Co-ordinated design of multimachine power system
stabilisers based on damping torque concepts
M.J. Gibbard, BSc, PhD
Indexing terms: Stabilisers, Design, Power system protection, Modelling
Abstract: The paper, which employs damping
torque concepts associated with frequency
response analysis, considers the co-ordinated
design of power system stabilisers (PSSs) in multi-
machine power systems. It endeavours to extend
to the multimachine environment some of the
earlier work which was applied to the analysis of
the single machine case, and which provided an
insight into the action of the stabiliser. The aim of
the proposed approach is to provide, through the
action of the stabiliser, an electrical damping
torque proportional to speed perturbations, i.e.
Ape&) = Di BOAS). The stabiliser network is
designed to compensate for the phase lag and gain
in the machine/system transfer function
APei(s)/Auri(s).The stabiliser gain D i is co-
ordinated, in the first instance, so that the
damping effect is distributed among those
machines fitted with stabilisers in proportion to
their ratings. The damping performance of a
sample power system with PSSs installed is shown
to be comparable to that for a multimachine
system without PSSs in which a pure damping
torque is introduced artificially in the transfer
function block representing shaft dynamics.
Owing to machine interaction, however, an addi-
tional left shift of certain oscillatory modes is
shown to be due to an electrical damping torque
introduced on machine i through the action of the
PSS on machine j .
1 Introduction
Much effort has been invested, in recent years, in the
development of power system stabilisers (PSSs) for
improving the damping performance of power systems.
The requirement for improved damping has arisen from a
number of factors, including the development of high-
speed excitation systems, the use of long high-voltage
transmission lines, and improvements in the cooling of
turbo-alternators.
The earliest designs of PSSs were based on a single-
machine-infinite-busbar representation of the power
system [l]. The concept of synchronising and damping
torques in such a single-machine model provided some
very useful insights for stabiliser design. These concepts
were developed further and led to improved design pro-
Paper 6094C (P9, P1 l), received 10th July 1987
The author is with the Department of Electrical and Electronic Engin-
eering, University of Adelaide, G.P.O. Box 498, Adelaide, 5001, Aus-
tralia
276
cedures [2]. Such procedures, however, considered the
PSS design for one machine at a time, and did not
attempt to co-ordinate the stabiliser parameters for a
number of generators in the multimachine system simul-
taneously.
Poor damping performance in a multimachine system
power system is characterised by the lightly-damped
oscillatory modes in the responses of the generator shaft
states. A number of papers have considered the problem
of co-ordinating the settings of PSSs designed to improve
the overall dynamic performance of the system. In partic-
ular, the improvement in damping of the various inter-
machine and interarea oscillatory modes has been of
concern. These papers have discussed a number of
approaches to the problem: eigenvalue analysis [3], iter-
ative calculations based on synchronising/damping
torques concepts [ 4 6 ] , an iterative algorithm for eigen-
value assignment [7], a combination of sensitivity
analysis and linear programming [SI, and frequency
response methods [9-111.
The approach for the determination of the stabiliser
network parameters proposed in Reference 2 and devel-
oped in References 12 and 13 for the single machine
analysis is extended to the multimachine case in this
paper. An essential element in the earlier and in the pro-
posed approach is that, by developing a torque of elec-
tromagnetic origin proportional to and in phase with
speed, by means of the PSS, significant damping of the
oscillatory modes can be achieved. For the co-ordination
of PSS gain settings in the multimachine system, the net
positive damping torque coefficient on each machine is
adjusted to have the same value (on machine base) for the
range of oscillatory modes of concern.
The main aims of such an approach are (a) to distrib-
ute, in the first instance, the damping effort amongst
machines fitted with PSSs in proportion to their ratings
(rather than to determine PSS parameters to satisfy
specified closed-loop eigenvalue locations) and (b) to
employ a method that provides insight and understand-
ing of the action of PSSs, to develop a more effective
design procedure.
The proposed method of analysis reveals the inherent
damping torque characteristics of the generators, without
PSSs, under closed-loop control of the automatic voltage
regulators. It does not require any stabiliser parameters
to be set prior to the design procedure, and provides an
understanding of the effect on the damping characteristic
of machine i owing to interaction with machine j which is
fitted with a PSS.
In the following, generator shaft speed is used as the
stabilising signal for illustrative purposes only; other
more suitable signals, or combinations of signals, may be
