50

CHAPTER 3

STABILIZATION OF A SINGLE MACHINE INFINITE BUS

SYSTEM WITH FACTS DEVICES

3.1 INTRODUCTION

The availability of flexible A.C. trqnsmission system (FACTs)

devises such as Static Var compensators (SVCs), Static Compensator
(STATCOM), Thyristor Contzolled Series Compensators (TCSCs), Static
Synchronous Series Compensators (SSSC) and Unified Power Flow
Controllers (UPFC) has led their use to control real and reactive power flows
in transmission lines and bus voltage. In addition to steady state qower flow
and voltage control these devices can also be used effectively for improving
the small signal stability of a power system.

The objective of this chapter is to investigate the impact of the

FACTS devices namely Static Var Compensator (SVC), Thyristor Controlled
Series Capacitor (TCSC), Static Compensator (STATCOM), Static
Synchronous Series Compensator (SSSC) and Unified Power Flow Controller
(UPFC) on the small signal stability of a single machine infinite bus system.
A single machine infinite bus system is first chosen to analyze the damping
capabilities in a detailed manner.
 51

3.2 BASIC APPROACH FOR SMALL SIGNAL STABILITY

ENHANCEMENT

The basic approach used for enhancing the small signal stability of
the single machine infinite bus (SMIB) system with FACTS based damping
controller is as follows.

1. Get the linearized model of the SMIB system without the

FACTS device and its damping controller around the nominal
operating state and compute the damping ratio of the electro
mechanical mode. If the damping ratio of electromechanical
mode is less than 0.1, it is considered as a critical mode.

2. If the FACTS device is shunt connected (SVC, STATCOM)

then the device is located between the HT bus and ground,
connected to the synchronous machine. If the device is series
connected (TCSC, SSSC, UPFC) then the device is located in
one of the high reactance lines between the generator and the
infinite bus.

3. Compute the stabilizing gain and time constant of the FACTS

based damping controller to maximize the damping ratio of
the critical mode using the parameter constrained optimization
algorithm which is presented in section 3.4.

4. Compute the elements of the linearized model with the

optimized gain and time constant obtained from step 3 and
compute the damping ratio of the electromechanical mode.

5. Check whether the damping ratio of the electromechanical

mode is small signal stable.
 52

6. The robustness of the FACTS based damping controllers are

confirmed by computing the damping ratio of the
electromechanical mode in heavily loaded operating
condition (total system load increased by 20%) and lightly
loaded operating condition (total system load reduced by
20%).The real power absorbed by the loads is increased by
20% for this study. The increase in real power absorbed by
the loads is compensated by the slack bus. If the damping
ratio of the electromechanical mode is stable for this operating
condition then go to step 7.

7. Terminate the algorithm for small signal stability

enhancement.

The following section present the modeling details of the single

machine infinite bus system.

3.3 MATHEMATICAL MODEL OF SINGLE MACHINE

INFINITE BUS SYSTEM FOR SMALL SIGNAL ANALYSIS

The single line diagram of a SMIB system is shown in Figure 3.1.

Re and Xe denote the total equivalent resistance and reactance of the
synchronous machine and transmission network.

Figure 3.1 Single Line diagram of SMIB system

 53

The network equation for the SMIB system can be written with the
following three steps.

(i) Express the synchronous machine voltage equations in qd

coordinates.

(ii) Get the expression for terminal voltage equation in terms of

the infinite bus voltage and drop in the external impedance.

(iii) Compare the expressions obtained in step (i) and (ii) which
yields the expression for current components in qd
coordinates.

The direct axis leads the quadrature axis in the direction of

transformation (Ramanujam 2009).

The voltage equations of the synchronous machine after ignoring

stator resistance are:

Vq = X' I + E'q (3.1)

dd

V = -Xq Iq
d

The direct axis of the synchronous machine leads the quadrature

axis in the direction of rotation.

