. the mechanical power input Pe and the terminal voltage Vt produced a zero value for Subsystem 2. the power angle δ. 45 . However comparing the above results with the results from Case 2.The results yield from Case 3 is similar to the results from Case 1 and 2.
Simulation of results with Nonlinear Decentralized Controller Subsystem 1 Figure 21: Case 3: Results for Subsystem 1 with controller Subsystem 2 Figure 22: Case 3: Results for Subsystem 2 with controller 46 .
1. The result also proved that the controller is capable and robust enough to handle the occurrence of the fault and the variation in the system parameters.3.1 Effect on ω and δ CASE 2 CASE 3 Figure 23: Comparing ω and δ of Subsystem 1 for Case 2 and Case 3 CASE 2 CASE 3 Figure 24: Comparing ω and δ of Subsystem 2 for Case 2 and Case 3 47 . we can see that the system model is able to regain synchronism and equilibrium with the aid of the nonlinear decentralized controller. 4.From the above results.1.3.1.1 Comparison of Case 2 and Case 3 The effects of varying the power angle δ and mechanical power Pm on the system are as follow: 4.
2 Effect on Pe CASE 2 CASE 3 Figure 25: Comparing Pe of Subsystem 1 for Case 2 and Case 3 CASE 2 CASE 3 Figure 26: Comparing Pe of Subsystem 2 for Case 2 and Case 3 48 . From the figures above. 4. it can be seen that the oscillation is smaller with smaller initial power angles (Case 2) as compared to larger initial power angles (Case 3). the effect on the ω is observed. The rate of damping is also considerably faster.1. Next.1. It can be seen that the amplitude of the oscillations reduces as the initial angle is smaller. the effect on the δ is examined.3.Firstly.
From the figures above. The value of the electrical power Pe is also approximately the same as the value of the mechanical input power Pm. it can be seen that the oscillations after the occurrence of the fault tends to be larger with larger initial values of δ (Case 3). The rate of damping of Case 2 is also faster as compared to Case 3 as Case 2 has a smaller value of δ. 49 .
Mechanical power Pm20 = 0.0p.4 CASE 4: Variation of fault position λ For Case 4. Reactance of transmission line X13 = 0. This is to examine the effect of the fault location of the performance of the system. Power angle δ10 = 30. The parameters of the transmission line are shown as below: Reactance of transmission line X12 = 0.6p. The results will be then compared to Case 2 and discussion will be made.5 50 .u.u.4.53p. Terminal voltage of generator Vt10 = 1. the network parameters are identical to Case 3 but the fault location is changed.u.57p.u.u.u.u.55p. Terminal voltage of generator Vt20 = 1.5o Power angle δ20 = 32.5o Mechanical power Pm10 = 0.56p.0p.1. Reactance of transmission line X23 = 0. Fault position λ = 0.
51 .Simulation of results without Controller Subsystem 1 Figure 27: Case 4: Results of Subsystem 1 without controller Subsystem 2 Figure 28: Case 4: Results of Subsystem 2 without controller The results shown above are again similar to the previous cases that were discussed earlier. The system model is unable to sustain the fault and loses its synchronism.
Simulation of results with Nonlinear Decentralized Controller Subsystem 1 Figure 29: Case 4: Results for Subsystem 1 with controller Subsystem 2 Figure 30: Case 4: Results for Subsystem 2 with controller 52 .
