This article has been accepted for publication in a future issue of this journal, but has not been
fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2019.2896149, IEEE
Transactions on Power Systems
Power System Small-signal Angular Stability
Affected by Virtual Synchronous Generators
Wenjuan Du, Member, IEEE, Qiang Fu and H. F. Wang, Senior Member, IEEE
Abstract — This paper examines the small-signal angular
stability of a power system affected by a virtual synchronous
generator (VSG). The examination is based on an interconnected
model with two subsystems. The VSG under the examination is
modeled as the VSG subsystem. The rest of power system (ROPS)
forms the other subsystem. Damping torque analysis is applied to
indicate that when an oscillation mode of VSG subsystem is in the
proximity of an electromechanical oscillation mode of ROPS
subsystem on the complex plane, strong dynamic interactions are
introduced by the VSG to decrease the small-signal angular
stability of the power system. This implies that when the
parameters of the VSG are set, modal proximity of the VSG to the
electromechanical oscillation mode of ROPS subsystem should be
examined to avoid the detrimental impact of the VSG on power
system small-signal angular stability. A method to evade the
modal proximity is proposed in the paper for guiding the design of
the VSG. Two example power systems with multiple VSGs for the
wind power generation and transmission are presented. Study
cases demonstrate and evaluate the analysis about the impact of
modal proximity and proposed method for guiding the
parameters setting of VSGs.
Index Terms —Virtual synchronous generator, power system
small-signal angular stability, wind power generation.
I. INTRODUCTION
W ITH increase of level of renewable power penetration in
a power system, overall system inertia may decrease to
cause problem of frequency stability [1]. As a new type of
converter control scheme for the grid connection of wind
turbine generators (WTGs), virtual synchronous generators
(VSGs) was proposed for the WTGs to emulate the dynamic
behavior of conventional synchronous generators (SGs) [2-4].
It is expected that the VSGs can provide extra frequency and
voltage support to the power system to remedy the problem of
system inertia drop brought about by increased grid-connected
renewable power generation.
Study of VSGs has been carried out so far on two main
subjects. The first subject is the effective and optimized design
of VSGs [4-13]. For example, self-synchronized
synchronverter was proposed in [6] by adding the
synchronizing unit, such as PLL, on the VSG. In [8], active and
reactive decomposed control was proposed and evaluated for
the VSGs. Coordinated control of multiple VSGs in parallel
control was examined and developed in [10]. Those studies
have enhanced considerably the performance of VSGs to assist
the frequency and voltage regulation of power system.
On the other hand, angular stability and control of power
Wenjuan Du, Qiang Fu and H F Wang are with the State Key Laboratory of
Alternate Electric Power Systems with New Energy Resources, North China
Electric Power University, Beijing, China. H. F. Wang is the corresponding
author (hfwang60@qq.com)
0885-8950 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
system affected by grid-connected WTGs has been a great
concern. Any risk associated with the dynamics of
grid-connected WTGs should be carefully examined and
eliminated effectively [14]. The VSG changes the dynamic
behavior of grid-connected WTGs and may affect the power
system angular stability differently. Hence, the second main
subject of study about the VSG has been about the impact of
VSGs on power system angular stability [15-17].
In [15], stability of a power system with multiple VSGs was
assessed by using the simulation method. Parameter setting of
the VSG to consider the system stability was examined and
evaluated. In [16], the small-signal angular stability of an
independent power system with multiple VSGs was
investigated by using the modal analysis. Useful conclusions
were obtained about the relations between the parameter setting
of the VSGs and system small-signal angular stability. In [17],
a novel damping control scheme was proposed to damp the
oscillations of power output from the grid-connected VSG. The
effectiveness of the proposed scheme was validated by
experimental results. Though investigation in [15-17] was
made numerically on the case-by-case basis, it confirmed that
the impact of VSG on the small-signal angular stability of
power system may be beneficial or detrimental.
There are two main problems about the power system
angular stability. One is the transient stability and the other is
the low-frequency electromechanical power oscillations. The
latter is often referred to as the problem of small-signal angular
stability of power system, because the problem has been
usually studied by using the linearized model of power system
[18]. The focus of study in this paper is the damping of
low-frequency electromechanical power oscillations. How the
VSGs may affect the small-signal angular stability of power
system is examined by using the linearized model of power
system.
The VSG is the converter control for the grid connection of
WTGs to mimic the dynamics of conventional SGs. Hence, its
impact is affected by the parameters setting of converter control
systems. Determination of the conditions, under which the
VSG affects power system small signal angular stability
detrimentally, is very helpful to the design of VSG. This is
because to avoid the detrimental conditions can generally guide
the parameters tuning and setting of VSG, rather than
completely replying on the numerical assessment. In this paper,
such a general condition of detrimental impact of VSG is found.
Based on the finding, a method is proposed to guide the
parameters setting of VSG to evade the possibility that the VSG
may affect power system small-signal angular stability
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2019.2896149, IEEE
Transactions on Power Systems