Let the infinite bus voltage be Ê = E e j . Let the infinite bus

B B
voltage in qd coordinates be given by

Eˆ = E Bq + jE = Eˆ Be-j = E e-j( ) (3.2)

Bqd Bd B
 54

The d and q components of EB are given by

E Bq = E Bcos( )
(3.3)
E = -E sin( )
Bd B

Expressing Vqd in terms of the infinite bus voltage EBqd in terms of

the network reactance,

ˆ = Eˆ
V + (R e + jXe )Iˆ (3.4)
qd Bqd qd

Separating into d and q components we get,

Vq = E + R eIq - X eI (3.5)
Bq d

V = E + R e I + XeIq
d Bd d

After comparing equations (3.5) and (3.1), linearizing we get

-(X' + Xe ) Re I '
d = Eq + E Bsin( 0
d (3.6)
Re (Xq + Xe ) Iq E cos(
B 0

The expressions for incremental changes in currents are

I -(Xq + Xe ) R ecos( ) - (X q + Xe )sin( ) E'q

d =1 0 0
Iq D Re R esin( ) + (X' + Xe )cos( ) E
B
0 d 0
(3.7)

where D = R e2 + (X ' + X e )(X q + X e )

d
 55

Substituting (3.7) in the differential equations of the synchronous

machine with exciter in (2.2), (2.4) and torque equation (2.3) yields the

system state space matrix with five state variables namely [E' , E 'q , ,E ].
d FD

The differential equations describing the dynamic behavior of the

synchronous machine with the excitation system are given by the equations as
described in chapter two. Equation (2.2) describes the dynamic behavior of
the synchronous machine without exciter. Equation (2.4) models the
dynamics of the exciter circuit. Equations (2.5) and (2.6) govern the dynamics
of the power system stabilizer, which uses speed deviations as the feedback
signal. The complete set of state variables describing the dynamics of the
synchronous machine with the inclusion of the PSS is as follows.

x T = [E' , E'q , ,E , Xm , X ] (3.8)

d FD mod

For the purpose of developing the small signal stability program all
the FACTS devices (TCSC, SSSC, UPFC) are represented as current
injections in two nodes of the network. However, if the device is a shunt
connected device (SVC, STATCOM) then the injections are confined only to
one node.

The following section gives the mathematical modeling of SMIB

system with FACTS devices.

3.3.1 Mathematical Model of SVC

The dynamic equations of the SVC for small signal analysis are
given by (2.18-2.20). The complete set of state variables describing the
dynamics of the single machine infinite bus system with the inclusion of the
SVC in the network is as follows.
 56

x T = [E' , E'q , ,E , B , Xw , X ] (3.9)

d FD L le

where E' , E'q , are the differential equations associated with the
d
synchronous machine EFD is the exciter variable and BL is the shunt
susceptance modulated by the SVC regulator.

3.3.2 Mathematical Model of STATCOM

The SVC becomes a fixed capacitive admittance at its full output as

it is composed of reactors and capacitors. With STATCOM the maximum var
generation or absorption changes linearly with the ac system voltage
(Hingorani and Gyugyi, 2000). The dynamic equations of STATCOM with
the damping controller are given by equations (2.25) to (2.31) described in
chapter 2. The complete set of state variables used for linear analysis is given

by x T = [E' , E'q , ,E , Xw , X , X , m , V , , V ] (3.10)

d FD le 2 sh dcx1 dc

where X2 is the output of the ac voltage measuring circuit in STATCOM.

msh is the modulation index of the shunt converter of STATCOM.
Vdcx1 is the output of the dc voltage measuring circuit in
STATCOM. is the phase angle modulated by the voltage source
converter.
3.3.3 Mathematical Model of TCSC

The differential equations describing the dynamic behavior of

TCSC are given by equations (2.34-2.36). The set of state variables which
describe the small signal dynamics of the system with TCSC in the network is

given by x T = [E' , E'q , ,E ,X ,X ,X ] (3.11)

d FD W le TCSC

where XTCSC is the series reactance controlled by the TCSC regulator.