4.1.4.4.The introduction of the nonlinear decentralized controller is able to improve and enhance the transient stability of the system model even with a variation in the fault location λ.1 Comparison of Case 3 and Case 4 The effects of varying the fault location λ on the system are as follow: 4.1.1.1 Effect on ω and δ CASE 3 CASE 4 Figure 31: Comparing ω and δ of Subsystem 1 for Case 3 and Case 4 CASE 3 CASE 4 Figure 32: Comparing ω and δ of Subsystem 2 for Case 3 and Case 4 53 .
it can be seen that there are more fluctuations in the waveform for a smaller value of λ (Case 3). the Pe of the system model will take a longer time to regain stability. 54 . 4.1. When the fault location is nearer to the generator bus.It is observed from the figures above that a smaller λ (Case 3) produced more oscillation in the waveform of ω.4.1.2 Effect on Pe CASE 3 CASE 4 Figure 33: Comparing Pe of Subsystem 1 for Case 2 and Case 3 CASE 3 CASE 4 Figure 34: Comparing Pe of Subsystem 2 for Case 3 and Case 4 From the figures above. The variation of the fault location seems to have little effect on δ. This shows that faults which are nearer to the generator bus are more disruptive as compared to faults further down the transmission line.
u.u.5 Simulation of results without Controller Subsystem 1 Figure 35: Case 5: Results of Subsystem 1 without controller 55 . Mechanical power Pm20 = 0. Reactance of transmission line X13 = 0. Reactance of transmission line X23 = 0.08 o Power angle δ20 = 65. all the systems parameters are changed except for the terminal voltage of the generators and the reactance of the transmission lines.53p.6p. Terminal voltage of generator Vt10 = 1.95p.u. Power angle δ10 = 64.u.u.u.5 CASE 5 For Case 5.u.0p.0p.33o Mechanical power Pm10 = 0.4.1. The parameters of the transmission line are shown as below: Reactance of transmission line X12 = 0. Terminal voltage of generator Vt20 = 1.95p. Fault position λ = 0.55p.
Simulation of results with Nonlinear Decentralized Controller Subsystem 1 Figure 37: Case 5: Results of Subsystem 1 with controller 56 . The system is unable to sustain its equilibrium and after the occurrence of the fault.Subsystem 2 Figure 36: Case 5: Results of Subsystem 2 without controller Without the aid of the controller. the condition of the system model is unstable.
With the aid of the controller. the transient stability of the system is enhanced. It has also proven once again that the nonlinear decentralized controller is robust enough to handle any uncertain network parameters. 57 .Subsystem 2 Figure 38: Case 5: Results of Subsystem 2 with controller The results yield above is similar to the previous cases.
Reactance of transmission line X13 = 0.95p.6 CASE 6: Variation of parameters system reactance x12. Terminal voltage of generator Vt20 = 1.u.1. x13 and x23 For Case 6. Terminal voltage of generator Vt10 = 1. Power angle δ10 = 64.08 o Power angle δ20 = 65.5 58 .0p.u.u.7p. The results of Case 5 and Case 6 will be compared to examine the effect on the system due to the different reactance. The parameters of the transmission line are shown as below: Reactance of transmission line X12 = 0.33o Mechanical power Pm10 = 0. Mechanical power Pm20 = 0. Fault position λ = 0. Reactance of transmission line X23 = 0.0p.u.u. the system parameters are similar to Case 5 but the reactances of the transmission lines are altered.u.7p.4.95p.7p.u.
Simulation of results without Controller Subsystem 1 Figure 39: Case 6: Results of Subsystem 1 without controller Subsystem 2 Figure 40: Case 6: Results of Subsystem 2 without controller 59 .
Simulation of results with Nonlinear Decentralized Controller Subsystem 1 Figure 41: Case 6: Results of Subsystem 1 with controller Subsystem 2 Figure 42: Case 6: Results of Subsystem 2 with controller 60 .
61 .6. the controller is able to sustain the fault and bring the system back to the stable condition.4. This shows that even when there are sudden changes to the reactance of the transmission lines. Thus the nonlinear decentralized controller is robust and is able to adapt to any uncertain network conditions.1. there is not much effect on the performance of the system model that is running on the same network parameters. it can be seen that when the reactance of the transmission line is varied.1 Comparison of Case 5 and Case 6 From the figures.
CHAPTER 5: Conclusion .
