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Transient stability analysis of a power system with one generator

connected to an infinite bus system

Article  in  International Journal of Sustainable Energy · October 2011

DOI: 10.1080/14786451.2011.630469

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Transient stability analysis of a power

system with one generator connected
to an infinite bus system
a
M. A. Salam
a
Department of Electrical and Electronic Engineering, Faculty of
Engineering, Institute Technology Brunei, Brunei Darussalam
Published online: 06 Dec 2011.

To cite this article: M. A. Salam (2014) Transient stability analysis of a power system with one
generator connected to an infinite bus system, International Journal of Sustainable Energy, 33:2,
251-260, DOI: 10.1080/14786451.2011.630469

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 International Journal of Sustainable Energy, 2014
Vol. 33, No. 2, 251–260, http://dx.doi.org/10.1080/14786451.2011.630469

Transient stability analysis of a power system with one generator

connected to an infinite bus system
Downloaded by [Swinburne University of Technology] at 02:17 24 January 2014

M.A. Salam*
Department of Electrical and Electronic Engineering, Faculty of Engineering, Institute Technology Brunei,
Brunei Darussalam

(Received 22 June 2011; final version received 5 October 2011)

This paper presents a novel method to identify the fault that would affect the transient stability of one
machine to an infinite bus. Here, the swing equation of each machine is expressed in the form of a closed-
loop transfer function in Laplace ss-domain. In the transfer function, the duration of the fault and the changes
in maximum electrical power output of the machine during and after the fault are considered. Then, the
real value of the dominant root of each machine’s characteristic equation is identified on the real axis of the
s-plane. In this method, the generator has been considered unstable based on the position of the real value
of the dominant root in the left half or very close to the imaginary axis or in the right half of the s-plane.
The results obtained by the proposed method are compared with those of the conventional step-by-step
method on the basis of different fault clearing times, and good agreements have been demonstrated.

Keywords: swing equation; transient stability; Laplace transform; dominant root; step-by-step method

1. Introduction

Power system networks are basically complex and nonlinear. Nowadays, power system networks
are advancing through continuing growth in interconnection, practically through the use of new
technology and controls. The power system networks need to be in operation to their full capacity
to meet the increased demand of power. This full-capacity operation may cause the power system
to be in highly stressed condition. Therefore, the need for dynamic security control is increasing.
Transient stability assessment is the main part of the dynamic security control of the power
systems which evaluate the ability of a power system to remain in an equilibrium condition
under fault conditions. A coordinated fast valving and braking resistor control scheme has been
proposed for the transient stability improvement of a power system (Patel et al. 2003). The
coordinated control scheme is very effective in reducing the mismatch between the mechanical
input power and electrical power output of the generator. However, more effort is needed to model
the governor and the turbine. Transient stability limit condition analysis is used for online power
system operation (Fang et al. 2002). This concept is proposed for improving the hybrid method in
the transient stability limit condition analysis. However, in this method, more computation time
is required. The neural network approach to power system transient stability has been presented
as a potential tool for online applications (Moulin et al. 2005). But high dimensionality of the

*Email: abdus.salam@itb.edu.bn

© 2011 Taylor & Francis

 252 M.A. Salam

power systems is required to implement future extraction techniques to make this application
feasible in practice. A new Lyapunov function which is suitable for transient stability analysis
of power systems with generator tripping and load shedding is constructed by embedding the
controlled power system into a large Hamiltonian system for which a series of Casimir functions
(i.e. first integrals) can be easily built (Sun et al. 2002). But in this case, the power system
network must be considered as a controlled condition. Decomposition aggregation method is
used to study the transient stability analysis of an N-machine power system (Shaaban and Grujia
2008). Here, transfer conductance, mechanical damping, electromagnetic damping and speed
governor action are taken into consideration to form the mathematical expression. Based on system
aggregation, the so-called vector Lyapunov function is used for simulation. A new approach to
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transient stability control using global transient stability-constrained-optimal power flow methods
(Pizano-Martianez et al. 2010). Different from existing methods, a minimization problem is
formulated for obtaining critical clearing time for transient stability (Yorino et al. 2010). This
method is based on the computation of a trajectory on the stability boundary, which is referred
to as critical trajectory. The method proposed in this paper is used for determining the stability
corresponding to faults at one location in one machine to an infinite bus (OMIB) power system. The
results obtained by this method have been compared against those of the conventional step-by-step
method for the same cases in the same systems and have been found to be good agreement.