employed in the proposed approach [14, 151.
IEE PROCEEDINGS, Vol. 135, Pt. C , No. 4 , J U L Y 1988
2 Transfer function (TF) of t h e power system
stabiliser
Let us assume each generator in the linearised represen-
tation of the multimachine power system is described, for
illustrative purposes, by a fourth-order operational
impedance model (Fig. 1). Damping is effected through
I
machine 1 i l
' I
1 1
U shown in Fig. 1.
machine n
Fig. 1 Linearised model ofmultimachine power system
the PSS by producing perturbations in electrical torque
on the ith machine (APei) in phase with perturbations in
rotor speed (Ami). This contribution to electrical torque is
assumed and is designed to be significantly greater than
contributions from Amj through the second path, i.e. via
angular perturbations ASi, the network and the other
machines. For purposes of analysis, two TFs between
speed and electrical torque perturbations (as input and
output variables, respectively) are given by
for the PSS path, and
for the path via rotor angle perturbations, etc.
The former T F consists of two cascaded elements: the
PSS, Gpi(s), and APpei(s)/Ausi(s) through the AVR and
excitation systems, respectively. We can express eqn. 1 as
AP
HPii(S)= -.-EL
1 P
~ u s i ( s Appei(s)
-- ~
)
Ami(s) Ausi(s)
(3)
However, over the range of modal frequencies of interest,
the ideal form of this T F is
(4)
where Di is a real gain expressed on machine base MVA.
To avoid terminal voltage offset to steady-state devi-
ations in system frequency, to provide adequate attenu-
I E E PROCEEDINGS, Vol. 135, P t . C , N o . 4, J U L Y 1988
ation at the shaft torsional modal frequencies, and to
ensure the resulting TFs are proper, both washout and
lowpass filters are added. The desired form of the ideal
T F for implementation in the design of the PSS is thus
Di s T
?L$ylDp
~-
- (1 + sTNl + sT,)(l + ST,) (5)
Hence, equating the TFs of eqns. 3 and 5, we can express
the T F for the PSS of the ith machine in the following
form :
In order to determine G,,(s) it is necessary to measure or
calculate the T F APei(s)/Ausi(s). The latter is the same as
the T F
H A S ) = APPei(s)/Auri(s) (7)
which is measured from the voltage reference input
instead. The calculation of eqn. 7, as well as some other
relevant TFs, will now be considered.
3 Calculation of transfer functions
It is assumed that the following calculations are based on
a linearised model of a multimachine system such as that
First consider the T F H&), i = 1, . . . , n. To determine
these TFs, the speed (Amj) and angle (ASi) feedback
signals must be disabled on all machines in the model of
the system. As was effectively proposed in Reference 2 for
the single machine case, this can be implemented by
setting the inertia constant H i to infinity on all machines
(because speed and angle perturbations will be zero for
perturbations in reference voltage). Alternatively, the
same result is achieved if the block representing the shaft
dynamics
is disabled in, or removed from, Fig. 1. Under these con-
ditions it is apparent from the figure that the T F Huii(s)
takes account of the signal flow paths from the reference
voltage input on machine i through the network and
other machines, to the output AP,,, on that machine.
The removal of the blocks GSdi(s)from the system
model permits the injection of speed test signals to deter-
mine the electrical torque response to speed pertur-
bations, i.e. TFs of the form APei(s)/Am,(s). In more
general terms, the electrical torque responses with shaft
dynamics disabled can be written as
(9)
where H,(s) and H,(s) are n x n T F matrices, and AP,(s),
-
AW(s), and Au,(s) are vectors consisting of the n-
components ofperturbations in electrical torque, speed
and reference voltage, respectively. In particular the ele-
ments HOii(s)of the T F matrix H,(s) are given by
Hmii(s) = ffPii(s) + H,ii(s) (10)
(see eqns. 1 and 2). Clearly if the PSS is not in operation
HPii(s)does not exist.
To derive an expression of the form of eqn. 9, consider
the state and output equations for a linearised model of
211
the system, such as that shown in Fig. 1:
where
x(t) is a vector of system states consisting of (say) Adi,
- machines i and j swing in phase, then the torque com-
Ami, Avbi, A&, etc., i = 1, . . . , n
u(t) is the vector of reference voltage inputs, Auri, i = 1,
-
. . ., n, and
~ ( t is) a vector of electrical torque responses, APei,
i = 1, ..., n.
The speed and angle feedback paths on each machine can
be disabled by removing the block representing the shaft
dynamics (see eqn. 8). This is achieved by eliminating the
rows in Am (i = 1, . . ., n), in the matrices A and C, and
transferring the columns associated with states Ami (i = 1,
. . ., n), in these matrices to expanded B and D matrices,
to form a new set of state equations
where %(t) consists of the original states less the speed
states, and the matrices, modified as described above, are
given the subscript 1.
An advantage of this formulation of the equations is
that it permits evaluation not only of the T F H,,,,(s) =
APpei(s)/Auri(s),but also of the responses of the electrical
torque to speed perturbations, Hmii(s),through either the