negatively. converters (VSCs) implement the VSG control, which are

In the paper, damping torque analysis (DTA) is applied to referred to as the VSGs. There are total M VSGs in the power
examine how the VSG may affect power system small-signal system. In Fig. 1, X i ,i  1, 2,...,M is the equivalent reactance
angular stability. The examination is based on an connecting the ith VSG (VSG-i) with the power system,
interconnected model of a power system with multiple VSGs. Vi i ,i  1, 2,...,M is the terminal voltage of the ith VSG,
The interconnected model is comprised of two subsystems. A Vci ci ,i  1, 2,...,M is the AC output voltage of the converter
VSG under the examination is modeled as the VSG subsystem.
The rest of power system (ROPS) is represented by the other of the ith VSG, ci ,i  1, 2,...,M is the virtual angular position
subsystem. The DTA conducted in the paper indicates that of the ith VSG , Pi  jQi ,i  1, 2,...,M is the power output from
when the oscillation mode of the VSG subsystem is in the the ith VSG.
proximity of an electromechanical oscillation mode (EOM) of
the ROPS subsystem on the complex plane, strong dynamic
interactions are introduced by the VSG. Further theoretical
analysis shows that under the condition of such modal
proximity of subsystems, the VSG degrades the small-signal
angular stability of the power system. Hence, modal proximity
is a general condition under which the impact of VSG is
detrimental.
Based on the analysis about the modal proximity, a method is
proposed in the paper to guide the parameters setting of the
VSG to evade the detrimental impact of the VSG on the
small-signal angular stability. When the parametric model of
power system is not available, the proposed method can also be
applied by scanning the frequencies of EOMs of the ROPS
subsystem. This is very useful in practice when power system
data may not always obtainable.
Organization of the paper is as follows.
In the next section, an interconnected model of power system
with VSGs for the grid connection of WTGs and MTDC Fig. 1. Configuration of a MTDC/AC power system with multiple VSGs
network is firstly derived. Secondly, details of applying the
Without loss of generality, it is assumed that the first VSG
DTA is presented to demonstrate that parameter setting of
(VSG-1) connects a wind farm directly to the power system.
VSGs may result in different impact of VSGs on power system
The second VSG (VSG-2) is one of the VSCs of the MTDC
small-signal angular stability. Thirdly in the section, analysis is
network for the wind power transmission. Configuration of
conducted to indicate that under the condition of modal
converter control for VSG-1 and VSG-2 is shown [17] where
proximity, the VSGs may possibly decrease the damping of
gk ,k  1, 2 is the virtual angular speed of VSG-k, k=1,2, 0
power system small-signal angular stability. Finally,
is the synchronous frequency, Pkref and Qkref ,k  1, 2 are the
application of the analytical conclusions obtained to guide the
reference of active and reactive power control of VSG-k, k=1,2
parameter setting of VSGs is introduced.
respectively, H k and Dk ,k  1, 2 are the virtual constant of
In section III, two example MTDC/AC power systems with
inertia and damping of VSG-k, k=1,2, Kk ,k  1, 2 is the gain
multiple VSGs are presented. Analysis about the impact of
of reactive power controller of VSG-k, k=1,2. VSG-1 is
modal proximity of VSGs and proposed method to guide the
selected to show how an interconnected model can be
parameters setting of VSGs are demonstrated and evaluated.
established to examine its impact on the small-signal angular
Final section summarizes main conclusions obtained in the
stability of the power system as follows.
paper. From Fig. 1, it can have
II. SMALL-SIGNAL ANGULAR STABILITY AFFECTED BY VSGS g 1
A. The interconnected model
c1 
s
, g 1 
1
2 H1 s  D1
 P1ref  P1 
 Q1ref  Q1 
Fig. 1 shows the configuration of a multi-machine power K1
Vc1  (1)
system integrated with multiple wind farms, which are s
connected to the power system either directly or through a dV
MTDC network. The objective to include the MTDC network C1Vdc1 dc1  Vdc1 I dc1  P1
dt
in Fig. 1 is to show that the VSGs can be implemented also by
Power output from VSG-1 is
the VSCs of the MTDC network. The impact of VSGs
implemented by both the WTGs and MTDC network is
examined in this paper. Hence, some of the voltage source

0885-8950 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2019.2896149, IEEE
Transactions on Power Systems

Vc1V1 sin  c1  1  1
where H( s )  Cg ( sI  Ag ) Bg  Dg .
P
X1 Obviously, for the rest of power system (ROPS) in Fig. 1,
(2)
 Vc1V1 cos  c1  1  excluding VSG-1, Δv   V1 1  is the output variables
2 T
V
Q c1

X1 vector and Δp   P1 Q1  is the input variables vector.

T

Linearizing (1) and (2), the state-space model of VSG-1 is Hence, the state-space modal of the ROPS can be written as
obtained to be
dΔXs
dΔXg  As ΔXs  Bs Δp
 A g ΔXg  Bg Δv dt (6)
dt (3) Δv = Cs ΔXs + Ds Δp
Δp  Cg ΔXg  Dg Δv
ROPS subsystem
where
0

T
ΔXg   g1 c1 Vc1 Vdc1  , G (s)

Δv   V1 1  ,Δp   P1 Q1  ,

T T Δp Δv
H (s)
 D1 K 
  pc1 0 0  VSG subsystem
 2 H1 2 H1  Fig. 2. The closed-loop interconnected model of the power system
  0 0 0 
Ag   0 
 0  K1K qc1  K1K qc 2 0  The transfer function matrix model of the ROPS is
 P10 
 0 0 0  Δv  G( s )Δp (7)
 C1Vdc10 2  where G( s )  Cs ( sI  As ) Bs + Ds . 1

K pc1  Vc10V10 X 11 cos  c10  10  From (5) and (7), an interconnected model of the power
K pc 2  V10 X 11 sin  c10  10  system shown by Fig. 1 is obtained and displayed by Fig. 2.
The state-space representation of the interconnected model
K qc1=Vc10V10 X 11 sin  c10  10 
can be obtained from (3) and (6) to be
K qc 2=2Vc10 X 11  V10 X 11 cos  c10  10  dΔX
 AΔX (8)
  K bp1  K bp 2  dt
  T
 2 H1 2 H1  where ΔX  ΔXgT ΔXsT 
 0 0 
Bg     A + B D  I  D D 1 C Bg Cs  Bg Ds  I  Dg Ds  Dg Cs 
1

  K1K bq1  K1K bq 2  A  g g s g s g


 K   
Bs  I  Dg Ds  Cg As  Bs  I  Dg Ds  Dg Cs 
1 1
K
  bp1  bp 2  
 C1Vdc10 C1Vdc10 
B. Damping torque analysis (DTA)
K bp1  X 11Vc10 sin  c10  10 
Arrange the state equation of the ROPS subsystem in (6) as
K bp 2   X 11Vc10V10 cos  c10  10   Δδ   0 ω0 I 0   Δδ   0 
(4)
d   
K bq1   X 11Vc10 cos  c10  10  Δω = A 21 A 22 A 23  Δω  + B 2  Δp (9)
dt   
K bq 2   X 11Vc10V10 sin  c10  10   Δz   A 31 A 32 A 33   Δz  B 3 
0 K pc1 K pc 2 0   K bp1 K bp 2  where Δδ is the vector of deviations of angular positions of the
Cg   ,D 
0 K qc1 K qc 2 0  g  K bq1 K bq 2  SGs and the virtual angular positions of the VSGs excluding
VSG-1, Δω is the vector of deviations of the speed of the SGs
From state matrix A g in (3), it can be seen that dynamics of
and the virtual speed of the VSGs excluding VSC-1, Δz is the
DC voltage of capacitor are decomposed from the dynamics of vector of all the other state variables of the ROPS subsystem.
VSG. This indicates that dynamics of DC voltage do not take Denote  s as an EOM of the ROPS subsystem. From (5) and
part in the dynamic interactions between the VSG and power (9), the vector of deviations of the electric torque supplied by
system to affect the angular stability of power system.
VSG-1 to the electromechanical oscillation loops of the SGs
Remainder of dynamics of WTG is linked with the power
and the VSGs in the ROPS subsystem can be derived to be [19]
system via the dynamics of DC voltage of capacitor. Hence,
when the VSG is modelled for studying its impact on the ΔT  [B2  A23 ( s I  A33 )1 B3 ]H( s )Δv (10)
angular stability of power system, the remainder of dynamics of According to the theory of the DTA in the multi-machine
power system [19], Δv   V1 1  can be expressed as
T
WTG needs not to be considered.
Transfer function matrix model of VSG-1 is
Δv    vk (  s )  k (  s ) gk
T
Δp  H( s )Δv (5) (11)