2. Proposed method

The well-known (Salam 2009) classical swing equation which is related to the synchronous
generator rotor swing angle is

d2δ
M = Pa = Pm − Pe , (1)
dt 2
2H
M= , (2)
ωs
where Pa is the accelerating power, Pm is the mechanical power, Pe is the electrical power output,
ωs is the synchronous angular velocity of the rotor, δ is the synchronous machine rotor angle and
H is the inertia constant.
The power output of the single machine connected to an infinite bus at any instant of time is

Pe = Pmxm sin δ. (3)

The mechanical power input equal to the prefault electrical power output at an initial angle δ0
is given as
Pm = Pmxm sin δ0 . (4)
At any location, the system reactance before fault is different from that after clearing the fault.
The step function values P1 and P2 denote, respectively, the maximum power output during and
after the removal of the fault. Therefore, the maximum power, Pmxm , will have two constant
values, P1 and P2 , respectively, for 0 ≤ t ≤ tr . The maximum value of the machine output power,
Pmxm , can be represented as a two-valued step function as shown in Figure 1. From Figure 1, an
expression for Pmxm can be derived as

Pmxm = P1 u(t) + u(t − tr ), (5)

where u(t) is the step function at t = 0, u(t − tr ) is the step function at t = tr and  = P2 − P1 .
 International Journal of Sustainable Energy 253

Pmxm
P2
D
P1

tr
0 t

Figure 1. Maximum power output during and after the faults.

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The rotor swing angle, δ, which has been defined relative to a reference axis rotating at the
synchronous angular velocity, ωs , can be related to the actual rotor speed ω as

δ = (ω − ωs )t = ω t. (6)

Differentiation of Equation (6) with respect to t provides

dδ
ω = = 2π f  . (7)
dt
ω is a measure of the frequency (f  ) of rotor oscillation with respect to the synchronously rotating
reference axis.
Consider the following relation:
y = sin δ. (8)
Substitution of Equation (6) into Equation (8) yields

y = sin ω t. (9)

Substitution of Equations (5) and (9) into Equation (3) provides

Pe = P1 sin ω tu(t) +  sin ω tu(t − tr ). (10)

Taking Laplace transform (Cheng 1959) of Equations (1), (7), (9) and (10),

Ms2 δ(s) = Pa (s) = Pm (s) − Pe (s), (11)


ω
δ(s) = , (12)
s2
ω
Y (s) = 2 , (13)
s + ω 2
P1 ω e−tr s (ω cos ω tr + s sin ω tr )
Pe (s) = 2 + . (14)
s + ω 2 s 2 + ω 2
Equation (11) provides the transfer function of the forward-path block shown in Figure 2, and it
can be expressed as
δ(s) 1
G(s) = = . (15)
Pa (s) Ms2
Division of Equation (13) by Equation (12) yields the transfer function of the first feedback block:

Y (s) s2
H1 (s) = = 2 . (16)
δ(s) s + ω 2
 254 M.A. Salam

Figure 2. Representation of the swing equation in a feedback model.

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Division of Equation (14) by Equation (13) gives the transfer function of the second feedback
block as
Pe (s) e−tr s (ω cos ω tr + s sin ω tr )
H2 (s) = = P1 + . (17)
Y (s) ω
While taking the Laplace transforms, the rotor oscillation angular velocity, ω , is considered to
be constant at an average value. The closed-loop transfer function of the feedback system shown
in Figure 2 corresponding to a synchronous machine is

δ(s) G(s)
= . (18)
Pm (s) 1 + G(s)H1 (s)H2 (s)

Substitution of the expressions for G(s), H1 (s) and H2 (s) into Equation (18) gives