angle or speed feedback path, or both, i.e.
through the angle path (without PSSs),
through the PSSs, and
through both paths. Furthermore, when PSSs are in
operation, the electrical torque response on the ith
machine to speed perturbations on the jth machine is of
interest, i.e.
From Haii(s)the inherent damping torque characteristic
of the ith machine can be determined from the com-
ponent of APei in phase with Am,. The existence of sig-
nificant inherent negative damping torques over the
range of modal frequencies may need to be taken into
account in the design of the PSS.
The T F HP&) includes the T F of the PSS, the param-
eters of which have been selected to satisfy eqn. 6. Evalu-
ation of Hpii(s)therefore allows assessment of how closely
the desired TF, given by eqn. 5 , is matched through the
PSS design. More importantly, we can examine the
damping torque contribution from this T F (in contrast to
the ideal expressed by eqn. 4) to ensure that it more than
adequately offsets any inherent negative damping torques
over the range of modal frequencies.
The T F HPdii(s)combines Hdii(s)and Hpii(s)(eqn. 10)
so that the effects of both the inherent machine damping
characteristics and the PSS may be assessed.
278
From H,,(s) the response of the component of electri-
cal torque on machine i in phase with speed pertur-
bations on machine j can be calculated. If it can be
established that for the oscillatory mode of interest
ponent is a damping torque introduced on i by j.
4 Procedure for the design of multimachine PSSs
A design procedure for a five-machine system will be
described in Section 5, to illustrate the method and the
nature of the results obtained. It is assumed that a state-
space model of the linearised multimachine system has
been derived. The steps in the proposed procedure are:
(i) Using eigenvalue analysis, examine the small-signal
damping behaviour of the multimachine system at the
selected operating condition. In particular, identify the
modes associated with intermachine or interarea oscil-
lations from the speed states in the participation matrix
[16]. Further information on the nature of the machine
interactions may be obtained from an analysis of the
speed right eigenvector for a specified mode.
(ii) Disable the machine shaft dynamics (see Section 3),
and form the matrices A , B , , B , , C, of eqns. 1 1 and 12.
Calculate the frequency responses for the TFs HUii(jO)
(eqn. 7) and H,,,(jn) (eqn. 2) over the range of modal fre-
quencies. From the frequency response plot of the latter
TF, the component of electrical torque, in phase with
speed, yields the inherent damping torque coefficient for
machine i. Machines displaying a negative damping
torque coefficient at the relevant modal frequencies
should be noted for consideration in Step (iii).
(iii) The T F to be implemented by the PSS, Gpi(s),is
given by eqn. 6. It is derived as follows for the PSS of the
ith machine.
(1) From the frequency response plots calculated in
Step (ii) for H,,,Gn), derive the parameters of the TFs
H,&) which model those plots.
(2) The lower corner frequency 1/T (of the washout
filter) and the upper corner 1/T, are selected to
provide the ideal gain Di over the appropriate range of
modal frequencies. Other considerations, such as the
need to avoid exciting the shaft torsional modes, will
also determine the corners 1/T, and l/T,.
(3) Initially, the gain Di for each machine is selected
to be the same on machine base.
(iv) Add the PSS networks to the linearised model of
the system, then
(1) Calculate the eigenvalues of the system with
PSSs, and assess the improvement in damping of the
oscillatory modes determined in Step (i).
(2) Disable the shaft dynamics and form the
matrices A , , B , , E , and C, (eqns. 1 1 and 12) for the
system with PSSs. For those machines exhibiting
inherent negative damping torques (in Step (ii)), calcu-
late the frequency responses
(eqn. 13), and hence the damping component of electri-
cal torque,
The effect of the negative inherent damping torque of
these machines may also be apparent in the latter
response. However, the level of positive damping
introduced by the PSS gain Di (in Step (iii)3) should
1EE PROCEEDINGS, Vol. 135, P t . C , No. 4 , J U L Y 1988
 swamp out any such effect over the appropriate range Table 1 : Modes of oscillation (no PSSs)
of modal frequencies. Mode Damping Interaction
(v) Repeat step (iv) with an increased but equivalent ratio
(say) level of damping gain D ion all PSSs. 1 -0.30 fj3.51 0.084 West/East
Following Step (v), a plot of the relevant eigenvalues as 2 -0.06 fj5.33 0.012 Central/rest
3 -0.38 fj7.20 0.052 East Metro/rest
the gain Di is increased provides guidance, either for 4 -0.80 fj10.66 0.171 West Metro/rest
selecting the final values of D ior, say, for fine adjustment
of Di on a particular machine. Other factors which must
be studied before the PSS design is completed, such as frequency responses of the T F Hdii(j12)from which the
the effect of PSS gain and limiter settings for large magni- inherent damping torque component APdi(jQ)/Awi(j12),
tude disturbances, are not considered here. for each machine is derived and plotted in Fig. 4b. Two