0885-8950 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2019.2896149, IEEE
Transactions on Power Systems

Thus, the damping torque supplied by VSG-1 to the that the dynamic interactions between VSG-1 and the ROPS are
electromechanical oscillation loop of the kth SG or VSG can be strong, which may affect the EOM,  s , considerably. The
obtained from (9) and (11) to be impact of strong dynamic interactions introduced by VSG-1
Tk  Re{[bk 1 ( s )h11 ( s )  bk 2 ( s )h21 ( s )] vk ( s ) under the condition of modal proximity can be further analyzed
(12)
[bk 1 ( s )h12 ( s )  bk 2 ( s )h22 ( s )] k ( s )}gk  d k gk as follows.
Denote the transfer function matrices of subsystems in Fig. 2
where bkj (  s ), j  1, 2 is the kth-row jth-column element of
as
B2  A23 (  s I  A33 )1 B3 , hij (  s ),i, j  1, 2 is the ith-row g( s ) h( s )
G( s )  , H(s)  (14)
jth-column element of H(  s ) , Re   refers to the real part of s  s s  g
a complex number. The characteristic equation of interconnected model shown
 by Fig. 2 is
Denote Sk  s as the modal sensitivity. The EOM,  s ,
d k ( s   g )( s   s )f ( s)  I  0 (15)
affected by VSG-1 can be obtained to be [19]
 f ( s ) f12 ( s) 
 s   Sk d k (13) where f ( s) = g( s)h( s) =  11 .
k 1  f 21 ( s ) f 22 ( s ) 
Thus, the EOM of interconnected model shown by Fig. 2 The above characteristic equation can be expanded to be
corresponding to  s is ̂ s   s   s [19]. If dynamic [ f11 ( s) f 22 ( s)  f12 ( s) f 21 ( s)]( s   g ) 2 ( s   s ) 2
interactions introduced by VSG-1 are zero, i.e., Δp  0 , the [ f11 ( s)  f 22 ( s)]( s   g )( s   s )  1  0
interconnected model shown by Fig. 2 is open such that the (16)
EOMs of interconnected model and ROPS subsystem are same, The EOM of interconnected model shown by Fig. 2,
i.e.,  s  0 . This implies that the difference between the
̂ s   s   s , is a solution of (16). Thus, when  s   g , it can
EOMs of interconnected model and ROPS subsystem is caused
by the dynamic interactions introduced by VSG-1, i.e., Δp  0 . have
[ f11 (ˆ s ) f 22 (ˆ s )  f12 (ˆ s ) f 21 (ˆ s )] s 4
Hence, if ̂ s is on the right-hand side of  s on the complex
plane, dynamic interactions introduced by VSG-1 degrades the [ f (ˆ )  f (ˆ )] 2  1  0
11 s 22 s s

small-signal angular stability of the power system. (17)

From (12), it can be seen that the impact of VSG-1 can be Let the Taylor series expansion of f11 (ˆ s ) and f 22 (ˆ s ) at
classified into two groups of affecting factors. The first group
consists of the factors of power system, such as the operating  s be
conditions, the location of VSG-1, etc. Those factors are f11 (ˆ s )  f11 ( s   s )  f11 ( s )  f '11 ( s ) s
reflected in bkj (  s ), j  1, 2 ,  vk (  s ) and  k (  s ) in (12) and (18)
f 22 (ˆ s )  f 22 ( s   s )  f 22 ( s )  f '22 ( s ) s
can only be examined numerically on the case-by-case basis.
Substituting (18) into (17) and neglecting the items with the
The second group of factors are related with the model of
VSG-1 and reflected by hij (  s ),i, j  1, 2 in (12), which are order higher than  s 2 in the equation, it can have
determined by the parameters setting of VSG-1. This second 1
 s     f ( s ) (19)
group of affecting factors can be further examined so as to find f11 ( s )  f 22 ( s )
the conditions, under which VSG-1 may impose detrimental
impact on the power system small-signal angular stability. Denote ̂ g as the oscillation mode of interconnected model

C. Modal proximity shown by Fig. 2 corresponding to  g . ̂ g   g   g is also a

Denote  g as the open-loop oscillation mode of VSG-1.  g solution of (16). Taking the derivation similar to that from (16)
to (19), it can have
should be the pole of at least one of hij ( s ),i, j  1, 2 . Without
1
loss of generality, assume that  g is the pole of h11 ( s ) such  g     f ( g ) (20)
f11 ( g )  f 22 ( g )
that h11(  g )   . If  g is in proximity of  s on the complex
Hence, under the condition of modal proximity,  s   g ,
plane, i.e.,  s   g , h11 (  s ) is significant. Thus, it can be the oscillation modes of interconnected model can be
seen from (12) that the VSG-1 could possibly affect  s estimated by the following equations.
considerably because the damping torque contribution from ˆ s   s   s   s  f ( s )
VSG-1 may very likely be considerable. (21)
ˆ g   g   g   g  f ( g )   s  f ( s )
From (5), it can be seen that under the condition of modal
proximity,  s   g , p1( s )  h11(  s )V1 is considerable From (21), following observations can be made.
such that the variation of active power output from VSG-1 at Firstly, under the condition of modal proximity,  s   g ,
the complex frequency,  s , should be substantial. This implies the oscillation modes of interconnected model, ̂ s and ̂ g ,

