Power System Stability

GENERATOR CONTROL AND PROTECTION

 Outline
Basis for Steady-State Stability
Transient Stability
Effect of Excitation System on Stability
Small Signal Stability
Power System Stabilizers
Speed Based
Integral of Accelerating Power
Case Studies

GENERATOR CONTROL AND PROTECTION

Mechanical and Electrical Torque
Applied to the Shaft
Te

T G

TM

GENERATOR CONTROL AND PROTECTION

Stator, Rotor, and Resultant MMFs and Torque Angle
R F
2
A

B' C'

F1

C B

A'

GENERATOR CONTROL AND PROTECTION

Synchronous Machine Tied to Infinite Bus
ET E HV EO
Xg
Infinite Bus
XL

XT
Eg
X E =X T +X L

GENERATOR CONTROL AND PROTECTION

 Steady State Electrical Power
Output

EgET
Pe = sin
Xg

GENERATOR CONTROL AND PROTECTION

Phasor Diagram - Generator Tied to
Infinite Bus

Eg

jIXg
ET
E0 jIXE
I

GENERATOR CONTROL AND PROTECTION

 Transient Stability

GENERATOR CONTROL AND PROTECTION

 Rubber Band Analogy

Rubber Bands

Weights

GENERATOR CONTROL AND PROTECTION

 Change in Electrical Torque

T e = T s + T D

GENERATOR CONTROL AND PROTECTION

 Transient Stability Illustration
PMAX 3
4 Insufficient
P DECEL Retarding
Torque
Stable
PM 1 Turbine
Retarding Power
Power

Torque
P ACCEL
Unstable,
machine loses
2 Synchronism

0
0 90 180
Power Angle-
GENERATOR CONTROL AND PROTECTION
 Effect of Fault Clearing Time -
Equal Area Not Possible
P
E

Power PM

Unit pulls out of sync

Breaker
Fault clears

GENERATOR CONTROL AND PROTECTION

 Effect of Fault Clearing Time -
Equal Area Substantial Margin
Rotor decelerates due to P
PE max exceeding E
mechanical power
System returns to
steady state, system stable

Power PM

Equal Area
Fault Breaker
clears faults substantial margin

GENERATOR CONTROL AND PROTECTION

Effect of the Excitation System
on Stability

GENERATOR CONTROL AND PROTECTION

 Steady State Electrical Power
Output

EgET
Pe = sin
Xg

GENERATOR CONTROL AND PROTECTION

Effect of High Initial Response
Excitation System
P
E
P
Fast excitation system
E-B
B Maximum field forcing
P
First swing, system recovers
E-A

Power A PM
Machine will lose
synchronism

GENERATOR CONTROL AND PROTECTION

 Small Signal Stability

GENERATOR CONTROL AND PROTECTION

 Change in Electrical Torque

T e = T s + T D

GENERATOR CONTROL AND PROTECTION

 Inter-Unit Oscillations
Xg1

Eo
Eg1

1.5 - 3 Hertz
Xg2

Eg2

GENERATOR CONTROL AND PROTECTION

 Local Mode Oscillations

Eo
Xg XL

Eg
.7 - 2 Hertz

GENERATOR CONTROL AND PROTECTION

 Inter-Area Oscillations
<0.5 Hertz
Xg1 XL Xg2

Eg1
Eg2

GENERATOR CONTROL AND PROTECTION

 Block Diagram of Generator Under
Voltage Regulator Control
K4
VREF
TM
Exciter -
+ fd Te - +
E fd + r
G ex (s)
+
K3
1+sT3
K2 1
2Hs +KD
0
s
- +
Field circuit
v 1
K1
K6

+
E t +
1
1+sTR K5

Voltage transducer

GENERATOR CONTROL AND PROTECTION

 Power System Stabilizers

GENERATOR CONTROL AND PROTECTION

 The "Swing Equation"
2
2H d
2
= Tm
Te
K D
r
0 dt

GENERATOR CONTROL AND PROTECTION

 Small Signal Version of "Swing
Equation"
Te = Ts + TD

GENERATOR CONTROL AND PROTECTION

 Response of Speed and Angle
to Small Disturbances

Stable
PositiveTs TD Te
PositiveTD

Ts
0

Oscillatory Ts
Instability
PositiveTs
NegativeTD TD Te

GENERATOR CONTROL AND PROTECTION

 PSS with AVR, Exciter and
Generator
r
G P S(s)

K4

vs TM
-
+ fd Te - +
+ E fd +
K3 0
VREF G ex (s)
+
1+sT3
K2 1
2Hs +KD r s
- +
Exciter Field circuit
v 1
K1
K6

+
E t +
1
1+sTR K5

Voltage transducer

GENERATOR CONTROL AND PROTECTION

GENERATOR CONTROL AND PROTECTION
 PSS Theory of Operation
Speed Based Stabilizers

GENERATOR CONTROL AND PROTECTION

 Speed-Based Stabilizer
High-Pass Filter Torsional Filter Stabilizer Gain & Phase Lead Limits
Vstmax

1
1 s T5 1 + s T1 1 + s T3
Speed 1 + s T5 1 + A1 s + A2 s
2 Ks1 Output
1 + s T6 1 + s T2 1 + s T4