5 Example of design procedure 40r

The five-machine system on which the example is based
is shown in Fig. 2. West, Central and East represent
Central

-60; IO 100
West
I East omega

West Metro East Metro

-180)
Fig. 2 Five-machine power system IO 100
omega
machine groups which are each represented by an equiv- Fig. 3 Frequency responses for HUii(s)= AP,,As)/Au,~(s) (eqn. 7) for
alent machine for the purposes of this study. The param- the system without PSSs and with shaft dynamics disabled
eters of the machines and power system are given in ~ Central
-___ West
Appendix 10. __-___ West Metro
East Metro
5.1 Dynamic behaviour of the system without power . . . . .. . East
system stabilisers
The oscillatory modes associated with the machine speed machines (East and Central) exhibit negative damping
states, and the nature of the machine interactions, are torque components over the frequency range; the
shown in Table 1. damping torques on the other machines are positive, but
are small or negligible at the relevant modal frequencies.
5.2 TFs derived from the system model (no PSSs)
with machine shaft dynamics disabled 5.3 TF for the PSS, Gpi(s)
Assuming a sinusoidal reference voltage signal Auri(jQ) is The parameters of the TFs HUiXs)are estimated from the
injected into each machine, the frequency responses for frequency responses shown in Fig. 3. The resulting TFs
HUii(s)= APpei(s)/AurAs)are calculated for the frequency are given in Table 2.
range 1-100rad/s. The responses for the machines are The PSS gain D iis set to 20 (PA. torque/p.u. speed) on
shown in Fig. 3. In addition, in Fig. 4a are shown the machine base; the value DSi for each machine on system

Table 2 : Parameters of the PSS transfer functions, G.,(s)

10
West 132 3 0.05 0.01
1 +gs+(-&)2
3.16
West Metro 12 3 0.01 0.01
0.66

3.55
Central - 78 3 0.05 -
1 +s/l2
3.16(1 +s/14)
East Metro* 12 3 0.01 -
(1 +s/5.5)(1+s/27)(1 +s/60)
7.5
East 80 3 0.01 0.01

* The factor ( 1 +s/60) is ignored

IEE PROCEEDINGS, Vol. 135, Pt. C , N o . 4, J U L Y 1988 279

base is shown in the table. The corner frequency 1/T of Table 3: PSSs in operation: Modes of oscillation f o r D,=
the washout filter is set to 3 rad/s, about a decade below 20, and shift in mode from case without PSSs (see Table
the lowest modal frequency. The corner frequency 1/T, of 1)
60r Mode Damping Mode shift Interaction
ratio
-1.66 ij3.20
1 0.460 -1.36 TJ0.31 West/East
(-0.30 iJ3.51) (0.084)
2 -1.51 ij5.49 0.265 -1.45 ij0.16 Central/rest
(-0.06 ij5.33) (0.012)
3 -2.83ij8.14 0.328 -2.45 ij0.96 East Metro/rest
(-0.38 ij7.20) (0.052)
J
10 100 4 -2.84 ii l l .01 0.250 -2.04 ij0.35 West Metro/rest
omega (-0.80 ij10.66) 10.171 1
- 40 ,...
II~ \