 57

3.3.4 Mathematical Model of SSSC

The differential equations, which govern the dynamics of SSSC in

the network, are given by equations (2.39-2.45). The complete set of state
variables used for linear analysis with SSSC in the network is given by

x T = [E' , E'q , ,E , X w , X , X , mse , V , , V ] (3.12)

d FD le 1 dcx dc

3.3.5 Mathematical Model of UPFC

The mathematical model of UPFC used for dynamic analysis

combines the dynamic equations of SSSC (2.39–2.45) for the series converter
and equations (2.25- 2.29) for the shunt converter. The damping controller
loop is connected in DC voltage controller of series converter as is done with
SSSC. The complete set of state variables describing the dynamics of the
single machine infinite bus system with UPFC given by

xT =[E' ,E'q , ,E ,X ,X ,X ,mse,V , ,X ,m ,V , ,V ] (3.13)

d FD W le 1 dcx 2 sh dcx1 dc

The optimal tuning procedure for the PSS and FACTS stabilizers is
explained in the following sections.

3.4 OPTIMAL TUNING OF CONTROLLER PARAMETERS

The gains and time constants of the power system stabilizer/FACTS

stabilizer are tuned using a non-linear optimization algorithm, which
maximizes the damping ratio of the electromechanical modes power system.
The problem formulation for the optimization problem is given below.

From the linearized model of the power system without damping

controllers (PSS and FACTS stabilizers) the critical electromechanical modes
 58

are identified which cause dynamic instability in the system. . For this study
the electromechanical modes, which have a damping ratio of 0.1, are taken as
dominant modes.

To determine the gain and time constant of the damping controller

(Kstab,T1) the optimization problem is formulated as given below.

Statement of the problem:

Maximize : f(K stab ,T1 ) = (K stab , T1 ) (3.14)

subject to constraints : Kmin stab K stab Kmax stab (3.15)

Tmin1 T1 Tmax1 (3.16)

where is the damping ratio of the critical electromechanical mode.

3.4.1 Optimal Tuning of Power System Stabilizer

This section relates the damping ratio of the electromechanical

mode in terms of the control variables of the power system stabilizer namely
Kstab, T1.The action of the PSS is effective through the transfer function block
GEP(s) between the electric torque and the reference voltage input with
variations in the machine speed assumed zero. The expression for the transfer
function GEP(s) can be derived from the Phillips- Heffron Model shown in
Figure 3.2.

Te K K K
GEP(s) = PSS = 2 3 A (3.17)
Vs '
(1+ sK T )(1+ sTA) + K K K
3 do 3 6 A

K1 – K6 are the Phillips-Heffron constants. Vs is the stabilizer output.

 59

The PSS transfer function can be expressed from Figure 3.1 as follows

Vs
=K G (s)G w (s) (3.18)
(s) stab c

sTw
where Kstab – stabilizer gain; Gw(s) – Washout transfer function =
1+ sTw
1+ sT
Gc(s) – Phase compensator transfer function = 1
1+ sT
2

K 1

Tm
1 1
M s+ D s
Te
PSS
P S S

K 2 K 4 K 5

Vs
K 3 K A
1 + sK 3 T ' d o 1 + sT A

K 6

Figure 3.2 Phillips-Heffron Model of single machine infinite bus

system with PSS

Equation (3.18) can be written as

Vs / Te ) Te / (s) = K G (s)G w (s) (3.19)

PSS PSS stab c
 60

The damping torque introduced by the PSS is given by,

Te =D (3.20)
PSS E

Te
PSS = D (3.21)
(s) E

from equation (3.19)

[1/GEP(s)]*[DE] = Kstab Gc(s) Gw(s) (3.22)

Assuming, Gw(s) =1 because Tw>>1, the damping induced by PSS is given by

D =K G (s)GEP(s) (3.23)
E stab c

Substituting for DE from the characteristic equation of the system electro

mechanical loop

(Ms2 + (D + DE )s + K ) = 0 (3.24)
1

Normalization of (3.24) yields

(s2 + 2 s+ 2) = 0 (3.25)