In the latter part of the thesis.0 Conclusion As the economic demand and environmental pressure continues to mount. the definition of power system stability was discussed. thus the limits of stability and the reliability and efficiency of the power system are much sought after issues. It is also robust enough to withstand uncertain network parameters. several advanced stability theorem and techniques were examined. Several reasons were also provided to justify the need to study the area power system stability. In the first part of the thesis. it can be seen that the nonlinear decentralized controller is effective in enhancing the transient stability of the system model. From the various simulation results. Various system operating points were also varied to test the robustness of the controller.CHAPTER 5: CONCLUSION 5. The proposed controller ensured the overall stability of the system model. Some basic stability theorems were discussed briefly in order to aid understanding in the topic. The simulation results showed that the transient stability of the system model was enhanced and synchronism regained regardless of the location of the threephase 62 . a power system modelling was attempted. This thesis attempted to provide an insight into the various power system stability issues. Comparisons were then made to examine the effect of the controller. The modern power systems are also much more complex. The ability to maintain system stability in a deregulated power system environment is a major challenge. Simulations were performed on the power system model to acquire the conditions of the system model in an event of an occurrence of a three phase symmetrical fault. largescale power system around the world are getting more and more interconnected. Stability phenomena can cause significant damage economically. In the second part of the thesis. A proposed nonlinear decentralized control scheme was then implemented to the power system model. These techniques were useful in determining the stability of complex power systems.
as power systems are growing at a tremendous rate and are getting more interconnected. In conclusion. The financial gain and economic pressure also encourage the exploration of methods to maintain and enhance the transient stability of the power systems. transient stability is an important area of study. 63 .symmetrical fault. the variations in the system operating points and network parameters and the persistent disturbances.
REFERENCE .
The University of Newcastle. Wang. 1981 [2] H. H. 1988 [4] I.A Pai. Hills. Power System Stability New York: NorthHolland.2. “Energy Functions. Saadat. Gao.8. Bokay. J. “Stability Theory for Differential/ Algebraic Systems with Application to Power System”. University Drive. Hills and R.4. D. Racz and B. L. New York: Elsevier. December 1992 64 . Hiskens. February 1993 [6] Y. Mareels. IEEE Trans.1. “Transient Stability Enhancement and Voltage Regulation of Power System”. Power System Analysis McGrawHill International Editions. Vol. No. May 1993 [7] D. No. No. A Lof and G. Vol 8. Callaghan. on Circuit and System. Middleton. Z. Y. IEEE Trans.11. A. Vol. Y. on Power System. Power System Stability Amsterdam. IEEE Trans. A. Vol 4. November 1990 [8] D. J.37. Australia. Hill and I. on Power System. on Power Systems. October 1989 [5] P. NSW 2308.Reference [1] M . Department of Electrical & Computer Engineering. 1999 [3] L. Andersson. “Voltage Stability Indices for Stressed Power System”. Hiskens and D. M. IEEE Trans. J. Transient Stability and Voltage Behaviour in Power System with NonLinear Loads”. Hills and I. “Dynamic Analysis of Voltage Collapse in Power Systems”. No. J.
1962 [14] Allan M. Elements of Power System Analysis. Dong and D. Thomas Nelson and Sons Ltd. Jr. Sharma. New York: John Wiley & Sons INC. “Point of Collapse and Continuous Methods for large AC/ DC system”. Stability Techniques for Continuous Linear Systems. “A General Method for Small Signal Stability Analysis”. Australia [10] M. 1957 [16] William D. Crary. University of Queensland. J. 1981 [13] Selden B. 1. Volume 8. Krall. Australia. New York: NorthHolland. 1962 [17] Claudio A.[9] Y. IEEE Transaction on Power System. “Power System Security Assessment in a Competitive Market”. Makarov. Hills. School of Information Technology and Electrical Engineering. The University of Sydney. Power System Stability Volume 3: Analysis by the Direct Method of Lyapunov. Power system analysis and design PWS Publishers Boston. A. Power System Stability Volume 1: Elements of Stability Calculations. Canizares and Fernando L. Z. John Wiley & Sons INC. Y. Pai. No. Stevenson. McGrawHill Book Company INC. 1967 [15] Edward Wilson Kimbark. February 1993 65 . [11] Glover / Sarma. Power System Stability Volume 2: Transient Stability. Alvarado. V. 1987 [12] M. NSW 2006. Department of Electrical Engineering.
