IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

Large Signal Stability Analysis of DC Power

Systems with Constant Power Loads
A. Griffo, J. Wang and D. Howe
*

Department of Electronic and Electrical Engineering, University of Sheffield, Mappin Street, S1 3JD Sheffield, UK.
Email: A.Griffo@sheffield.ac.uk, j.b.wang@sheffield.ac.uk

AbstractThis paper presents a detailed analysis of the

dynamic behaviour under large disturbances of a high
voltage DC electric power system representative of the
power distribution networks which are commonly being
proposed for future more electric vehicles. Numerical
simulations are undertaken to analyze the region of
asymptotic stability of the system under different operating
conditions. Analytical derivations based on the use of the
Brayton-Moser Mixed Potential are employed along with
Lyapunov stability theorems to determine an analytical
estimation of the stability region.
Keywords DC Power systems; Stability analysis;

I.

INTRODUCTION

Electric generation and distribution systems in

vehicular technologies are continuously increasing in
complexity and power levels as a result of the continuous
trend towards more electric vehicles in which an
increasingly significant portion of the mechanical and
hydraulic power required for actuation and environmental
control is being substituted by electric power, with
expected benefits in terms of increased efficiency,
reduced costs and environmental impact [1]-[3]. The
resulting increased complexity of the required electric
power systems creates new challenges in terms of design
optimization, system analysis and control. In particular,
the interactions among several interconnected nonlinear
devices may give rise to complex dynamics, which can
pose serious concerns in power system analysis and
integration for more electric vehicles. Stability
problems caused by negative impedance behaviour
resulting from constant power characteristic of tightly
regulated loads not only constitute a potentially harmful
threat to systems reliable behaviour, but also lead to
demanding constraints on components optimization in
terms of sizing, weight and ultimately cost [4].
Stability analysis of distribution systems with power
electronics converters and motor drives has usually been
carried out using small-signal techniques, in which
systems equations are linearized about the equilibrium
point and the resulting small-signal models are analyzed
using classical eigenvalues and frequency domain
techniques [5]-[7]. Although small-signal analysis
provides useful insight into conditions for stability of an
equilibrium point, the characterization of the boundary of
the asymptotic stability region is of paramount
importance for protection sizing and for understanding

C 2008 IEEE
978-1-4244-1849-7/08/$25.00

systems behaviour following large perturbations.

Although a complete characterization of the stability
boundary and the behaviour of the system during
transients could in principle be obtained by means of
numerical integration of the differential equations
governing the dynamical system, the computational
burden involved limits the applicability of numerical
techniques to low dimensional systems [8]. Furthermore,
numerical analysis provides little insight into the
influence of parameters variations, requiring repeated
simulations for each different contingency or parameters
value.
Most of the analytical methods proposed so far for
large-signal stability analysis of nonlinear dynamical
systems, relate the stability properties of an equilibrium
point to the existence of a scalar function which measures
some energetic content associated to the state variables of
the system. Indeed, the well known Lyapunovs theorem
states that the existence of a scalar function V(x), referred
to as a Lyapunov function, locally positive definite about
the equilibrium point, with a locally negative semidefinite (or definite) time derivative along the trajectories
of the system, is a sufficient condition for the equilibrium
point to be locally (asymptotically) stable [9]. Lyapunovbased approaches allow the assessment of stability
properties of a dynamical system without the need for
numerical solutions of differential equations, and provide
criteria for an estimation of the stability region, rather
than proving stability around an operating point.
Although the converse Lyapunov theorem for an
asymptotically stable system guarantees the existence of a
locally positive definite function with negative definite
time derivative, apart from linear systems, no systematic
way for constructing such a function exists, therefore the
most common approach for general nonlinear systems is
by trial and error. A number of methods have been
proposed to generate Lyapunov function candidates. Most
of them have however limited applicability to particular
classes of systems, or rely on simplifying assumptions
which usually lead to very conservative results [10].
Relying only on the topological description of a
generic nonlinear electric circuit, R.K. Brayton and J.K.
Moser (BM) proposed a general method to derive a scalar
function, known as mixed potential, which can in turn be
used to construct Lyapunov functions useful for stability
analysis of the circuit itself [11]. Although BMs mixed
potential analysis has already been applied to the stability

IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

analysis of power distribution systems with constant

power loads, nonlinearities are not taken into account in
the stability criteria derived in [12], which are therefore
likely to result in overly conservative requirements.
In the paper a thorough analysis of the dynamics and
stability properties of a simplified distribution system,
comprising a constant power load supplied via a second
order passive filter by an ideal DC source, is presented.
Phase-plane trajectories are first analyzed for different
system conditions; BMs mixed potential analysis is
subsequently applied to the study of the stability region of
the DC network.