0885-8950 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2019.2896149, IEEE
Transactions on Power Systems
intend to locate at the approximately opposite positions to each
other on the complex plane in respect to the positions of
oscillation modes of subsystems in proximity on the complex
plane,  s   g . This implies that either ̂ s or ̂ g is on the
right-hand side of its corresponding oscillation mode of
subsystems. Hence, it can be concluded that under the condition
of modal proximity, strong dynamic interactions introduced by
VSG-1 degrades the small-signal angular stability of the power
system.
Secondly, under the condition of modal proximity,  s   g ,
the power system may become unstable if
Real part of f ( s )  Real part of  s or  g (22)
Hence, for a lightly damped EOM of the power system, if it
is in the proximity of an oscillation mode of VSG-1, growing
low-frequency electromechanical power oscillations are more
possible to happen.
D. A method to guide the parameters setting of VSG
Normally, parameters of a VSG are set in order to ensure the
satisfactory performance of frequency and voltage support
[1-5]. However, parameters setting should also avoid any
possibility that the VSG may impose detrimental impact on
power system stability.
From (4), the oscillation mode of VSG subsystem,  g , can
be calculated to be
0 K pc1
2
D  D 
g   1   1   2 (23)
2 H1  2 H1  H1
Hence,  g is determined by the parameters setting of VSG-1.
Discussions in the previous subsections indicate that any modal
proximity of  g to an EOM of power system should be
examined to evade the detrimental impact of VSG-1 on power
system small-signal angular stability. The examination
produces the regions in the parameter space of VSG-1, which
are prohibited due to the detrimental impact caused by the
modal proximity. A method for such examination is proposed
as follows.
1) Calculate the EOMs of the power system without VSG-1
being implemented to be  si ,i  1,2, M . They are
obviously the EOMs of ROPS subsystem in Fig. 2.
2) Substitute  g by  si ,i  1,2, M consecutively in (23),
i.e.,
0 K pc1
2
D  D 
 si   1   1   2
2 H1  2 H1  H1
Calculate solutions of above equations, which constitute M
prohibited regions in the parameter space of VSG-1.
Parameters of VSG-1 are prohibited being set in the regions.
3) For a real power system, it is possible that the parametric
state-space model of ROPS subsystem may not be
obtainable due to the lack of system data. In this case, the
FFT technique can be applied to the field data of
measurement to find the frequencies of power system
0885-8950 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
EOMs, si ,i  1, 2, M , [20]. The field data of
measurement can be the response of the power system to a
fault which is collected by the measuring device, such as the
PMUs, or can be collected by conducting the field tests.
Then, it can set si  0.1si  jsi , i  1, 2, M to
calculate the prohibited regions from (24). This ensures that
the frequencies of oscillation modes of VSG-1 are not close
to those identified electromechanical modal frequencies of
the power system so as to avoid the possible modal
proximity to any lightly damped EOMs of the power
system.
In section III, application of the proposed method above is
demonstrated and evaluated by an example power system.
E. The impact of a VSG implemented by the MTDC network
Without loss of generality, VSG-2 connecting the MTDC
network with the AC power system in Fig. 1, instead of VSG-1,
is used to demonstrate how the interconnected model shown by
Fig. 2 can be established for a VSG of MTDC network. In the
control configuration of VSG-2 shown by Fig. 1, K d 2 is the
coefficient of droop control, Vdc 2 is the voltage across the
capacitor and I dc 2 is the current injected into the capacitor
from the MTDC network.
Since VSG-2 adopts the DC voltage droop control as
indicated in Fig. 1, dynamics of DC voltage across the capacitor
should be considered. DC voltage equation of VSG-2 is
dV
C2Vdc 2 dc 2  Vdc 2 I dc 2  P2 (25)
dt
Converter control and power equations for VSG-2 are
similar to (1) and (2) to be
g 2
c 2 
s
g 2 
1
2 H 2 s  D2

P2 ref  P2 +K d 2Vdc2 2  K d 2Vdcref2 2 (26) 
Vc 2 
K2
s
 Q2ref  Q2 
V V sin  c 2   2 
P2  c 2 2
X2
(27)
Vc 2 2  Vc 2V2 cos  c 2   2 
Q2 
X2
By linearizing (25)-(27), the state-space model of VSG-2 is
obtained, which is as same as that expressed by (3) but
(24) T
ΔX g   g 2 c 2 Vc 2 Vdc 2  ,
(28)
Δv   V2 2 I dc 2  , Δp  P2 Q2 Vdc 2 
T T
An interconnected model can be derived in the way similar to
that from (3) to (8). The derived interconnected model is of the
same configuration to that shown by Fig. 2, where the VSG
subsystem is formed by VSC-2 and the ROPS subsystem is
comprised of the AC power system and MTDC network with
VSG-2 being excluded. Based on the derived interconnected
model, the DTA and analysis on the modal proximity can be
carried out. Same conclusions can be made and the method
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2019.2896149, IEEE
Transactions on Power Systems

proposed in the above subsection is applicable to guide the in the parameters setting of VSG-1 in order to avoid the
parameters setting of VSG-2. detrimental impact of VSG-1.
TABLE I EMOs of the ROPS subsystem
III. AN EXAMPLE POWER SYSTEM Values of H1 and D1
EOMs of the ROPS Values of H1 and D1
Wind farms VSG-1 VSG-3 subsystem when modal proximity
MTDC taken by VSG-1
happened
s1  0.29  j 6.19 D1  2.47, H1  4.27 D1  2.49, H1  4.27

VSG-2 VSG-4 s2  0.21  j 4.81 D1  2.97, H1  7.07 D1  3.55, H1  7.07

AC s3  0.20  j3.95 D1  4.19, H1  10.48 D1  5.26, H1  10.48
network Wind farm
s4  0.18  j 2.99 D1  6.58, H1  18.28 D1  9.16, H1  18.28

Image axis (rad/s) A

SG 1 L SG 2 8
EOMs of ROPS subsystem
Fig. 3. Configuration of an example MTDC/AC power system with four VSGs Oscillation mode of g
7 VSG subsystem

Fig. 3 shows the configuration of an example power system,

 s1 ̂ s1
where two wind farms are connected directly to a two-machine 6
1
AC power system and a wind farm is connected to the
̂ g
two-machine AC power system through a three-terminal DC s2 ̂ s 2
5 2
network. The two-machine power system was simple but
sufficient for demonstrating and evaluating the effect of VSGs  s3 ̂ s 3
4
on power system small-signal angular stability. In subsection C 3
of this section, study on a more complicated large-scale Oscillation modes of s4 ̂ s 4
example power system is presented. 3 interconnected model 4
Trajectory of Oscillation
The wind farms and the MTDC network are connected to the mode of VSG subsystem
Trajectories of oscillation modes
AC power system via four VSCs, which implement the VSG 2 of interconnected model Real axis (rad/s)
control. Hence, they are four VSGs for the grid connection of -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4
wind power generation and transmission. Model and Fig. 4. Modal positions and trajectories in test 1
parameters of the SGs recommended in [19] were used. Model
Fig. 4 is presented to demonstrate and evaluate the
and parameters of the VSGs given in [21] were adopted. Wind
detrimental impact of VSG-1, which was predicted above, on
farms were modelled as the aggregated PMSGs for the wind
power generation. Model and parameters of the PMSGs the small-signal angular stability of the example MTDC/AC
recommended in [22] were used. Following two study cases power system. In Fig. 4, hollow circles are the positions of
demonstrated and evaluated the analysis about the impact of  si ,i  1, 2,3, 4 . Dashed curve is the trajectory of oscillation
VSGs and application of proposed method to guide the mode of VSG subsystem,  g , when H1 and D1 were tuned.
parameters setting of VSGs. Hollow triangles on the dashed curve are the positions of  g
when values of H1 and D1 were close to those listed in the
A. Study case 1: parametric model was available
second column of Table I. Values of H1 and D1 taken by
In this study case, impact of VSG-1 was examined and the VSG-1, when positions of  g are indicated by hollow triangles
ROPS subsystem included VSG-2, AC power system and the
in Fig. 4, are given in the third column of Table I. Solid curves
MTDC network. It was assumed that that all the parameters of
ROPS subsystem were available. Thus, the EOMs of ROPS in Fig. 4 are the trajectories of oscillation modes of
interconnected model, ̂ g and  ˆ ,i  1, 2,3, 4 .
subsystem were computed from its state-space matrix, A s in si
From Fig. 4, it can be seen that when the values of H1 and
(6), to be  si , i  1, 2,3, 4 . The computational results are listed
in the first column of Table I.
D1 listed in the third column of Table I were taken,
H1 and D1 are two main parameters of VSG-1 which ˆ ,i  1, 2,3, 4 shifted towards the right on the complex plane.
 si