1994 66 . “Nonlinear decentralized control of largescale power systems”. Power System Analysis. Singapore. Automatica. Vol 1. W D Stevenson.[18] Yi Guo. McGraw – Hill. Hill and Youyi Wang. December 1999 [19] S S Choi. IPEC 95. “Power System Stability Enhancement by Variable Series Compensation”. G Shrestha and F Jiang. David J. Precedings of the International Power Engineering Conference. NTU. 27 Feb – 1 Mar 1995 [20] J J Grainger. Jr.
APPENDIX .
1).y3.Bflt. Eq20prime=yeqp(2). [Bpre. y6=y(:.2).y4.0.0. 67 .delta20.t.Eq10prime.6.95.4).Vt20]=eqpmain. y1=y(:.5).0.Pm20. delta20=65. [uf1.6).95.Eq20prime]).[delta10. keyboard. lambda=0.5.Pe1.uf2. Eq10prime=yeqp(1).Vt10.Vt1. [t.Bclr]=mtxBfun2(lambda).Bpre. y5=y(:. y2=y(:.y6).08*pi/180.Pe2.Vt2]=pwconfun1(Pm10.Bflt.33*pi/180. y4=y(:. [yeqp.Bclr.delta10.delta20.3).Appendix Main Program [18] global Pm10 Pm20 delta10 delta20 global Bpre Bflt Bclr Pm10=0. y3=y(:.y1.y2. delta10=64. y5. Eq1prime=y3. Pm20=0.y]=ode45('pwsimfunC2'.
uf1(i)=uf1(1). uf2(i)=uf2(1). y4(i)=delta20. Pe1(i)=Pe1(1). y5(i)=0. y2(i)=0. Pe2(i)=Pe2(1).Eq2prime=y6. Vt2(i)=Vt2(1). for i=1:length(t) if t(i)<0. end end pwplottry 68 .1 y1(i)=delta10. Vt1(i)=Vt1(1).
ODE Function Program function xdot=pwsimfunC2(t.3). B12=Bflt(1. B23=Bflt(2.3). B22=Bflt(2.2). B12=Bclr(1.2).1 B11=Bpre(1.x) global Bpre Bflt Bclr global Pm10 Pm20 delta10 delta20 if t<0.25 & t<1.1).1). B22=Bpre(2. B13=Bclr(1. B13=Bpre(1. B21=Bflt(2.1 & t<0.3). B21=Bclr(2.3).25 B11=Bflt(1. 69 . B23=Bpre(2. B12=Bpre(1.2). B21=Bpre(2.2).3).1). B23=Bclr(2.3). B13=Bflt(1.1). B22=Bclr(2.2). elseif t>=0.1).2). elseif t>=0.0 B11=Bclr(1.1).
B12=Bpre(1.1). 70 . xd1prime=0.319.1. H2=5. B22=Bpre(2.863. H1=4. x23=0.159. Td02prime=7. omega0=314.2).6.11. x12=0.2). xT2=0.129. Td01prime=6. xT1=0.36. xd2prime=0.else B11=Bpre(1.9. x13=0. D1=5.55.53. B23=Bpre(2.1). B13=Bpre(1. kc1=1. end xd1=1.257. xad2=1.712.96. xd2=2. xad1=1.3). kc2=1.712.3). D2=3. B21=Bpre(2.