Figure 1. Schematic of simplified DC bus system containing a nonlinear

constant power load
1000
900

II.

800
700

vdc

600
500
400

(b)

300
200

(a)

100
0
0

500

1000

1500

Figure 2. Phase-portrait of system (1) at PCPL=100kW

idc (A), vdc (V)

1600
1400

idc

1200

vdc

1000
800

(a)

600
400
200
0

0.2

0.4

0.6

0.8

Rr , idc < 0
vdiode = Rdiode (i ) idc , Rdiode =
R f , idc 0

(2)

with Rf <<Rr where Rf and Rr represent forward and

reverse conduction equivalent resistances, respectively.
In subsequent analytical derivations a smooth
transition using sigmoid-shaped function is employed to
approximate the step in (2).

1.4
-4

x 10

1000
idc
vdc

800

600

400

vdiode is the voltage across the equivalent diode

which for the sake of simplicity will be modelled as a

nonlinear resistive voltage drop:

1.2

t (s)

(b)

200

where

2000

idc

idc (A), vdc (V)

DC POWER SYSTEM AND STABILITY

CHARACTERIZATION
Figure 1 shows an equivalent circuit of a DC bus
network which, although simplified still maintains the
main dynamics of an actual system while being amenable
to a detailed analytical and graphical description. An
equivalent constant DC source with a diode in series is
used to represent the AC to DC rectifier. The voltage
source Veq is assumed to be constant, which corresponds
to the ideal case of an infinitely stiff AC bus. Despite this
simplification the dynamics of the system are reasonably
close to those of a controlled DC bus powered through a
12- or 18-pulse rectifier which guarantee low DC voltage
ripple. A second order LC filter is employed for DC
voltage stabilization and harmonic distortion attenuation.
Although higher order filters might be required in
practical applications to provide a steeper roll-off in the
filter frequency response, the proposed analysis can be
readily applied to alternative configurations as well. The R
and L represent the combined effect of the DC link filter
inductor, the cable and transformer leakage inductances
and the commutation overlapping of the diode rectifier
reflected on the DC side. In parallel with a resistive load
Rl, the nonlinear constant power load represented by the
ideal current source iCPL = PCPL vdc constitutes an
equivalent model of a motor drive with a sufficiently high
speed and/or current control loop bandwidth [7].
The equations of the circuit in Fig. 1 are readily
derived as:
di
L dc = v eq v diode Ri dc v dc
(1)
dt
dv dc
v dc PCPL
C
=
i dc

dt
Rl
v dc

0.01

0.02

0.03

0.04

0.05

0.06

t (s)

Figure 3. DC voltage and current for trajectories (a) top, and (b) bottom

Assuming a constant voltage drop on the diode, the

systems equilibrium points are given by:
Rl (v eq v diode ) Rl2 (v eq v diode ) 4 PCPL RRl ( R + Rl )
2

v0 =
i0 =

2( R + Rl )

(3)

veq v diode v0
R

The dynamics of the DC system (1) with Veq=540V,

R=30m, L=30H, C=600F, Rl=20 is studied with

IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

oscillations, as shown by the trajectory starting at the

unstable equilibrium point and ending on the limit cycle
reported in Fig. 8.
1000
idc

900

vdc

800

idc (A), vdc (V)

700
600
500
400
300
200
100
0
0

0.5

1
t (s)

-3

x 10

620
600
580
560
540

(a)

(b)

520
500
480
460
440
0

100

200

300

620

400
idc (A)

500

600

700

800

Figure 6. Phase-portrait of system (1) at PCPL=186kW

600
600

560

550
idc (A), vdc (V)

580

540
520
500

500

400
350

460

300
0

100

200

300

400

500

600

700

800

(a)

450

480

idc
vdc

0.1

0.2

0.3
t (s)

0.4

0.5

0.6

900

idc (A)

Figure 4. Phase-portrait of system (1) at PCPL=179kW

Trajectories starting outside the unstable limit cycle

will be repelled by it and eventually approach the outer
stable limit cycle (region and trajectory (b) in Figs. 6-7).
The unstable limit cycle shrinks towards the stable
equilibrium point as PCPL increases, eventually colliding
with it at PCPL=186kW, where an Hopf bifurcation
occurs, destroying the small-signal stability of the
equilibrium. Any trajectory starting inside the stable limit
cycle will converge to it with increasingly larger