I~ , \ /',-\
-60[ .' ',
I,

m
-0

D
3
a
-
C
301
25
20-
-I 60; m
0
10 100 15-
omega E
a
' -1 10 100
601 omega

m
a
D

a
Ln

-40:
10 100
omega
b omego

Fig. 4 Frequency responses for the system without PSSs and with
machine shaft dynamics disabled
a Hb,, = Apb&)/AQj,b)16 (eqn. 2)
b Damping components of electrical torques
~ Central
~ _ West
_ ~
- - _ _ _ _ West Metro
East Metro
. . . . . . . East
the lowpass filter is chosen to ensure that, at the relevant
modal frequency, the phase lag introduced is minimal. In
this study the corner at 1/T2 is inserted into the T F of the
PSS so that it is proper. The values of the time constants
are listed in Table 2.
Based on the parameters for the PSSs given in Table 2,
Hpii(s) is compared to the desired T F APei(s)/Awi(s)IDp
given by eqn. 5, which includes the filter parameters. The
closeness of the match is shown in the frequency
responses of Fig. 5 in which the effect of ignoring the pole
at s = -60 in the T F HOii(s)for the East Metro machine
is evident.
5.4 Dynamic behaviour of the multimachine system
with power system stabilisers
The oscillatory modes associated with the speed states
are shown in Table 3 for the system with PSSs, the
parameters of which are given in Table 2.
Through the introduction of the PSSs the damping of
the oscillatory modes has improved significantly through
the left shift of the real parts of the eigenvalues. For Di =
20 the associated shift in the imaginary parts is small,
except perhaps for the East Metro machine. The shifts of
the real and imaginary parts of the modes are discussed
further in Section 6.
To investigate the damping component of electrical
torques with PSSs in operation, the shaft dynamics are
disabled and the frequency responses HPdii(jQ)=
280
Fig. 5 Match between desired damping T F (given by eqn. 5 ) and that
deriuedfrom eqn. I
~ TF Hpii~)
_ _ ~ _desired TF
. . . . . , , TF HPiAs)withzero at s = -60 on East Metro machine
Upper graph: upper traces = East
lower traces = East Metro
Lower graph: upper and lower traces = East
middle traces = East Metro
Parameters for PSSs given in Table 2; shaft dynamics disabled. The match for
each of the West, West Metro and Central machines IS comparable with that for
the East machine
APei(jQ)/Aoi(jR) I p Id plotted in Fig. 6a. From the latter
responses the associated damping components are deter-
mined (Fig. 6b). These plots show the influence of both
the PSS and the inherent damping characteristics of the
machines determined earlier (Fig. 4b). Except for the East
machine, the damping torque component at the relevant
modal frequency is greater than the desired value DSi
(given in Table 2), owing to the positive inherent
damping torque. However, for the East machine the posi-
tive damping torque introduced by the PSS swamps out
the negative inherent component.
5.5 Effect of damping gain D, on shifts in modal
frequencies
For the same damping gain Di on each machine, the
shifts of modal frequencies over the range 0 5 Di I 40
are shown in Fig. 7.
6 Discussion of results
6,I Approximate speed eigenvalue shift with increase
in damping gain Di
For purposes of comparison with the results shown in
Fig. 7, the corresponding eigenvalue shifts are calculated
when the machine damping torques are introduced artifi-
cially, i.e. without employing PSSs. It is assumed the
IEE PROCEEDINGS, Vol. 135, P t . C , No. 4 , J U L Y I988
damping torque is provided more directly on each for this simple representation is
machine through the feedback loop APdi = D i Ami
around the machine shaft dynamics block.

If the synchronising torque coefficient is k,, is assumed to

be constant, the real part of the speed eigenvalue will

20
ye+-+-+-+
/
-+- +- +-t 0
101
IO 100
omega
-20r
20

omega
a

0
20 xA-x-x
X'
X'