delta2=x(4). Pe2=Eq2prime*Eq1prime*B21*sin(delta2delta1)+Eq2prime*1*B23*sin(delta20). System 2: Id2=(Eq2prime*B22+Eq1prime*B21*cos(delta2delta1)+1*B23*cos(delta20)). Eq2=Eq2prime+(xd2xd2prime)*Id2. Eq1prime=x(3). Qe1=(Eq1prime^2*B11+Eq1prime*Eq2prime*B12*cos(delta1delta2)+Eq1prime*1*B13*cos(delta10)). Eq2prime=x(6). 71 . System1: Id1=(Eq1prime*B11+Eq2prime*B12*cos(delta1delta2)+1*B13*cos(delta10)). Qe2=(Eq2prime^2*B22+Eq2prime*Eq1prime*B21*cos(delta2delta1)+Eq2prime*1*B23*cos(delta20)). Iq1=Eq2prime*B12*sin(delta1delta2)+B13*sin(delta1). omega1=x(2). Eq1=Eq1prime+(xd1xd1prime)*Id1. omega2=x(5). Pe1=Eq1prime*Eq2prime*B12*sin(delta1delta2)+Eq1prime*1*B13*sin(delta10). Iq2=Eq1prime*B21*sin(delta2delta1)+B23*sin(delta2).delta1=x(1).
b1=0. uf2=1/Iq2*(vf2+Pm20+(xd2xd2prime)*Iq2*Id2+Td02prime*Qe2*omega2).81*(Pe1Pm10).051. end 72 .95. %vf1=0 %vf2=0 uf1=1/Iq1*(vf1+Pm10+(xd1xd1prime)*Iq1*Id1+Td01prime*Qe1*omega1). vf2=19.68*(x(1)delta10)+20.a1=0.878.45*x(5)73. end if uf1>6 uf1=6.727. n2=10. a2=0.60*x(2)93.69*(x(4)delta20)+21.064. kf1=1+b1/a1*Eq1prime^(n11).935. b2=0. if uf1<3 uf1=3. kf2=1+b2/a2*Eq2prime^(n21).95*(Pe2Pm20). n1=8. Controller: vf1=19. end if uf2<3 uf2=3.
xdot(1)=omega1. end Ef1=kc1*uf1. xdot(5)=D2/(2*H2)*omega2+omega0/(2*H2)*(Pm20Pe2)+0.3. 73 . xdot(6)=1/Td02prime*(Ef2Eq2(1kf2)*Eq2prime). Ef2=kc2*uf2.if uf2>6 uf2=6. xdot(3)=1/Td01prime*(Ef1Eq1(1kf1)*Eq1prime). xdot(2)=D1/(2*H1)*omega1+omega0/(2*H1)*(Pm10Pe1)+0.3. xdot(4)=omega2.
6. x13=0. xd1prime=0. Td01prime=6. D2=3. kc2=1.159.11. xad2=1.712. D1=5.9. xT2=0.Calculation of initial conditions function [y.Vt2]=eqpmain global Pm10 Pm20 delta10 delta20 Bpre delta1=delta10.55.257.1. xd2=2. omega0=314.712.Vt1.53. x12=0.863. H1=4. kc1=1. x23=0.319.129. xT1=0. delta2=delta20.96. Td02prime=7.36. H2=5. xd2prime=0. xd1=1. 74 . xad1=1.
Eq2=Eq2prime(xd2xd2prime)*Id2.3).[1. B21=Bpre(2. B22=Bpre(2.2).2). Vtq2=Eq2prime+xd2prime*Id2. 75 . options=foptions.options) Eq1prime=y(1). Vtd2=xd2prime*Iq2. Iq2=Eq1prime*B21*sin(delta2delta1)+B23*sin(delta2). Eq2prime=y(2). Vtq1=Eq1prime+xd1prime*Id1. Vtd1=xd1prime*Iq1. [y. B23=Bpre(2. Id2=(Eq2prime*B22+Eq1prime*B21*cos(delta2delta1)+1*B23*cos(delta20)). Eq1=Eq1prime(xd1xd1prime)*Id1.1. B13=Bpre(1.1). Id1=(Eq1prime*B11+Eq2prime*B12*cos(delta1delta2)+1*B13*cos(delta10)). options(1)=1.options]=fsolve('eqp1'.0. B12=Bpre(1.1).0].B11=Bpre(1.3). options(2)=1e8. Iq1=Eq2prime*B12*sin(delta1delta2)+B13*sin(delta1).