800

(b)

idc
vdc

600

idc (A), vdc (V)

vdc (V)

640

640

440

1.5

Figure 5. DC voltage and current waveforms on the limit cycle for

PCPL=179kW

vdc (V)

phase-plane analysis which provide useful insight into the

behaviour of low order dynamical systems [13]-[14]. At
the base power level (PCPL=100kW), the stable operating
point is surrounded by a large attracting region. Transients
starting outside the stability region will not approach the
equilibrium again, with the voltage rapidly collapsing to
zero (trajectory (a) Figs. 2-3), while the load current
demand increases unlimited until the intervention of a
protection device. Trajectory (b) in Figs. 2-3 depicts a
transient which despite an initial large excursion of state
variables, eventually damps down to the equilibrium
point.
Due to the unidirectional nature of the diode which does
not allow the current to reverse its sign, when the current
approaches zero the capacitor starts discharging while the
current remains close to zero until the capacitor voltage
decreases below the source voltage. At this point the diode
starts conducting again, while DC currents and voltage
transients are eventually damped out ending on the stable
equilibrium point.
Increasing the power demand of the constant power
load up to a critical value of 179kW a global bifurcation
determines the birth of two limit cycles, one attracting
and one repelling, which coincide at the bifurcation point.
As depicted in Fig. 4, a trajectory starting outside the
attracting limit cycle will eventually be attracted by it,
determining a stable oscillatory trajectory as shown in
Fig. 5. A trajectory starting inside the limit cycle, on the
other hand, will converge to the equilibrium point. For
179kW<PCPL<190kW the stable limit cycle coexists with
the unstable one. Any trajectory starting in the region of
the phase-plane encircled by the unstable inner limit
cycle will converge to the stable equilibrium point
(region and trajectory (a) in Figs. 6-7).

400

200

0
0

0.005

0.01

0.015

0.02
0.025
t (s)

0.03

0.035

0.04

Figure 7. DC voltage and current waveforms for PCPL=186kW, for a

trajectory in the region (a) (top) and (b) (bottom)

IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

800

vdc

600
idc (A), vdc (V)

is negative definite for circuits containing capacitors

(inductors) only, therefore allowing P(x) or (-P(x)) to be
used for stability analysis in conjunction with LaSalle
invariance principle. In the general case, however, dP/dt is
sign-indefinite, preventing its use as a Lyapunov function.
Depending on circuit topology and nonlinearities, Brayton
Moser proposed three methods to derive, from P and J,
scalar functions P*(x) and positive definite matrices J*,
which still satisfy (4), such that P* is decreasing along all
trajectories of the system, i.e.:

idc

400
200
0
0

0.05

0.1

0.15
t (s)

0.2

0.25

0.3

Figure 8. DC voltage and current waveforms for PCPL=190kW

III.

STABILITY ANALYSIS WITH BRAYTON-MOSERS

MIXED POTENTIAL

R.K. Brayton and J.K. Moser, under the very general

assumptions of validity of Kirchhoffs laws, demonstrated
that the dynamics of a topologically complete nonlinear
circuit, i.e. a circuit in which every branch current and
voltage can be obtained from the set of inductor currents i
and capacitor voltages v, are described by the equations:
J x =

P(x )
, x = i ,
v
x

L 0
J=

0 C

v di , G(v ) = i dv

N i

(6)

The integrals in (6) are extended over a systems

trajectory , and the sums over the set of current
controlled and voltage controlled resistors Ni , and Nv ,
respectively. It can be shown that the mixed potential for
the nonlinear circuit (1) is given by:

P (i dc , vdc )

1
Veq vdc (R + Rdiode )idc
2L

P
1 vdc

i dc + CPL
2C Rl
v dc

(10)

PCPL
C (R + R f ) L + 1 Rl

(11)

The three-dimensional and contour plots of Figs. 9-10

illustrate the time derivative of P* as a function of the
state-space variables confirming that P*<0 in the halfplane defined by (11). Figure 11 shows P* as a function of
the state variables, confirming that it is positive definite
in a large region containing the equilibrium point.