affected the oscillation mode of VSG subsystem,  g . By using
(24), values of H1 and D1 were calculated for each of
 si , i  1, 2,3, 4 and are listed in the second column in Table I.
Obviously, if H1 and D1 were set to be those values,
 g   si , i  1, 2,3, 4 such that modal proximity between the
VSG and ROPS subsystem happened. Consequently, VSC-1
may degrade the small-signal angular stability of the
MTDC/AC power system. Thus, those values were prohibited
This indicated that modal proximity at point ①,②,③ and ④
caused the degradation of small-signal angular stability of
example MTDC/AC power system. In the worse cases (point
① , ② and ③ in Fig. 4), growing low-frequency
electromechanical power oscillations occurred as caused by
VSG-1. This confirmed the detrimental impact of VSG-1 if its
parameters were set improperly to cause the modal proximity.
Hence, the parameters setting of VSG-1 close to the values
listed in the second column was prohibited in order to avoid any
possible detrimental impact of VSG-1 on the small-signal
angular stability of example MTDC/AC power system.

0885-8950 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2019.2896149, IEEE
Transactions on Power Systems

18
Results presented in Table I and Fig. 4 demonstrated that

Power-angle deviation between VSG-1

The case of modal proximity
information listed in the second column of Table I was very The case of no modal proximity
20
useful and important to guide the parameters setting of VSG-1.

and SG-1 (deg.)

In the two dimensional parameter space, ( H1 , D1 ) , the 22
prohibited values of parameters setting of VSG-1 as listed in
the second column of Table I were four points as indicated in 24

Fig. 5 when  g   si , i  1, 2,3, 4 . Since the condition of modal

Time(s)
proximity was  g   si , i  1, 2,3, 4 , parameters setting of
26
0 1 2 3 4 5 6 7 8 9 10
4.2

Active power output from VSG-1 (p.u.)

The case of modal proximity
VSG-1 should be guided by four prohibited regions as shown in
The case of no modal proximity
Fig. 5. The centres of four prohibited regions were the points 4.1

given in the second column of Table I. The shapes of prohibited

regions can be ellipses which are formed by given values of H1 4.0

and D1 . In this study case, H1 was set to be 2 as the major axis 3.9

and D1 was set to be 1 as the minor axis of ellipses shown in

Time(s)
Fig.5. 3.8
0 2 4 6 8 10
Fig. 6. Simulation results of study case 1
H1
Prohibited regions B. Study case 2: parametric model was unavailable
20
In this study case, the proposed method was demonstrated
and evaluated for the parameters setting of VSG-3 when the
10 parametric model of example MTDC/AC power system was
unavailable. Hence, in the interconnected model of Fig. 2,
VSG-3 formed the VSG subsystem. The ROPS subsystem
0 included VSG-1, VSG-2, AC power system and the MTDC
0 2 4 6 8 10 D1 network excluding VSG-3. It was assumed that data of power
Fig. 5. Prohibited regions of parameters setting of VSG-1 system was not obtainable such that the state-space model of
To avoid the modal proximity, parameters of VSG-1 can be ROPS subsystem cannot be established. Consequently, EOMs
set outside the prohibited regions. For example, when H1 and of ROPS subsystem cannot be computed.
However, variation of system frequency after a fault
D1 were set as H1  2.7 and D1  1.48,  g  0.33  j 7.78
occurred in the example MTDC/AC power system, when
which was at point A in Fig. 4. In this case of no modal VSG-3 was not connected, was recorded. The fault was the loss
proximity,
of 20% load indicated by L in Fig. 3 at 0.1 second for 100ms.
ˆ  0.23  j 6.25, 
 ˆ  0.23  j 4.82, 
ˆ  0.20  j3.95
s1 s2 s3 Fig. 7 shows the recorded response of the system frequency.
,ˆ  0.18  j 2.99, 
ˆ  0.36  j 7.75 Fig. 7 was obtained by simulation for the example power
s4 g
system. In practice, it could be a recorded response of power
the example MTDC/AC power system was stable.
system response. As the frequency of electromechanical
Confirmation of non-linear simulation is presented in Fig. 6.
oscillations is usually between 0.1Hz and 2Hz, it can be
At 0.1 second of simulation, 20% of the load indicated by L in
identified from system recorded response by using certain
the example MTDC/AC power system was lost and the lost
algorithm of signal processing. Results of the FFT applied to
load was recovered in 100ms. Two cases were simulated for
the recorded response of system frequency to identify the
comparison: (1) The case of modal proximity at point ① in Fig.
frequencies of the EOMs of ROPS subsystem (the example
4 when H1  4.27 and D1  2.49 ; (2) The case of no modal
power system without VSG-3 being connected) are presented
proximity at point A in Fig. 4 when H1  2.7 and D1  1.48 . It
in Fig. 8.
confirmed that growing low-frequency electromechanical
(Hz)
power oscillations occurred in the example MTDC/AC power 60.004
Frequency of example power system

system as caused by VSG-1 when the modal proximity

happened. When the parameters of VSG-1 were set outside the
prohibited regions, VSG-1 caused no detrimental impact and 60.00
the example power system remained stable.