Assuming system damping D=0, Comparing (3.24) with (3.25),

D =2 M (3.26)
E

For a critical oscillatory mode frequency corresponding to s = j h from

equation (3.17),(3.23) and (3.16)
 61

K (1+ 2 T ) K K K
= stab h 1 2 3 A (3.27)
(2 M ) (1+ T ) (1+ K T )(1+ 2 T ) + K K K )
2 2 '
h i h 2 h 3 do h A 3 6 A

where s=j h. The parameters Tw and T2 are fixed in the optimization program.

3.4.2 Optimal Tuning of FACTS Stabilizers

This section presents the mathematical background for tuning the

parameters of the FACTS stabilizers in a SMIB system.

The linearized state space model of the single machine infinite bus
system is given by

.
x = A x +B u, y = C x (3.28)

where y = [ Te y]T and u = [ Us ]

The output equation y = C x is written to relate the stabilizing

signal used for the damping controller input and the machine states. Te is the

change in generator electrical torque due to the FACTS stabilizer, y is the

stabilizing signal used for the FACTS stabilizer. U s is the output of damping
controller in the FACTS device.

The impact of FACTS stabilizers on the electromechanical

oscillation loop of the critical synchronous generator is obtained by using the
concept of induced torque coefficient. A perturbation in the input signal to
FACTS stabilizer induces on shaft of the critical generator, a component of
electrical torque Te . Ts is the change in electrical torque due the

synchronizing loop of the generator (Figure 3.3).

 62

The induced torque is related to the speed perturbation of generator,

( ) by a complex induced torque coefficient Dh , defined by

Te ( ) = Dh ) (3.29)
h h

Te ( )
where Dh = h (3.30)
)
h

Te (s) Te (s) Us (s) y1(s)

Dh (s) = = (3.31)
(s) Us (s) y1(s) (s)

Te (s) Us (s)
G(s) = and H(s) = (3.32)
Us (s) y (s)
1

where G(s) is the transfer function between reference input of FACTS

device and the electrical torque output of generator ( Te) in the forward path
(Figure 3.3)

G(s) = C [sI - A] 1B (3.33)

q*

From Figure 3.3 Ts is the change in electric torque of the

generator following the inherent rotor angle change in the machine
(synchronizing torque loop)

H(s) is the transfer function of the FACTS based stabilizer between

the stabilizing signal and the FACTS device input. C is the state output
q*
vector corresponding to the real power generation of machine i.
 63

If only the hth complex mode of rotor oscillation h is excited then

the relationship between the speed perturbation on any machine and any
system output is given by

y (s) Cq* *h
l = (3.34)
(s)
h

is the right eigenvector corresponding to the critical electromechanical

*h
mode. is the element corresponding to the speed state of machine
h
from .
*h

Dh = G(s) H(s) (Cq / ) (3.35)

* *h h

Comparing equation (3.35) with the coefficient of the damping

term in the second order system equation (Ms2 + (D + Dh )s + K ) = 0 and

1
neglecting system damping

Dh = 2 M (3.36)
h

Assuming, Gw(s) =1, because Tw>>1 the damping ratio of the

electro mechanical mode can be written in terms of the FACTS stabilizer gain
as given below.

K (1+ 2 T ) G(s) s = j (C )( )
stab h 1 h q* *h
= (3.37)
(1+ 2 T ) (2 M)( )
h 2 h h
 64

o/s

T e1
Ts

Tm Te

Us
Yl

Cq* *h/ ih

Dh

Figure 3.3 Impact of FACTS stabilizer on the SMIB system

The damping ratio of the critical electromechanical mode is related

to the stabilizer gain as given in equation (3.37). The optimization algorithm
is employed iteratively until the objective function (3.15) is maximized. The
optimization starts with pre selected initial values of the controllers. The
parameters so determined are the optimal parameters of the damping
controllers used with PSS and FACTS controllers.