10

80
60
40

(7)

20
0
-20

Using the mixed potential (7) it is easy to verify that

systems equations (1) can be derived from the gradient of
P, according to Eq. (4). The time derivative of the mixed
potential P(x) or (-P(x)), given by:
dP(x ) P
= x , = (x , J x )
dt
x

P
1 R + Rdiode

+ CPL
2
2
L
Cv min

v dc > v min =

dP*/dt

idc
1
P(i dc , v dc ) = Ri dc2 Rdiode (i ) i di
2
2
vdc P
1 v dc
CPL
+
+
d + i dc (v eq v dc )
2 Rl

(9)

which can be demonstrated to have negative definite time

derivative in the state-space half-plane given by:

(5)

N v

P* can, therefore, be employed together with LaSalle

invariance principle, to establish conditions for
asymptotic stability of the equilibrium point
*
x = 0 or P * / x = 0 [9]-[10]. The function P in the
present case is obtained as:

(4)

where is a constant matrix with elements 1,0

depending on the circuit topology, the total current
potential F(i) and the total voltage potential G(v) are given
by:
F (i ) =

P * (i, v) =

where P(x) is a scalar function defined as the mixed

potential of the system, L and C being, possibly nonlinear,
matrices
containing
circuits
inductances
and
capacitances, respectively. Using the construction
procedure detailed in [11] and [15] the mixed potential
can be demonstrated to be:
P (v , i ) = F (i ) G (v ) + i, v

dP * (x ) P *
= x , J * x 0
= x ,
dt
x

(8)

-40
600

-60
100

500
200
idc [A]

400

300
400

300

Figure 9. Time derivative of P*

vdc (V)

IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

600

-3

10

-1

-8

550

-2

-0.4
-0.4
-0.1

-6

-6

-16
-10-12-14
-8

700
650

-25-30
-20

-1

600

-4

450

-2

8
15 10
20

300
100

-6

-2

550

-16
-10-12 -14
-8

-1
-0.4

-6
-4
-2 -1
-0.4 -0.10
0.52
1

350

-0.4

-1

-8

400

-3 -4

-0.1

-3

-10

vdc (V)

500
vdc [V]

-3 -4

-0.1

-2

0.5
1
2
4

8
15 10
20

150

200

-3 -4
-2
-1
0.5 0
1

-0.1
0

-0.1

0
0
0.5 0 0
1
4 2

250
idc (A)

300

-0.4

350
300
250

1 2

350

400

200

Figure 10. Contour plot of the Time derivative of P

According to the Lyapunov theorem, this condition,

coupled with the existence of a region containing the
equilibrium point (EP) where dP*/dt<0, demonstrates the
existence of a basin of attraction for trajectories
asymptotically converging towards the EP. According to
LaSalle invariance principle, an estimate of the region of
asymptotic stability (RAS) is given by the region [10]:

RAS = (idc , vdc ) : P * (idc , vdc ) min P * (idc , vmin )

idc

(12)

whose boundary is shown with the dashed line in Fig. 12

for system (1) with PCPL=100kW. Although conservative
as expectable given the sufficient but not necessary
condition guaranteed by the application of the Lyapunov
theorem, the RAS estimate is still large enough to contain
most of the practically admissible transients according to
the specifications set by the currently employed standards
for 270V DC buses, for both military and civilian
aircrafts [16]. Thus equations 10 and 12 can be used to
establish the stability boundary of the HVDC system
under large signal disturbances.

[3]

P*

[4]

0.8
0.6
0.4

[5]

0.2
800
600
550

500

450

vdc [V]

400
400

350

200
300
0

Figure 11 Function P*(idc,vdc)

idc [A]

200

300

400 500
idc (A)

600

700

800

900

REFERENCES

1.4
1.2

100

IV. CONCLUSION
A thorough analysis of the dynamic behaviour of an
HVDC electric power distribution system with constant
power loads has been presented. It is found that the load
level can significantly influence the amplitude of the
asymptotic stability region. In particular it is shown that
an increasingly higher load can give rise to limit cycles in
the state-space and eventually destroy the stability of the
equilibrium point. Analytical derivations based on the use
of the circuits Brayton and Moser mixed potential have
been presented to obtain a characterization of the region of
asymptotic stability of the equilibrium point, thus
providing not only a tool for the description of the safe
operating area, but also design criteria for systems
components and protection sizing.

[2]

10

Figure 12 Estimate of RAS for system (1) with PCPL=100kW

[1]

0
600

450
400

4
0.5

500

[6]

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IEEE Vehicle Power and Propulsion Conference (VPPC), September 3-5, 2008, Harbin, China

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