Time(s)
59.996
0 10 20 30 40 50 60 70 80 90 100
Fig. 7. Recorded response of system frequency after a fault occurred

From Fig. 8, it can be seen that frequencies of the EOMs of

the example power system without VSG-3 being connected

0885-8950 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2019.2896149, IEEE
Transactions on Power Systems

were 0.401Hz, 0.639Hz, 0.782Hz and 1.011Hz. Hence, In order to confirm the correctness of guiding information
si , i  1, 2,3, 4 were obtained and are listed in the second obtained above without knowing parametric model of the
column of Table II. By taking  si  0.1si  jsi , i  1,2,3,4 example MTDC/AC power system, firstly state-space model of
and using (24), prohibited regions for parameters setting of ROPS subsystem was used to compute the EOMs of ROPS
VSG-3 were computed and are shown in the parameter space of subsystem. Computational results are given in the first column
VSG-3, ( H 3 ,D3 ) in Fig. 9. They provided the guiding of Table II. It can be seen that modal frequencies of the EOMs
information for the parameters setting of VSG-3 to ensure H 3 identified by the FFT and listed in the second column of Table
and D3 being set outside the prohibited regions. In this study II were close to the actual frequencies of EOMs computed from
case, H 3 was set to be 2 as major axis and D3 was set to be 1 the parametric model of ROPS subsystem.
as minor axis of ellipses shown in Fig.9. Secondly, H 3 and D3 of VSG-3 were set to be in the
×
1.0
0.639 Hz
prohibited regions consecutively and their values are given in
1.011 Hz the first column of Table III. When VSG-3 were set with those
values of H 3 and D3 listed in the first column of Table III
|Frequency (f)|

0.782 Hz
0.5 0.401 Hz separately, oscillation mode of VSG subsystem was  g as
given in the second column of Table III. Comparing the first
column of Table II and the second column of Table III, it can be
0.0
seen that the modal proximity happened consecutively, i.e.,
 g   si , i  1, 2,3, 4 when H 3 and D3 were set to be in the
0.2 0.4 0.6 0.8 1.0 1.2 (Hz)
Fig. 8. Results of the FFT to identify the frequencies of power system EOMs
TABLE II Evaluation of the FFT results prohibited regions in Fig. 9.
Modal frequencies of the EOMs TABLE III Evaluation of system small-signal angular stability when the
EOMs of the ROPS subsystem parameters of VSG-3 were set in the prohibited regions in Fig. 9
identified by the FFT
computed from parametric model
( si , i  1, 2,3, 4 ) EOM of interconnected
Parameters setting Oscillation mode of
s1   0.24+j6.27 6.35(rad/s.) of VSG-3 VSG-3 model with the worst
damping
s 2   0.21+j4.88 4.91(rad/s.) H3 =4.05,D3 =3.56 g   0.44+j6.35 ˆ  0.21+j6.23
s1
s 3   0.25+j3.99 4.01(rad/s.)
H3 =6.76,D3 =5.41 g   0.40+j4.91 ˆs 2   0.06+j4.89
s 4   0.15+j2.53 2.52(rad/s.)
H3 =10.13,D3 =6.49 g   0.32+j4.01 ˆs 3  0.06+j3.94
H3 =25.69,D3 =9.25 g   0.18+j2.52 ˆs 4   0.14+j2.47
The EOMs of ROPS subsystem can also be identified by
using other algorithms, such as Prony analysis, rather than the Thirdly, EOMs of interconnected model of example
FFT adopted in the demonstrated above. Damping and MTDC/AC power system were computed by using the
frequency of EOMs may be identified together. In addition, by parametric model when H 3 and D3 of VSG-3 were set to be in
using the data of phase measurement units (PMUs), the EOMs the prohibited regions consecutively. For each of four different
of ROPS subsystem can also be identified [23]. However,
settings listed in the first column of Table III, the EOM with the
different algorithms are of their own merits and drawbacks. In
worst damping was identified and are listed in the third column
practical application, the algorithm needs to be carefully
selected [24]. of Table III. It can be seen that if parameters of VSG-3 were set
For example, Prony analysis was used to identify the EOMs to be in the prohibited regions in Fig. 9, damping of
of ROPS subsystem by using the recorded response of the low-frequency electromechanical power oscillations decreased
system of Fig. 7. Results of identification are: as caused by VSG-3. Growing low-frequency
s1   0.29+j6.15, s 2   0.45+j4.77, s 3   0.12+j4.27, electromechanical power oscillations occurred in the example
s 4   0.81+j2.84. MTDC/AC power system when H3  4.05, D3  3.56 or
H3  10.13, D3  6.49 . This confirmed the importance of
It can be seen that the identification is close to the real values
of EOMs listed in the 1st column of Table II. Both the damping guiding information for parameters setting of VSG-3 presented
and frequency of EOMs were identified. in Fig. 9.
To avoid the modal proximity between the oscillation mode
H3
Prohibited regions
of VSG-3 and the ROPS subsystem, H 3 and D3 can be set as
30 H3  8.22 and D3  6.08 such that H 3 and D3 were set
outside the prohibited regions as indicated by the cross in Fig. 9.
When H3  8.22 and D3  6.08 , the EOM of interconnected
15 model with the worst damping was  ˆ  0.13  j 4.13 . It
s3
confirmed that when H3  8.22 and D3  6.08 , VSG-3 caused
no problem of small-signal angular stability to the example
0 MTDC/AC power system.
0 3 6 9 12 15 D3
Fig. 9. Prohibited regions of parameters setting of VSG-3

0885-8950 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2019.2896149, IEEE
Transactions on Power Systems

10
wind power generation and transmission. Model and
Power-angle deviation between VSG-3
The case of modal proximity
The case of no modal proximity parameters of the SGs recommended in [19] were used. Model
15
and SG-1 (deg.) and parameters of the VSGs given in [21] were adopted. Wind
20
farms were modelled as the aggregated PMSGs for the wind
power generation. Model and parameters of the PMSGs
25
recommended in [22] were used. Following test was conducted
to examine the impact of VSG-1 and application of proposed
30
0 1 2 3 4 5 6 7 8 9
Time(s)
10
method to guide the parameters setting of VSG-1.
4.2 Firstly, the FFT was used to scan the frequency of EOMs of
Active power output from VSG-3 (p.u.)