The flowchart describes the working of the optimization algorithm

is shown in Figure 3.4. The optimization problem is solved using sequential
quadratic programming. The algorithm attempts to find a constrained
minimum of a scalar function of several variables starting at an initial
estimate. This is generally referred to as constrained nonlinear optimization.
 65

B E G IN

I N IT IA L G U E S S
O F
P A R A M E T E R S
(K ST A B & T 1)
V A L ID A T E
P A R A M E T E R
C O N S T R A IN T S
P A R A M E T E R
S E T
K sta b ,T 1

F IN A L P A R A M E T E R
P A R A M E T E R
S E T K S T A B ,T 1
C O N S T R A IN E D
N O N L IN E A R
O P T IM IZ A T IO N
E IG E N V A L U E A N A L Y S IS
S Q P
F O R N O M IN A L
O P E R A T IN G C O N D IT IO N

E V A L U A T E
O B J E C T IV E
F U N C T IO N :
D A M P IN G R A T IO

E N D

Figure 3.4 Flow chart for tuning the parameters of Damping Controllers

The optimized gain and time constants of the PSS and FACTS
based damping controllers are given in Table 3.1.The lower bound values for
gains are fixed as 40 and the higher limit is fixed as 90.

Table 3.1Optimized Damping Controller Parameters

S.No. Damping Controller used Kstab T1(seconds)

1 PSS 49.89 0.154
2 SVC 48.61 0.145
3 STATCOM 47.42 0.132
4 TCSC 47.95 0.153
5 SSSC 47.28 0.139
6 UPFC 46.31 0.129

3.5 NUMERICAL EXAMPLE

The test system taken up for small signal stability enhancement

with FACTS /PSS controllers is shown in Figure 3.5 (Kundur 1994).
 66

INFINITE
HT BUS
LT CCT1
j0.15

j0.5
4* 555 MVA

j0.93
Transform er
Et CCT2 EB
P,Q

Figure 3.5 Single Machine Infinite Bus System

The plant output in per unit on 2220 MVA, 24 KV base is P=0.9

p.u. and Q=0.3 p.u. Et=1.0 p.u. The real power flow in line CCT1 is 1555
MW and CCT2 is 836 MW.

Table 3.2 presents the results of the eigenvalue analysis of the

SMIB system without PSS in the excitation system and FACTS devices in the
network.

Table 3.2 Eigenvalue analysis of the SMIB system

S. Damping ratio Frequency

Eigenvalue Nature of mode
No. ) (Hz)
1 0.4146 ± 6.8083i -0.060783 1.0841 Hz Swing mode, ( , )
Local Mode of
oscillation
2 -2.2522 ± 6.1843i 0.3422 0.9848 Exciter mode (Efd, Eq’)
3 -1.0000 - Exciter Mode (Efd)
4 -20.0000 - (Ed’, Eq’)
5 -0.2000 - (Ed’)

Table 3.2 reveals that the damping ratio of the swing mode
associated with the rotor angle is negative with a damping ratio of -
 67

0.060783.Hence when the system is subjected to small disturbances it will

lead to oscillatory instability in the system. The other complex modes are the
exciter mode with a frequency of 0.98 Hz. The exciter modes are stable with a
damping ratio of 0.3422.

3.5.1 Eigenvalue Analysis with PSS/shunt FACTS Device

It was illustrated in section 3.5 that the test system chosen is small
signal unstable with a damping ratio of -0.06, which will lead to, sustained
oscillations in rotor angles and speeds of the synchronous generators. To
arrest the low frequency oscillations normally power system stabilizers are
provided which give an additional input to the excitation system connected.
With PSS connected to the excitation system, the damping ratio increases to
0.1405.

The shunt FACTS devices are located at the HT bus as shown in

Figure 3.6.