X'
/
X
40
-301 X
I 10 100 I
omega
b
0 ~ " " " " " " " "
Fig. 6 Frequency responses for system with PSSs and with shaft -8 -6 -4 -2 0
dynamics disabled real
a Hpaii(s) = AP,i(s)/A~i(s)
Ip la (epn. 13) Fig. 7 Shift in eigenvalues for the same damping gain D , on each
h Damping components of electrical torques machine, 0 5 D j I 40 on machine base
~ Central
~~~~
West x-x mode 1
. _ _ West__ Metro
_ 0-0 mode2
East Metro *-* mode3
..... East +-+ mode4
shift left by -Di/4H, as Di is increased. The complex
With the additional feedback loops included, the mode itself, however, moves along a semicircle of con-
eigenvalue shifts for increasing values of damping gain Di stant radius J(wo k,,/2Hi). Assuming that, for Di = 0, the
will be examined based on (a) an eigenanalysis of the full radius is given by the magnitude of the eigenvalue in
multimachine system, and (b)a simple model for the shaft Table 1, the segments of the semicircular loci are shown
dynamics of each machine. as curves C in Fig. 8.
Case I : The value of the machine damping coefficient K i There is good agreement between curves B and C . This
is increased on each machine over the same range, i.e. on suggests that for this example the simple model provides,
machine base for the multimachine case 1, a satisfactory approximation
of the addition of the damping loop AP,, = Di Aw, within
K , = D i+ K O , 0 < Di I 4 0 (15)
the shaft dynamics block. In particular, the effect of
where K O ,models the inherent machine damping charac- machine interaction on damping torques is not signifi-
teristic (see Fig. 1 and Appendix 10). The associated cant in case 1.
eigenvalue shifts are plotted in Fig. 8, curves B, compari- When it is attempted, through the design procedure, to
son with those for the system with PSSs in operation implement the same damping effect by means of PSSs in
(curves A). the multimachine system, reasonable correspondence
between curves A and BfC is obtained for modes 1 and 2,
Case 2: Assuming that the ideal PSS introduces a pure and somewhat less for mode 4. For curves A, relative to
damping torque at the modal frequency, a simple and curves B/C, the modal frequencies for a given value of Di
approximate model for the shaft dynamics of machine i is are slightly higher (i.e. a vertical shift in the eigenvalue).
that proposed in Fig. 9. If the damping torque APdi The rise is partly due to an increase in the synchronising
without PSSs is assumed to be negligible, the effect of the torque component associated with the phase lag (ideally
ideal PSS on machine i is to introduce the damping zero) introduced in the implementation of the nonideal
torque loop APdi = Di Ami. The characteristic equation PSS (cf. eqns. 4 and 5; see Fig. 5). The major difference
I E E PROCEEDINGS, Vol. 135, P t . C, No. 4, J U L Y 1988 28 1
between curves A and B/C occurs in the additional, and K i being set as per eqn. 14 (Case l), or by the simple
beneficial, amount of left shift of the eigenvalue, particu- model (Case 2). Clearly, in comparison with these two
larly for mode 3 and to a lesser extent for modes 2 and 4. cases, the PSS on machine j , through the T F HmiJs), is
instrumental in inducing the additional left shlft. A
similar observation is made in Section 3.3.2 of Reference
20 6.
For all PSSs in operation with Di = 20, the frequency
response for electrical torque perturbations on the East
C Metro machine owing to speed perturbations on the East
lot machine is shown in Fig. loa. The components of the
20 50r
U
T

20

1
-20'
1 IO 100
Lt ^ ^ 0 150r
omega
. .... ....... .... ..... .....,.,, .. . . . , ,, ,
"... . .... ...
----____
U ---______ *--.

d 0

O-e
* -6 -L
real
-2 0
2 -50
Q
-1 00
-1 50'
IO
omega
100

a
Fig. 8 Shift in eigenvalues for the same damping gain Di on each
machine, 0 2 Di 2 40 on machine base
x-x model
0-0 mode2
*-* mode3
+ + mode4
Curve A : as for Fig. 7
Curve B : Case 1 ," -20
Curve C: Case 2
5- -30
-LO1
IO 100
omega
b
Fig. 10 Frequency responses for electrical torque perturbations on
Aw
1
- WO
-
East Metro machine due to speed perturbations on West, Central or East
s2 H
I S
machines; PSSs in operation, shaji dynamics disabled
~

Fig. 9 Simple model for representing damping effects introduced by
PSSs
These differences suggest that, when the PSSs are in oper-
ation, an additional positive damping component of elec-
trical torque is introduced through the interaction
