Steady State Stability

l The ability of the power system to remain in synchronism

when subject to small disturbances
l Stability is assured if the system returns to its original
operating state (voltage magnitude and angle profile)
l The behavior can be determined with a linear system
model
l Assumption:
u the automatic controls are not active
u the power shift is not large
u the voltage angles changes are small

Power Systems I
Steady State Stability
l Swing Equation
H i d 2d i
2
= Pmi - Pmax sin d
p f 0 dt
l Small disturbance modeling
d = d 0 + Dd Consider a small deviation
H d 2 (d 0 + Dd )
2
= Pm - Pmax sin(d 0 + Dd )
p f0 dt
H d 2d 0 H d 2 Dd
2
+ 2
= Pm - Pmax [sin d 0 cos Dd + cos d 0 sin Dd ]
p f 0 dt p f 0 dt
Power Systems I
Steady State Stability
l Simplification of the swing equation
H d 2d 0 H d 2 Dd
2
+ 2
= Pm - Pmax [sin d 0 cos Dd + cos d 0 sin Dd ]
p f 0 dt p f 0 dt
Substitute the following approximations
Dd << d cos Dd » 1 sin Dd » Dd
H d 2d 0 H d 2 Dd
2
+ 2
= Pm - Pmax sin d 0 - Pmax cos d 0 × Dd
p f 0 dt p f 0 dt
Group steady state and transient terms
H d 2d 0 H d 2 Dd
2
- Pm + Pmax sin d 0 = - 2
- Pmax cos d 0 × Dd
p f 0 dt p f 0 dt
Power Systems I
Steady State Stability
l Simplification of the swing equation
H d 2d 0 H d 2 Dd
2
- Pm + Pmax sin d 0 = - 2
- Pmax cos d 0 × Dd
p f 0 dt p f 0 dt
H d 2 Dd
0= 2
+ Pmax cos d 0 × Dd
p f 0 dt
Steady state term is equal to zero
dPe d
= Pmax sin d = Pmax cos d 0 = Ps
dd d0 dd d0

H d 2 Dd
2
+ Ps × Dd = 0 Second order equation.
p f 0 dt The solution depends on the roots of the
Power Systems I characteristic equation
Stability
l Stability Assessment
u When Ps is negative, one root is in the right-half s-plane, and the
response is exponentially increasing and stability is lost
u When Ps is positive, both roots are on the jw axis, and the motion
is oscillatory and undamped, the natural frequency is:

2 p f0
s =- PS
H
p f0
wn = PS
H
Root locus a

Power Systems I S-plane

jw
Damping Torque
dd
PD = D Damping force is due to air-gap interaction
dt
H d 2 Dd dDd
2
+D + PS Dd = 0
p f 0 dt dt
d 2 Dd p f 0 dDd p f 0
2
+ D + PS Dd = 0
dt H dt H
d 2 Dd d Dd 2
2
+ 2 z w n + w n Dd = 0
dt dt
D p f0
z=
2 H PS
Power Systems I
Characteristic Equation

2 2
s + 2zw n s + w = 0 n

D p f0
z = <1 for normal operation conditions
2 H PS
2
s1 , s2 = -zw n ± j w n 1 - z complex roots

wd = wn 1 - z 2 the damped frequency of oscillation

Power Systems I
Laplace Transform Analysis
dDd
x1 = Dd , x2 =
dt
é x&1 ù é 0 1 ù é x1 ù
ê x& ú = ê- w 2 ú ê ú = x& = Ax
ë 2û ë n - 2zw n û ë x2 û
L {x& = Ax} ® sX( s ) - x(0) = AX( s )
X( s ) = (sI - A ) x(0)
-1

és -1 ù
( sI - A ) = ê 2
ëw n s + 2zw n úû
é s + 2zw n 1ù
ê -w 2 s ú
Power Systems I
X( s ) = ë2 n û x ( 0)
s + 2zw n s + w n2
Laplace Transform Analysis

Dd ( s ) =
(s + 2zw n )Dd 0
s 2 + 2zw n s + w n2
w n2 Dd 0
Dw ( s ) = 2
s + 2zw n s + w n2
Dd 0
Dd (t ) = e -zw nt sin (w d t + q ), q = cos -1 z
1-z 2
w n Dd 0
Dw (t ) = - e -zw nt sin (w d t )
1-z 2
d (t ) = d 0 + Dd (t ), w (t ) = w 0 + Dw (t )
Power Systems I
Example

l A 60 Hz synchronous generator having inertia constant H =

9.94 MJ/MVA and a transient reactance X¢d = 0.3 pu is
connected to an infinite bus through the following network.
The generator is delivering 0.6 pu real power at 0.8 power
factor lagging to the infinite bus at a voltage of 1 pu.
Assume the damping power coefficient is
D = 0.138 pu. Consider a small disturbance of 10° or 0.1745
radians. Obtain equations of rotor angle and generator
frequency motion.

Power Systems I
Example

X'd = 0.3 X12 = 0.3

G inf

Xt = 0.2 X12 = 0.3 V = 1.0

Power Systems I
Example
30

25

Delta, degree
20

15

10
0 0.5 1 1.5 2 2.5 3
t, s ec
60.1

60.05

60
f, Hz

59.95

59.9

59.85
0 0.5 1 1.5 2 2.5 3
t, s ec

Power Systems I