The case of modal proximity the example power system by using a simulation result, which
The case of no modal proximity
4.1 was assumed to be the recorded measurement of system
response. Results of frequency scanning are presented in Fig.
4.0 12 to indicate that frequencies of EOMs were 0.21Hz, 0.44 Hz,
0.48Hz, 0.54Hz, 0.7Hz, 0.82Hz, 1.1Hz and 1.3Hz. When the
3.9 parameters of VSG-1 were set, it should ensure that frequency
Time(s)
of oscillation mode of VSC-1 was not in the proximity to those
3.8
0 2 4 6 8 10 scanned frequencies of EOMs.
Fig. 10. Simulation results of study case 2 To demonstrate and evaluate the above guideline to set the
parameters of VSG-1, the EOMs of example power system
Confirmation of non-linear simulation is given in Fig. 10. At
shown by Fig. 11 were calculated. Fig. 13 presents one example
0.1 second of simulation, 20% of the load indicated by L in the
example MTDC/AC power system was lost and the lost load result of evaluation made for the EOM, s  0.15  j 7.04 .
was recovered in 100ms. Two cases, which were evaluated Frequency of the EOM was about 1.1Hz. When parameters of
above by modal analysis, were compared by the simulation. VSG-1 were set to be H  7.85, D  2.51 , oscillation mode of
One case was when H3  10.13, D3  6.49 such that  g   s 3 VSG-1 was g  0.16  j 7.03 . Its frequency was about 1.1Hz.
and ˆ  0.06  j3.94 as listed in the third column of Table III. Modal proximity happened at point ○
5 indicated in Fig. 13.
s3
This was the case that VSG-3 caused growing Parameters of VSG-1 can be tuned to be either
electromechanical oscillations. The other case was when H  6.25, D  2.25 or H  10.7, D  2.57 such that the
H3  8.22 and D3  6.08 such that modal proximity was
ˆ  0.13  j 4.13 . It can be seen that when
oscillation mode of VSG-1 moved to point ○
6 or ○
7
avoided and  s3 respectively. After the parameters of VSG-1 were tuned, modal
parameters of VSG-3 were set to be outside the prohibited
regions in Fig. 9, no problem of small-signal angular stability proximity at point ○
5 was eliminated.
occurred. To confirm the effectiveness to eliminate the modal
C. Study case 3: a large-scale example power system proximity at point ○
5 by tuning parameters of VSG-1, the

26 9 EOMs and oscillation mode of VSG-1 of interconnected model

25
27 28 38 of example large-scale power system were calculated. Their
2 18 16 trajectories are displayed in Fig. 13 by solid curves. It can be
37 29
30 8 19
6 24 seen that when modal proximity happened at point , the EOM
1
1
17
20
33
35 and oscillation mode of VSG-1 were ˆs  0.06  j 6.94 and
3
4 15
34
21 22
36
ˆ  0.37  j 6.98 respectively. The example large-scale
g
14
39 VSG-1 23 power system was unstable. After parameters of VSG-1 were
tuned, ˆs and ˆg moved into the left half of complex plane
12 VSG-2 VSG-3
11 13
5 10 VSG-4 such that the example power system became stable.
6
9 7
×106
32 Wind farms 1.4
31 3
8 MTDC 0.21Hz
2 NEPS
Fig. 11. Configuration of a large-scale example MTDC/AC power system
|Frequency (f)|

Fig. 11 shows the configuration of a large-scale example 1.1Hz

0.7
MTDC/AC power system, where a wind farm was connected 0.82Hz
1.3Hz

directly to the well-known 39-nodes New England power 0.48Hz

system [25]. Two wind farms were connected to the example 0.44 0.7Hz
Hz 0.54Hz
power system through a three-terminal DC network. The wind
(Hz)
farms and the MTDC network were connected to the example 0.0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
power system via four VSCs, which implemented the VSG
control. Hence, they were four VSGs for the grid connection of Fig. 12. Results of the FFT to identify the frequencies of EOMs of example
large-scale power system

0885-8950 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2019.2896149, IEEE
Transactions on Power Systems

Image axis (rad/s)

8 VSG are set, extra care should be taken to avoid the detrimental
EOMs of ROPS subsystem
Oscillation mode of impact of modal proximity. Based on the analysis about the
VSG subsystem
6 modal proximity, a method is proposed to calculate the
7.5 prohibited regions in the parameter space of the VSG.
Calculation of prohibited regions can be conducted by using the
5
field measurement even if the data of power system are not
7 ̂ g s ̂ s available such that system parametric model cannot be
g
established. It provides the important guiding information for
6.5
setting parameters of VSG to evade its negative impact.
Oscillation modes of
interconnected model
Impact of VSG can be assessed after the VSG is designed by
Trajectory of Oscillation
mode of VSG subsystem 7 applying the modal analysis to the interconnected model of
6
Trajectories of oscillation modes
of interconnected model Real axis (rad/s) power system with the VSG being installed. However, in
-0.5 -0.4 -0.3 -0.2 -0.1 0 0.1 0.2 practice, the VSGs and power system may have different
owners and operators. For technical and commercial reasons, it
Fig. 13. Modal positions and trajectories in case 3
is often difficult for them to exchange detailed models and data
Confirmation of non-linear simulation is presented in Fig. 14. in order to establish the interconnected model of entire power
At 0.1 second of simulation, a three-phase to-earth short circuit system with the VSGs to examine the impact of VSGs on
occurred at node 11 in the example large-scale power system of power system small-signal angular stability. The proposed
Fig. 11, which was cleared in 100 ms. Two cases were method in the paper enables the power system to provide the
simulated for comparison: (1) The case of modal proximity at VSGs the calculated prohibited regions to guide the parameters
point ○5 indicated in Fig. 13 when H  7.85 and D  2.51 ; setting of VSGs without handing over the model and data of
(2) The case of no modal proximity at point ○ 6 in Fig. 14 power system completely. This guiding information can also be
when H  6.25 and D  2.25 . The simulation results a part of grid connection code of VSGs to be enforced by the
demonstrate and confirm the importance and correctness of power system without asking the VSGs to release the detailed
parameters setting of VSG-1 according to the guideline information of model and data of the VSGs. That is the main
proposed from the results of frequency scanning. advantage of the method proposed in the paper.
16 The modal analysis has been extensively use to examine the
Power-angle deviation between VSG-1

The case of modal proximity

The case of no modal proximity small-signal angular stability of power system with
13 grid-connected WTGs. Contributions of the paper are the
and SG-1 (deg.)

analysis about the impact of modal proximity, a modal

10
condition under which the VSGs may possibly degrade the
small-signal stability of power system. In the paper, concept of
modal proximity caused by the VSGs was introduced by
7
applying the damping torque analysis. Then, analysis was
Time(s) conducted to indicate that when the modal proximity happens,
4
0 1 2 3 4 5 6 7 8 9 10 system small-signal angular stability may likely decrease.
4.30 Finally, how the VSGs can be designed to avoid this
Active power output from VSG-1 (p.u.)