INFINITE
LT HT BUS
X=0.5 p.u
j0.15 p.u. CCT1

4* 555 M VA CCT2 X=0.93 p.u

Et P,Q
EB
SHUNT FACTS
DEVICE

Figure 3.6 Single Machine Infinite Bus System with SVC/STATCOM

From Table 3.3 it can be observed that the damping ratio of the
swing mode with PSS is 0.1405 and with SVC is 0.1774.
 68

Table 3.3 Eigenvalue analysis of the SMIB system with PSS / shunt
FACTS device

Without Damping
With PSS With SVC With STATCOM
Controller
0.4146 ± 6.8083i -1.0604 ± 7.4717i -1.3571 ± 7.5297i -1.8471 ± 7.2934i

=-0.060783 =0.1405 = 0.1774 = 0.2455

f=1.0841 Hz

The damping ratio of the SMIB system is 0.1774 with SVC and
0.2455 with STATCOM in the HT bus. This is because that STATCOM is a
voltage source converter based FACTS device, which has a faster transient
response than a SVC, which is a passive thyristor switched device.

3.5.2 Eigenvalue Analysis with Series Connected FACTS Devices

The TCSC is connected in line CCT2 near the HT bus to

compensate for 50% of the line reactance in the steady state. The power
injections of SSSC and UPFC are adjusted such that the initial steady state
power flow between the HT and infinite bus is maintained. (Figure 3.7) from
Table 3.4 it can be observed that the damping ratio of the oscillatory mode
has increased significantly with UPFC in the network in line CCT2.

INFINITE
LT HT
CCT1 X1=0.5p.u. BUS
j0.15 p.u.

4* 555 MVA X2=0.93 p.u.

CCT2
Transformer
SERIES FACTS DEVICE
(TCSC,SSSC,UPFC)

Figure 3.7 Single Machine Infinite Bus System with Series Connected
FACTS device
 69

This is due to the fact, that UPFC also has the capability to exercise
voltage control through its shunt branch, which also acts as a source of real
power for the series converter, whereas with a SSSC the real power exchange
is only due to the adjustment of the voltage phase angle of the series
converter.

Table 3.4 Eigenvalue analysis of the SMIB system with TCSC, SSSC and
UPFC

Without Damping With TCSC With SSSC With UPFC

Controller
0.4146 ± 6.8083i -2.0706 ± 7.3141i -2.4405 ± 7.3377i -3.8821 ± 7.2930i
= -0.060783
f= 1.0841 Hz = 0.2724 = 0.3156 = 0.4699

Table 3.5 presents the results of eigenvalue analysis of the SMIB

system when the system load is increased by 20 % and decreased by 20%.

Operating condition 1 corresponds to the nominal operating state.

Operating condition 2 corresponds to a case when the system load is
increased by 20% and operating condition 3corresponds to a case when the
initial system load is reduced by 20%. It can be observed that without
damping controller the damping ratio of the SMIB system is negative when
the generator exports 2391 MW to the lines CCT1 and CCT2. The damping
ratio is negative at both operating conditions 1 and 2. The damping ratio of
system is 0.01 (1%) under lightly loaded operating condition. With power
system stabilizer the system damping improves to 0.13 (13%) for the heavily
loaded operating condition 1 and 0.14 (14%) with lightly loaded operating
condition 2.
 70

With SVC, the damping ratio improves to 0.17 for the heavily
loaded operating condition and 0.18 for the lightly loaded operating condition.
However, with STATCOM the damping ratio increases to 0.2455 and 0.2130
for the two different operating conditions. This is due to the superior dynamic
response of STATCOM compared to that of passive SVC.

With TCSC, the system damping improves to 0.2724 under lightly

loaded and 0.2420 for heavily loaded operating condition. With SSSC, the
damping ratio improves to 0.3125 under heavily loaded condition and 0.3166
for the lightly loaded condition. With UPFC, the damping ratio increases
significantly to 0.4574 for the heavily loaded operating condition 2. If
damping ratio of the swing mode becomes weak after load change then design
the controller parameters for the weakest mode in this operating condition.