Vstmin

GENERATOR CONTROL AND PROTECTION

 PSS Theory of Operation
Dual Input Stabilizers

GENERATOR CONTROL AND PROTECTION

 Small Signal Version of "Swing
Equation"
Te = Ts + TD

GENERATOR CONTROL AND PROTECTION

 Speed Deviation from Net
Accelerating Power
d 1
r = (Tm Te K D r )
dt 2H

GENERATOR CONTROL AND PROTECTION

 Accelerating Power Based on
Integral of Mechanical and
Electrical Power

1
= [ Tm Te ]
2H

GENERATOR CONTROL AND PROTECTION

 Block Diagram of Dual-Input
Power System Stabilizer
High-Pass Filters Ramp-Tracking Limits
Stabilizer Gain & Phase Lead
Filter Vstmax

sTw1 sTw2 N + 1+sT1

Freq 1 + sTw1 1 + sTw2
+
1+sT8
(1+s T9 )
M Ks1 1+sT
2
1+ sT3
1+ sT4 Output
+ -
Vstmin

High-Pass Filters & Integrator

sTw3 Ks2
Power
1+sTw3 1+sT7

GENERATOR CONTROL AND PROTECTION

Speed Derived from VT and CT Signals
EI Generator

q-axis
jXqI t
It
Et

d-axis

GENERATOR CONTROL AND PROTECTION

 Accelerating-Power Design (Speed
Input)
High-Pass Filters

s Tw1 s Tw 2
Compensated Frequency Generator Speed Deviation
Equivalent to Rotor Speed 1 + s Tw1 1 + s Tw2 Signal (i.e. no steady state component)

GENERATOR CONTROL AND PROTECTION

 Integral of Electrical Power Block
Diagram
High-Pass Filters & Integrator

s Tw3 K 2 Integral-of-Power
Active Power 1 + s Tw3 1 + s T7 Deviation

GENERATOR CONTROL AND PROTECTION

 Output Stage of PSS to AVR
Limits
Stabilizer Gain & Phase Lead Vstmax

Filtered 1 + s T1 1 + s T3
Speed Ks1 Output to AVR
1 + s T2 1 + s T4

Vstmin

GENERATOR CONTROL AND PROTECTION

 Case Studies

GENERATOR CONTROL AND PROTECTION

Case 1 - Hydro Generator without PSS

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

Time (seconds)

GENERATOR CONTROL AND PROTECTION

 Case 1 - Hydro Generator with PSS

1 2 3 4 5 6 7 8 9 10 11 12
Time (seconds)

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

GENERATOR CONTROL AND PROTECTION

 Case 2 - On-line Step Response Frequency Type PSS

Ks=6, 92MW
Hydro Turbine
Generator

A single input
PSS measures
only frequency,
power or speed

GENERATOR CONTROL AND PROTECTION

 Case 2 - On-line Step Response Dual input PSS
Ks=7.5, 92MW
Hydro Turbine
Generator

The
PSS monitors
frequency and
power for superior
performance

GENERATOR CONTROL AND PROTECTION

Case 3 Step
Response
All generators
in service,
Stabilizer OFF

GENERATOR CONTROL AND PROTECTION

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

GENERATOR CONTROL AND PROTECTION

 Case 4 - 1165MW Nuclear Unit - Baseline
WATTS POSTLIM OUT
0.875 1

0.87
0.5
0.865
0
0.86
-0.5
0.855

0.85 -1
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20

GEN TERM V PSS OUT

0.975 0.01

0.008
0.97
0.006

0.004
0.965
0.002

0.96 0
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20

x10-4 GEN TERM F TEST OUT

-1.5 0.01

-2 0.008

-2.5 0.006

-3 0.004

-3.5 0.002

-4 0
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20
Time (Sec) Time (Sec)

GENERATOR CONTROL AND PROTECTION

Case 4 - 1165MW Nuclear Unit - Final Setting
-3
WATTS x10 POSTLIM OUT
0.87 2

0.865
1
0.86
0
0.855
-1
0.85

0.845 -2
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20
-3
GEN TERM V x10 PSS OUT
0.98 15

0.975 10

0.97 5

0.965 0

0.96 -5
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20

x10-4 GEN TERM F TEST OUT

6 0.01

4 0.008

2 0.006

0 0.004

-2 0.002

-4 0
0 2 4 6 8 10 12 14 16 18 20 0 2 4 6 8 10 12 14 16 18 20
Time (Sec) Time (Sec)

GENERATOR CONTROL AND PROTECTION

 300

Case 5 280
53 MW
41 MW
28 MW
14 MW
260

SCT/PPT 240
7 MW
stabilizer phase compensation

Phase 220

200
Compensation 180

Phase (degrees)
Requirements 160

140

120

100

80

60

40

20

0
0.1 1 10

Frequency (Hz)

GENERATOR CONTROL AND PROTECTION

 Case 5: 14.2

Terminal V
14.1

(kV)
14.0

On-Line Step 13.9

13.8

57

Active Power
Test 55

(MW)
53

with PSS Off 51

Reactive Power
(MVAr)
-4

-8

-12

60.02

Gen Freq
60.01

(Hz)
60.00

59.99

240

160
(Vdc)
Field

80

330
310
(Adc)
Field

290
270
250
0 5 10 15

Time (seconds)

GENERATOR CONTROL AND PROTECTION

 Case 5:
14.4

Terminal V
14.3

(kV)
14.2
14.1

On-Line Step 14.0

60

Active Power
59

Test with PSS

(MW)
58
57
56
55

On 8

Reactive Power
4

(MVAr)
0
-4
-8

60.03

Gen Freq
60.02

(Hz) 60.01

60.00

250
200
(Vdc)

150
Field

100
50
0

1
PSS+Test

0
(%)

-1
-2
-3
0 5 10 15

Time (seconds)

GENERATOR CONTROL AND PROTECTION

Case 6: Off-Line Step of Reference Test

GENERATOR CONTROL AND PROTECTION

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

GENERATOR CONTROL AND PROTECTION

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

GENERATOR CONTROL AND PROTECTION

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

GENERATOR CONTROL AND PROTECTION

 QUESTIONS?

GENERATOR CONTROL AND PROTECTION