The case of modal proximity

The case of no modal proximity
4.15
4.00
3.85
3.70
0 2
Fig. 14. Simulation results of study case 3
IV. CONCLUSIONS
Grid connection of a VSG may affect power system
small-signal angular stability positively or negatively. Analysis
in this paper revealed that if parameters of the VSG were set to
cause the modal proximity with the EOMs of power system,
impact of grid-connected VSG on power system small-signal
angular stability was detrimental. Thus, when the parameters of
4 6
unfavorable modal condition is proposed and demonstrated.
It is important to extend the study presented in the paper to
consider the measurement-based approach, such as the PCA or
Kernel based modal analysis, when the parametric model of
power system with the WTGs are not available. Although this
aspect has been demonstrated in the paper, further carefully and
in-depth investigation shall be carried out in near future.
Time(s)
8 10 REFERENCES
[1] Ulbig A , Borsche T S , Göran Andersson. "Impact of Low Rotational
Inertia on Power System Stability and Operation", IFAC Proceedings
Volumes, vol. 47, no. 3, pp. 7290-7297, 2014.
[2] J. Driesen and K. Visscher, "Virtual synchronous generators," in 2008
IEEE Power and Energy Society General Meeting - Conversion and
Delivery of Electrical Energy in the 21st Century, Pittsburgh, PA, 2008, pp.
1-3.
[3] H. P. Beck and R. Hesse, "Virtual synchronous machine," in 2007 9th
International Conference on Electrical Power Quality and Utilisation,
Barcelona, 2007, pp. 1-6.

0885-8950 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPWRS.2019.2896149, IEEE
Transactions on Power Systems

[4] M. P. N. van Wesenbeeck, S. W. H. de Haan, P. Varela and K. Visscher,

"Grid tied converter with virtual kinetic storage," in 2009 IEEE Bucharest
PowerTech, Bucharest, 2009, pp. 1-7.
[5] R. Hesse, D. Turschner, and H.-P. Beck, "Micro grid stabilization using the
virtual synchronous machine," in Proc. International Conf. on Renewable
Energies and Power Quality (ICREPQ’09), Spain, 2009, pp. 1-7.
[6] Q. C. Zhong and G. Weiss, "Synchronverters: Inverters That Mimic
Synchronous Generators," IEEE Trans. Ind. Electron., vol. 58, no. 4, pp.
1259-1267, April. 2011.
[7] Q. C. Zhong, P. L. Nguyen, Z. Ma and W. Sheng, "Self-Synchronized
Synchronverters: Inverters Without a Dedicated Synchronization Unit,"
IEEE Trans. Power Electron., vol. 29, no. 2, pp. 617-630, Feb. 2014.
[8] W. Du, H. F. Wang and R. Dunn, "Power system small-signal oscillation
stability as affected by large-scale PV penetration," 2009 International
Conference on Sustainable Power Generation and Supply, Nanjing, 2009,
pp. 1-6.
[9] B. Li, L. Zhou, X. Yu, C. Zheng and J. Liu, "Improved power decoupling
control strategy based on virtual synchronous generator," IET Power
Electron., vol. 10, no. 4, pp. 462-470, 3 31 2017.
[10] H. Wu, X. Ruan and D. Yang, et al., "Small-Signal Modeling and
Parameters Design for Virtual Synchronous Generators," IEEE Trans. Ind.
Electron., vol. 63, no. 7, pp. 4292-4303, July 2016.
[11] J. Liu, Y. Miura, H. Bevrani and T. Ise, "Enhanced Virtual Synchronous
Generator Control for Parallel Inverters in Microgrids," IEEE Trans. Smart
Grid, vol. 8, no. 5, pp. 2268-2277, Sept. 2017.
[12] H. Xu, X. Zhang and F. Liu, et al, "A Reactive Power Sharing Strategy of
VSG Based on Virtual Capacitor Algorithm," IEEE Trans Ind. Electron.,
vol. 64, no. 9, pp. 7520-7531, Sept. 2017.
[13] Y. Hirase, K. Sugimoto, K. Sakimoto and T. Ise, "Analysis of Resonance in
Microgrids and Effects of System Frequency Stabilization Using a Virtual
Synchronous Generator," IEEE J. of Emerg. Sel. Topics Power Electron.,
vol. 4, no. 4, pp. 1287-1298, Dec. 2016.
[14] Sadamoto, Tomonori, Aranya Chakrabortty, Takayuki Ishizaki and
Jun-ichi Imura, "Retrofit Control of Wind-Integrated Power Systems."
IEEE Transactions on Power Systems , 2017, early access.
[15] J. Alipoor, Y. Miura and T. Ise, "Stability Assessment and Optimization
Methods for Microgrid with Multiple VSG Units," IEEE Trans. Smart
Grid, early access, 2018.
[16] B. Zhang, X. Yan and S. Y. Altahir, "Control design and small-signal
modeling of multi-parallel virtual synchronous generators," in 2017 11th
IEEE International Conference on Compatibility, Power Electronics and
Power Engineering (CPE-POWERENG), Cadiz, 2017, pp. 471-476.
[17] S. Mei, T. Zheng, L. Chen, C. Li, Y. Si and Y. Guo, "A comprehensive
consensus-based distributed control strategy for grid-connected PV-VSG,"
in 2016 35th Chinese Control Conference (CCC), Chengdu, 2016, pp.
10029-10034.
[18] P. Kunder. "power system stability and control", McGraw-Hill
Professional, 1994.
[19] H. F. Wang and F. J. Swift, "A unified model for the analysis of FACTS
devices in damping power system oscillations. I. Single-machine
infinite-bus power systems," IEEE Trans. Power Del., vol. 12, no. 2, pp.
941-946, Apr 1997.
[20] L. Xu, L. Fan and Z. Miao, "DC Impedance-Model-Based Resonance
Analysis of a VSC–HVDC System," IEEE Trans. Power Del., vol. 30, no.
3, pp. 1221-1230, Jun. 2015.
[21] L. Shang, J. Hu, X. Yuan, et al, "Modeling and Improved Control of
Virtual Synchronous Generators Under Symmetrical Faults of Grid,"
Proceedings of the CSEE, vol. 37, no. 2, pp. 403-412, 2017.
[22] S. Li, T. A. Haskew and R. P. Swatloski, "Optimal and direct-current
vector control of direct-driven PMSG wind turbines," IEEE Trans. Power
Electron., vol.27, no. 5, pp.2325-2337, May. 2012.
[23] Nabavi, Seyedbehzad , J. Zhang and A. Chakrabortty . "Distributed
Optimization Algorithms for Wide-Area Oscillation Monitoring in Power
Systems Using Interregional PMU-PDC Architectures." IEEE
Transactions on Smart Grid, vol.6, no. 5, pp.2529-2538, 2015.
[24] Khazaei J, Fan L, Jiang W, et al. "Distributed Prony analysis for real-world
PMU data", Electric Power Systems Research, vol.133, no. 1, pp.113-120,
2016.
[25] Rogers, G.: ‘Power system oscillations’ Kluwer, Norwell, MA, 2000.

0885-8950 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.