Vt2=sqrt(Vtq2^2+Vtd2^2).Vt1=sqrt(Vtq1^2+Vtd1^2). 76 .
xd1prime=0. xT1=0.129.257.55.863. kc2=1.Function Program function f=eqp1(x) global Pm10 Pm20 delta10 delta20 Bpre delta1=delta10.319. delta2=delta20.6.9.96.712. kc1=1. xad1=1. H1=4.11.1.712. 77 .53.159. x23=0. D1=5. x13=0. Td01prime=6. xd2=2. D2=3. xT2=0. xd1=1. xd2prime=0. omega0=314. Td02prime=7. H2=5.36. x12=0. xad2=1.
Eq2prime=x(2). 78 . B12=Bpre(1. Pe2=Pm20.s2].1).2). f=[s1.3). B22=Bpre(2. B23=Bpre(2.2). B11=Bpre(1. B21=Bpre(2. s2=Eq2prime*Eq1prime*B21*sin(delta2delta1)+Eq2prime*1*B23*sin(delta20)Pe2.3). Eq1prime=x(1).1).Pe1=Pm10. s1=Eq1prime*Eq2prime*B12*sin(delta1delta2)+Eq1prime*1*B13*sin(delta10)Pe1. B13=Bpre(1.
Calculation of Controller function [uf1.3).0 B11(i)=Bclr(1.2).2). B21(i)=Bclr(2.Vt2]=pwconfun1(Pm10.Bflt.3).3).y6) Formulate matrix B: for i=1:length(t) if t(i)<0. B12(i)=Bflt(1.3). B21(i)=Bpre(2. 79 .Vt1.Pe1.1).3). B22(i)=Bflt(2. B22(i)=Bclr(2. elseif t(i)>=0. B23(i)=Bclr(2.Pm20.1 & t(i)<0. B13(i)=Bclr(1.1).delta20. y5.Pe2.25 & t(i)<1.3).Bpre. B23(i)=Bflt(2.y4. B21(i)=Bflt(2. B13(i)=Bflt(1. B12(i)=Bclr(1.uf2.Bclr.1). B12(i)=Bpre(1.1).2). B22(i)=Bpre(2.1).2). B13(i)=Bpre(1. B23(i)=Bpre(2. elseif t(i)>=0.y2.2).delta10.1 B11(i)=Bpre(1.y1.t.y3.2).1).25 B11(i)=Bflt(1.
*B21'.^2.*cos(y1y4)+y3.*B12'. B21(i)=Bpre(2. Id2=(y6. Iq2=y3.863.36.*cos(y40)). B12(i)=Bpre(1.*cos(y4y1)+B23'.68*(y1delta10)+20.3).*y6.*B22'+y3.60*y293.*B13'.*sin(y4). B13(i)=Bpre(1.*cos(y10)).*sin(y4y1)+B23'.*sin(y1).257. 80 . xd2prime=0.*sin(y4y1)+y6.2).*B11'+y6.else B11(i)=Bpre(1.2).1).*cos(y1y4)+B13'.*B23'.9.81*(Pe1Pm10). xd1prime=0. xd2=2. end end xd1=1. B23(i)=Bpre(2.*sin(y40). Qe1=(y3.*y6.*B12'. Iq1=y6. Pe1=y3. Id1=(y3.*B13'.*B21'.95*(Pe2Pm20).*cos(y10)).3).*B21'.319.*B12'.*y3. Td01prime=6. vf2=19.*sin(y1y4)+B13'.45*y573. B22(i)=Bpre(2. Td02prime=7.*sin(y1y4)+y3.69*(y4delta20)+21.*sin(y10).96. Pe2=y6.*B11'+y3.*B12'. vf1=19.1).