('swinging') of machines at the modal frequencies.
6.2 Damping torques introduced through interaction
between machines with PSSs in operation
As a result of speed variations on machine j an electrical
torque component is developed on machine i. The trans-
fer function H,,,(s) describing this relationship is derived
from eqn. 12 and given by eqn. 14.
If machines i and j swing in phase at the modal fre-
quency, the component of APei in phase with Amj is also
in phase with Ami. Hence, on machine i a damping
torque is produced from the interaction. If the
latter torque is positive, such an interaction results in a
greater left shift of the modal frequency (or eigenvalue)
than that predicted by the machine damping coefficients
282
~ _ _ _West
Central
. . . . . . , East
a If,,,&) = AP,Js)/Ao,(s) (eqn. 14)
b Contributions to the electrical damping torque of the East Metro machine by
the other machine
East Metro torque in phase with speed perturbations on
the East, Central and West machines are shown in Fig.
lob. Note the damping torque component due to speed
perturbations on the East machine is negative.
An examination of both the right eigenvectors associ-
ated with speed states and the participation matrix for
mode 3 (-2.83 kj8.14) reveals that the East Metro and
the East machine swing nearly in phase-opposition. This
is borne out by the Nyquist plots shown in Fig. 11 at 8.14
rad/s. As a consequence, both of the negative damping
torque characteristic shown in Fig. lob, and of swinging
out-of-phase, a positive damping torque is developed on
the East Metro machine at the modal frequency. In this
case the contribution to the damping torque on the East
Metro machine is significant. For example, in Fig. 11 at
8.14 rad/s 1 AmEastMetro 1 2 2 1 AmEas,1 . The positive
damping torque coefficient on the East Metro machine
for a sinusoidal excitation at this frequency, from Fig.
lob, is thus 14/(2/cos 8)= 6 on system base or 10 on
machine base. The latter value is comparable to that
1EE PROCEEDINGS, Vol. 135, Pt. C , N o . 4, JULY 1988
introduced by the PSS on the East Metro machine, i.e.
D = 20. The damping torque contributions (positive or
negative) from speed perturbations on other machines at
this modal frequency are relatively small.
to 10
8,: 8.50
Fig. 11 Nyquist plots of speed responses on East and East Metro
machines for a (sinusoidal) perturbation in reference voltage on the East
machine
A significant component of the left shift of mode 3 in
Fig. 8, curve A , is therefore attributable to the positive
damping torque developed on the East Metro machine
by the action of the PSS on the East machine.
7 Conclusions
A design approach employing frequency response
methods is described, which endeavours to introduce on
machines, by means of their PSSs, an electrical damping
torque proportional to speed, APei(s)= D i Am&). The
stabiliser network is designed to compensate for the
phase lag and gain in the machine T F APpei(s)/Au,i(s).
Each stabiliser gain is set in the first instance so that the
damping effect on the machine is proportional to its
rating (i.e. Di,on machine base, is the same on each
machine equipped with a PSS).
With certain exceptions, the damping performance of
the sample system with PSSs installed is shown to be
comparable to that for a multimachine system, without
PSSs, in which a pure damping torque is introduced arti-
ficially in the T F block representing shaft dynamics. The
exceptions apply to any machine i which interacts signifi-
cantly with a larger machine j or a group of machines.
The additional left shift in the oscillatory mode is
explained in terms of the electrical damping torque intro-
duced on i through action of the PSS on j .
The method proposed is a direct approach, i.e. it does
not rely on an iterative algorithm to determine the PSS
parameters. Hence, the method provides additional,
deeper understanding of the action of PSSs on multi-
machine systems.
Although PSSs are fitted to all machines in the sample
system, the method can be applied equally well to
systems in which PSSs are fitted only to certain
machines, or in which fixed-parameter stabilisers already
exist.
IEE PROCEEDINGS, Vol. 135, Pt. C , No. 4, J U L Y 1988
8 Acknowledgments
The studies described in this paper employed a com-
prehensive software package [171 which was developed
by Mr. B.R. Korte, now with the Electricity Trust of
South Australia; his contribution is most gratefully