δ(s) 1/Ms2
= , (19)
Pm (s) 1 + (1/Ms2 )(P1 + e−tr s (ω cos ω tr + s sin ω tr )/ω )(s2 /s2 + ω2 )
(s + ω )
1 2 2
δ(s)
= 2 2 M
, (20)
Pm (s) s (s + k1 + k2 e−tr s + k3 se−tr s )

where
P1
k1 = ω  +
2
, (21)
M
1
k2 = ω cos ω tr , (22)
M
 sin ω tr
k3 = . (23)
Mω
The characteristic equation of the feedback system shown in Figure 2 derived from the swing
equation of a synchronous machine is the denominator of Equation (20) equated to zero as
shown below:

s2 + k1 + k2 e−tr s + k3 se−tr s = 0, (24)

 
k3 s
(s2 + k1 ) − k2 e−tr s −1 − = 0. (25)
k2

Equation (25) can be rewritten as follows:

f (s) = f1 (s) − f2 (s) = 0, (26)

 International Journal of Sustainable Energy 255
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Figure 3. Sketches of functions f1 (s) and f2 (s).

where

f1 (s) = s2 + k1 , (27)
 
k3
f2 (s) = k2 e−tr s −1 − s . (28)
k2
It is evident that a root of Equation (25) is the point of intersection of functions f1 (s) and f2 (s).
This point has been termed as the dominant root. Figure 3 shows the sketches of the forms of
functions f1 (s) and f2 (s). It can be seen that function f1 (s) is greater than function f2 (s), that is,
f (s) = f1 (s) − f2 (s) is positive for all values of s on the right of and up to the point s = −k2 /k3 . At
s = −k2 /k3 , function f2 (s) is zero, and beyond this point, it starts increasing so that it intersects
function f1 (s) at a point having its real part equal to sroot . This point is the desired dominant root to
be searched for. Beyond this point sroot , f2 (s) is greater than f1 (s), that is, function f (s) is negative.
Therefore, a search for the real axis bounds of the region containing the dominant root can be
made starting from the point s = −k2 /k3 and continued by increasing the absolute value of s until
function f (s) becomes negative.

3. Results and discussion

The OMIB system (Stevenson 1975) is shown in Figure 4. The generator, line and transformer
data, all in per unit on the same base, are given in Table 1.
A three-phase fault is assumed to occur at the sending end point P of the second line as shown
in Figure 4. It is assumed to be cleared by simultaneous opening of the breakers at both ends of
the line.
The maximum power outputs of the generator during and after the fault are computed to be,
respectively, 0.42 and 1.25 per unit, as can be checked using data given in Table 1 and Figure 4.
The 60 Hz OMIB system has been studied by the two methods considering a number of fault
removal times, that is, 0.01, 0.05, 0.075, 0.10, 0.15 and 0.30 s. In the step-by-step method, the rotor
angle, δ, is computed at an interval of t = 0.01 s from t = 0, that is, instant of fault occurrence
to the upper limit of the considered time span, that is, 2 s corresponding to each fault clearing
time. The 200 computed angles are plotted in δ − t plane for each fault clearing time as shown
in Figures 5–10. The swing angle in the OMIB system is the rotor angle difference of the only
 256 M.A. Salam
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Figure 4. The OMIB system’s single line diagram.

Table 1. Data for the stability study of the OMIB system.

Quantity Values (pu)

Generator direct axis transient reactance, Xd 0.28

Internal emf behind transient reactance, E|δ0 1.25|35.2◦
Generator shaft power, Pm 1
Generator inertia constant, H 3
Transformer reactances: XT 1 , XT 2 , XT 3 , XT 4 0.16
Line reactances: X1 , X2 0.24
Reactance, X 0.16
Voltage at the infinite bus, V∞ 1

Figure 5. Rotor angle versus simulation time for the fault cleared at 0.01 s.

machine relative to the infinite bus. An inspection of the swing curves shows that the system is
stable for the fault clearing times up to 0.1 s while unstable when the fault is removed at 0.15 or
0.30 s. For the latter two cases, the swing angle increases indefinitely instead of oscillating.
 International Journal of Sustainable Energy 257
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Figure 6. Rotor angle versus simulation time for the fault cleared at 0.05 s.

Figure 7. Rotor angle versus simulation time for the fault cleared at 0.075 s.