*y3.*B23'.*cos(y4y1)+y6. end if uf2(i)>6 uf2(i)=6. 81 .*y2).*Iq2.*cos(y40)).*Iq1.*Id2+Td02prime*Qe2.*(vf2+Pm20(xd2xd2prime). end if uf2(i)<3 uf2(i)=3. end end Eq1prime=y3. uf1=(1. Vtq1=Eq1prime+xd1prime*Id1. for i=1:length(t) if uf1(i)<3 uf1(i)=3. Vtq2=Eq2prime+xd2prime*Id2.Qe2=(y6. end if uf1(i)>6 uf1(i)=6./Iq2).*Id1+Td01prime*Qe1.*y5). Eq2prime=y6. uf2=(1./Iq1).*(vf1+Pm10(xd1xd1prime).*B21'.^2.*B22'+y6.
^2+Vtd1.^2). Vt2=sqrt(Vtq2.Vtd1=xd1prime*Iq1. 82 .^2). Vt1=sqrt(Vtq1. Vtd2=xd2prime*Iq2.^2+Vtd2.
Ypre=YaYb*inv(Yd)*Yc.7. xT1=0.Yflt.y12 (ys2+y12+y23)]. x12=0.0 ys2 y23].Calculation of matrix function [Ypre. ys2=1/(xd2prime+xT2).7. y12=1/x12. y23=1/x23.0 ys2 0.863. xd1prime=0. x13=0.7.y13 y23]. x23=0.257. Yc=[ys1 0 y13.0 0 (y13+y23)].129.11. xT2=0.319.36. ys1=1/(xd1prime+xT1).Yclr]=mtxBfun2(lambda) xd1=1. xd2=2. xd2prime=0.0 ys2. y13=1/x13. 83 . Yd=[(ys1+y12+y13) y12. Yb=[ys1 0. Ya=[ys1 0 0.
Ya=[ys1 0 0.y12 (ys2+y12+y23+yf2)]. Yc=[ys1 0 y13. yf2=1/(2*(1lambda)*x12). Yb=[ys1 0.0 0 (y13+y23)].0 ys2.0 ys2 0. Yflt=YaYb*inv(Yd)*Yc.0 0 (y13+y23)]. Ya=[ys1 0 0. Yclr=YaYb*inv(Yd)*Yc.0 ys2 y23].0 ys2.y12=1/(2*x12). 84 . yf1=1/(2*lambda*x12). y12=1/(2*x12). Yd=[(ys1+y12+y13+yf1) y12.y12 (ys2+y12+y23)]. Yd=[(ys1+y12+y13) y12.y13 y23]. Yb=[ys1 0.0 ys2 y23].y13 y23]. Yc=[ys1 0 y13.0 ys2 0.
iter.0fth loop for alpha=%3. global alpha while (t < tfinal) & (t + h > t) & (iter < iter_max) if t + h > tfinal. end if nargin < 6.e3. iter_max=851.1).t. y end The main loop iter=0. trace) pow = 1/3. chunk = 8. end t = t0. t0. y = y0(:). yout = zeros(chunk. tout(k) = t.t)/4. trace = 0. tol = 1.:) = y. y0. end 85 . yout(k.'. tout = zeros(chunk. h = hmax/2. h = tfinal .6f\n'. yout] = ode23(ypfun. h. tol. if trace clc. t. end if(round(iter/25)==iter/25) fprintf('ODE23Z in porcess for the %4.ODE23 Function function [tout. tfinal. k = 1.alpha). if nargin < 5. hmax = (tfinal .length(y)).