Table 3.5 Electromechanical Modes of the SMIB system under three

different operating conditions

Operating
Operating Operating
Condition 1
Condition 2 Condition 3
(Nominal Operating
(Heavily Loaded) (Lightly Loaded)
Condition)
Without 0.4146 ± 6.8083i 0.89486 ± 6.6517i -0.1319 ± 7.0218i
Damping Controller = -0.060783 = -0.13333 =0.0188
With PSS -1.0604 ± 7.4717i -0.9289 ± 7.0864i -1.1063 ± 7.4302i
=0.1405 = 0.1300 =0.1473
With SVC -1.3571 ± 7.5297i -1.2457 ± 7.2146i -1.4071 ± 7.5336i
= 0.1774 =0.1702 = 0.1836
With STATCOM -1.8471 ± 7.2934i -1.6520 ± 7.5788i -1.9894 ± 7.6260i
=0.2455 = 0.2130 = 0.2524
With TCSC -2.0706 ± 7.3141i -1.9166 ± 7.6830i -2.2057 ± 7.6511i
=0.2724 =0.2420 = 0.2770
With SSSC -2.4405 ± 7.3377i -2.5243 ± 7.6722i -2.5637 ± 7.6813i
=0.3156 =0.3125 = 0.3166
With UPFC -3.8821 ± 7.2930i -3.9332 ± 7.6467i -3.9613 ± 7.6570i
=0.4699 =0.4574 = 0.4595
 71

3.6 DYNAMIC SIMULATION OF THE SMIB SYSTEM FOR A

SOLID THREE-PHASE FAULT

To check the robustness of the FACTS based stabilizers following a

major disturbance a three-phase fault is simulated in line CCT 2 near the HT
bus at 1 sec, which is subsequently cleared by tripping the line in 1.1 seconds.
It can be observed that the rotor angle oscillations settle down with PSS in the
excitation system after 4 seconds (Figure 3.8).

Figure 3.8 Rotor angle Response of the SMIB system – Effect of Power
System Stabilizer

The oscillations decay to the initial prefault value after 6 seconds

with PSS. With STATCOM the oscillations are damped out in 3 seconds. The
settling time with SVC is 3 seconds and with STATCOM the settling time is 2
seconds (Figure 3.9)
 72

Figure 3.9 Rotor angle responses of the SMIB system – Effect of shunt
FACTS device

From Figure3.10 it can be concluded that after the three-phase fault

the peak overshoot is higher with TCSC in the network and the settling time is
5 seconds. With SSSC/UPFC, the settling time is 2 seconds and 1 second
respectively.
 73

Figure 3.10 Rotor angle response of the SMIB system - Effect of series
FACTS device

3.7 CONCLUSION

In this chapter, eigenvalue analysis is performed on a single

machine infinite bus system without and with PSS / FACTS based damping
controllers for different operating conditions.

A single machine infinite bus (SMIB) system was chosen for

carrying out detailed investigations on different FACTS based stabilizers. A
generalized small signal stability model based on current injections of FACTS
devices is developed for the SMIB system. This section has developed the
optimization model required to tune the parameters of the damping controller
 74

of FACTS devices to enhance the damping ratio of the critical

electromechanical mode. The robustness of the designed damping controllers
are confirmed by conducting eigenvalue analysis with increased system
loading by 20%.From the results it is observed that among shunt connected
devices, STATCOM is effective in enhancing the small signal stability
compared to SVC. Among series devices SSSC is effective in enhancing the
damping ratio of the critical mode. It is observed that the system is stable with
UPFC in the network with a damping ratio of 0.4.

For any specific operating condition (not discussed) if the damping

ratio of the swing modes are not stable then the tuning process can be carried
out for the most critical mode in that operating condition for example a line
outage.

Transient stability simulations are carried out to confirm the

robustness of stabilizer design following a large disturbance. It is observed
that STATCOM, SSSC and UPFC are effective in damping out
electromechanical oscillations following the three-phase fault.