acknowledged. Financial support was provided by the
Australian Electrical Research Board and the Electricity
Trust of South Australia.
9 References
1 DE MELLO, F.P., and CONCORDIA, C.: ‘Concepts of synchro-
nous machine stability as affected by excitation control’, IEEE
Trans., 1969, PAS-88, pp. 3 1 6 3 2 9
2 LARSON, E.V., and SWANN, D.A.: ‘Applying power system stabil-
isers. Parts I-III’, ibid., 1981, PAS-100, pp. 3017-3046
3 DE MELLO, F.P., NOLAN, P.J., LASKOWSKI, T.F., and
UNDRILL, J.M.: ‘Coordinated application of stabilizers for multi-
machine power systems’, ibid., 1980, PAS-99, pp. 892-901
4 GOOI, H.B., HILL, F.F., MOBARAK, M.A., THORNE, D.H., and
LEE, T.H.: ‘Coordinated multi-machine stabiliser setting without
eigenvalue drift’, ibid., 1981, PAS-100, pp. 3879-3887
5 LEFEBVRE, S.: ‘Tuning of stabilizers in multimachine power
system’, ibid., 1983, PAS-102, pp. 2 9 6 2 9 9
6 LIM, C.M., and ELANGOVAN, S.: ‘Design of stabilisers in multi-
machine power systems’, IEE Proc. C, Gen. Trans. & Distrib., 1985,
132, (3), pp. 1 4 6 1 5 3
7 DEGTYAREV, V.N., and CORY, B.J.: ‘Determination of stabiliser
settings in multimachine power systems’, ibid., 1986, 133, (6), pp.
308-313
8 DOI, A,, and ABE, S.: ‘Coordinated synthesis of power system sta-
bilisers in multimachine power systems’, IEEE Trans., 1984, PAS-
103, pp. 1473-1479
9 MUTTIK, P.K., and GIBBARD, M.J.: ‘Design of synchronous gen-
erator excitation controllers in multimachine power systems using
inverse Nyquist array’, IEE Proc. C, Gen. Trans. & Distrib., 1980,
127, (6), pp. 35&356
10 GIBBARD, M.J. : ‘Co-ordination of multimachine stabiliser gain
settings for a specified level of system damping performance’, ilbid.,
1982, 129, (2), pp. 4 5 4 8
1 1 ANDERSON, J.H., BAULCH, C., ALDEEN, M., and CRUSCA,
F. : ‘A comparison of multivariable time- and frequency-domain
design methods for power system stabilisers including links with
reported field trials’, IEEE Trans., 1987, PWRS-2, pp. 189-196
12 LEE, D.C., and KUNDUR, P.: ‘Advanced excitation controls for
power system stability enhancement’. Int. Conf. on large high
voltage electric systems, CIGRE, Paris, 1986, Paper 38-01
13 DE MELLO, F.P., CZUBA, J.S., RUSHE, P.A., and WILLIS, J.:
‘Developments in application of stabilizing measures through excita-
tion control’, ibid., 1986, Paper 38-05
14 LEE, D.C., BEAULIEU, R.E., and SERVICE, J.R.R.: ‘A power
system stabiliser using speed and electrical power inputs - design
and field experience’, IEEE Trans., 1981, PAS-100, pp. 4 1 5 1 4 1 5 5
15 BAYNE, J.P., LEE, D.C., and WATSON, W.: ‘Power system stabili-
zer for thermal units based on derivation of accelerating power’,
ibid., 1977, PAS-96, pp. 1777-1783
16 PEREZ-ARRIAGA, I.J., VERGHESE, G.C., and SCHWEPPE,
F.C.: ‘Selective modal analysis with applications to electric power
systems’, ibid., 1982, PAS-101, pp. 31 17-3134
17 KORTE, B.R.: ‘An interactive software package for investigating the
small signal dynamic performance of multimachine power systems’.
Technical Report POW-01, Dept. Elect. & Electron. Eng., Uni-
versity of Adelaide, 1987
18 DLUZNIAK, R. : ‘Multivariable frequency domain techniques in
the analysis and design of power system controllers’. PhD thesis,
Dept. Elect. Eng., University of Melbourne, 1983
10 Appendix: Five-machine p o w e r system
The parameters of lines and transformers, together with
the steady-state operating conditions, are shown in Fig.
12. The machine and excitation system parameters are
given in Table 4 [181.
283
 OJ Central Table 4: Machine and excitation system parameters (in per
L o r n unit on loo0 MVA)
O N

-
- 0
> P198
4 East
Parameter
West West
Machine
Central East East
’Do Metro Metro

-
0 1.12 7

-”
*“,0.7+~6
” 132
0 4 0 + ~ 305
153
70+]53 2
127
c

1 + J 97 e II

> ~ 3 7 5 Number
Capacity
11
6600
1
600
15
3900
1
600
10
4000
0 l+j2.7 1 5 2 0.1+~3.3
0 5 +129 3 0 4 * ] 37 1 (MVA)
Kd 18.650 1.690 11.020 1.690 11.300
P70 P35 H 20.460 1.660 14.890 2.810 13.36
0 0 0 0 0

West Metro
PO5

X
8

P,Q in per unit

4N
0
East Metro
‘a
‘d
X,
‘ad
0.345
0.342
0.316
0
4.660
4.660
4.350
0.003
0.307
0.156
0.259
0
4.280
4.160
3.930
0.002
0.467
0.465
0.430
0
0 > ‘fd
‘fd 0.327 4.420 0.287 4.120 0.442
K.3 200 200 150 150 200
T,, 0.20 1.00 0.01 0.01 0.20
Fig. 12 Five-machine power system; transmission system parameters
and steady-state operating conditions

284 ZEE PROCEEDINGS, Vol. 135, Pt. C , N o . 4, JULY 1988