s1 = s1(:). h. k = k+1. tau = tol*max(norm(y. yout(k.'inf'). y+h*s1).0). y+h*(s1+s2)/4). s3 = s3(:). yout = [yout.1)]. 0. t. zeros(chunk. t.0 h = min(hmax.s1 = feval(ypfun. s2 = s2(:). end 86 . zeros(chunk. y). s3 = feval(ypfun.'inf'). end iter=iter+1. delta = norm(h*(s1 .length(y))]. t+h/2. y = y + h*(s1 + 4*s3 + s2)/6. end if trace home. y end if delta ~= 0.2*s3 + s2)/3. t+h.'. if delta <= tau t = t + h.9*h*(tau/delta)^pow). s2 = feval(ypfun.1. end tout(k) = t.:) = y. if k > length(tout) tout = [tout.
global ode_flag.') ode_flag=1. ode_flag=0. if (t < tfinal) disp('Singularity likely. 87 . end tout = tout(1:k).:). yout = yout(1:k.
tout(k) = t. yout = zeros(chunk. if nargin < 5. trace = 0. end t = t0. f = zeros(length(y). y = y0(:).1). yout(k.6).e6. y end 88 . t. h.'.t)/16. k = 1. tout = zeros(chunk. gamma = [ [902880 0 3953664 3855735 1371249 277020]/7618050 [ 2090 0 22528 21970 15048 27360]/752400 ]'. if trace clc. t0. y0. tol = 1.:) = y. tol.ODE45 Function function [tout. h = hmax/8. trace) alpha = [1/4 3/8 12/13 1 1/2]'. yout] = ode45(ypfun. tfinal. end if nargin < 6. pow = 1/5. chunk = 128. beta = [ [ [ 3 1 9 0 0 0 0 0 0 0]/4 0 0]/32 0 0 0]/2197 0 0]/4104 [ 1932 7200 7296 [ 8341 32832 29440 845 [6080 41040 28352 9295 5643 0]/20520 ]'. hmax = (tfinal .length(y)).
h = tfinal . end tout(k) = t.length(y))]. k = k+1. if delta <= tau t = t + h. zeros(chunk. f(:.0). y+h*f*beta(:. zeros(chunk. f(:. end 89 . for j = 1:5 temp = feval(ypfun. iter_max=1000.j+1) = temp(:).y). end if(round(iter/25) == iter/25) fprintf('ODE45 in the %3. yout = [yout.'inf').:) = y. if k > length(tout) tout = [tout. end temp = feval(ypfun.'inf').1.iter).1). yout(k. t+alpha(j)*h. y = y + h*f*gamma(:.'.t.The main loop iter=0. while (t < tfinal) & (t + h > t) & (iter<iter_max) if t + h > tfinal.1)].j)).1) = temp(:).0fth iteration\t'.t. end delta = norm(h*f*gamma(:.2). tau = tol*max(norm(y.
90 .if trace home.8*h*(tau/delta)^pow). if (t < tfinal) disp('Singularity likely. y end if delta ~= 0. h.0 h = min(hmax. t. end iter=iter+1.') ode_flag=1. end global ode_flag. end tout = tout(1:k). yout = yout(1:k. ode_flag=0.:). 0.
grid.1) plot(t.Plotting of graph subplot(3.2.2. xlabel('time (s)').t. xlabel('time (s)'). ylabel('states').2. title('Subsystem 1'). subplot(3.4) plot(t. grid. grid.'r'). ylabel('Pe (pu)'). subplot(3.'r'.2) plot(t.'g'). xlabel('time (s)').uf1).Vt1.2. 91 .'r').y2. ylabel('Vt (pu)').3) plot(t. subplot(3.Pe1.y3. xlabel('time (s)'). grid. ylabel('control input #1').
title('Subsystem 2'). grid.2. subplot(3.'g'). subplot(3.'r'.subplot(3. subplot(3. xlabel('time (s)'). ylabel('Pe (pu)').2.3) plot(t. xlabel('time (s)').uf2).2. 92 .'r'). grid. ylabel('Vt (pu)'). ylabel('control input #2').'r'). xlabel('time (s)').2) plot(t.Vt2. ylabel('states').y5.Pe2.2.4) plot(t. grid.t.y6. xlabel('time (s)').1) plot(t. grid.