It has been observed (Stevenson 1975) that the average value of ω at different time steps of the
conventional method is usually in the range of approximately 1.5–9.5 Rad/s corresponding to a
rotor oscillation frequency, f  , of 0.25–1.5 Hz. In order to determine the effects of a choice of ω
upon the performance of the proposed method, 0.25 Hz was chosen to be the value of the rotor
oscillation frequency. The results obtained by the proposed method with the choice of 0.25 Hz for
the rotor oscillation frequency are given in Table 2.
The number of search steps given in Table 2 can be best explained using a particular example. For
the fault clearing time 0.01 s, the starting point for searching the dominant root of the characteristic
equation (25) is s = −99.99. At this point, the value on the left-hand side of the characteristic
equation is positive. Then, the search for sign change of this value is made by increasing the search
point by −10, that is, proceeding more towards left on the real axis.After 65 search steps, it is found
that at s = −749.99, the value becomes negative. So, the root is located in between s = −739.99
 258 M.A. Salam
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Figure 8. Rotor angle versus simulation time for the fault cleared at 0.1 s.

Figure 9. Rotor angle versus simulation time for the fault cleared at 0.15 s.

and −749.99. Then, a closer search is made starting from s = −739.99 and increasing only by
−1.0. In this particular case, it has been found that the narrowest range containing the dominant
root is s = −739.99 and −740.99. It should be noted that if an increment of −20 is chosen, the
number of search steps for fault clearing at 0.01 s could definitely be reduced to half, that is, almost
32 instead of 65, while locating the root in the same range as before. It means a 50% saving in the
CPU time as well. However, with higher fault clearing time, the number of search steps drastically
reduces to 7 even for an increment of −10, can be observed in Table 2. From Table 2, it can be
observed that the dominant roots corresponding to the first four fault clearing times are located
at the far left of or at least beyond the point s = −20, which is quite a good distance on the left
of the imaginary axis as to render the OMIB system stable. On the other hand, the fault clearing
times of 0.15 and 0.3 s render the OMIB system unstable due to a location of the dominant root
very close to the imaginary axis, that is, around s = −9 and −3, respectively. A comparison of
 International Journal of Sustainable Energy 259
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Figure 10. Rotor angle versus simulation time for the fault cleared at 0.3 s.

Table 2. Stability of the OMIB system by locating the dominant root for a rotor oscillation frequency, f = 0.25 Hz.

Fault clearing Starting point for root search Number of search steps in Range of root’s
time, tr (s) −k2 /k3 = ω cos ω tr / sin ω tr s-plane in increments of −10 location in s-plane Remarks

0.01 −99.99 65 −739.99 to −740.99 Stable

0.05 −19.95 7 −72.95 to −73.95 Stable
0.075 −13.27 4 −35.27 to −36.27 Stable
0.1 −9.91 3 −20.91 to −21.91 Stable
0.15 −6.54 2 −9.54 to −10.54 Unstable
0.3 −3.08 2 −3.08 to −4.08 Unstable

the results given in Table 2 with those of the step-by-step method shown in Figures 5–10 also
confirms the agreement regarding stability or instability of the system.
It can be inferred by an analysis of the results for the reported fault clearing times that if the
OMIB system is to be stable for fault clearing time, the corresponding dominant root must be
at least further left of the point s = −10.54. Also, it is evident from Table 2 that an increase in
the fault clearing time shifts the dominant root more towards the imaginary axis with a tendency
to render the system unstable. This is in conformity with the physical fact of a power system
operation that higher the fault removal time, the more likely a system could be unstable.

4. Conclusion

A novel method has been proposed for studying the transient stability analysis of one generator
connected to an infinite bus power system. In this method, each generator’s swing equation is
transferred to a closed-loop transfer function. The real value of the dominant roots has been
considered to identify the generator as stable or instable. It has been found that the machine is a
stable condition at fault clearing times 0.05, 0.075 and 0.010 s. At fault clearing times 0.15 and
0.3 s, it has been found that the machine rotor angle difference increases abnormally instead of
oscillating. This tendency of the curves indicates the machine to be an unstable condition. For
different fault clearing times, the results obtained by the proposed method were compared with
those of the conventional step-by-step method and good agreements were observed.
 260 M.A. Salam

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