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Concepts of Synchronous Machine Stability
Concepts of Synchronous Machine Stability
4, APRIL 1969
INTRODUCTION
THE PHENOMENON of stability of synchronous machine Fig. 1. Linearized small perturbation relations of a single generator
operation has received a great deal of attention in the past supplying an infinite bus through external impedance.
and will receive increasing attention in the future. As economies
in system design are achieved with larger unit sizes and higher
per unit reactance generating and transmission equipment de- ized by a small time constant of between 0.03 and 0.05 second
signs, more emphasis and reliance is being placed on controls to which is typical of thyristor-type systems.
provide the required compensating effects with which to offset The method of analysis of course can easily be extended to
the reductions in stability margins inherent from these trends excitation systems with different dynamic characteristics. It is
in equipment design [1]. believed that from this analysis covering a wide range of con-
Concurrent with these trends are improvements in calculating ditions for the single machine case, one can project recommen-
methods and computing capability which permit predicting dations for stabilizing machines in multimachine systems.
complex dynamic effects [2]-[5], providing the means for de-
signing control equipment with the proper characteristics. DYNAMICS OF A SINGLE MACHINE CONNECTED TO A
Among several aspects of stability of synchronous machine LARGE SYSTEM-FUNDAMENTAL CONCEPTS
operation, an important one is the mode of small perturbation Block Diagranm Relations
stability referred to as steady-state, dynamic or conditional
stability. Increasing attention has been focused recently on the The phenomena of stability and damping of synchronous
effects of excitation control on the damping of oscillations which machines for the mode of small perturbations can be examined
characterize the phenomena of stability. In particular, it has with the aid of block diagrams relating the pertinent variables of
been found useful and practical to incorporate transient sta- electrical torque, speed, angle, terminal voltage, field voltage,
bilizing signals derived from speed, terminal frequenicy, or power alnd flux linkages. The relations in the block diagrams discussed
[6], [7] superposed on the normal voltage error signal of voltage in this paper apply to a 2-axis machine representation with a
regulators to provide for additional damping to these oscillations. field circuit in the direct axis but without amortisseur effects.
This paper deals with an analysis of the phenomena of stability Although a more rigorous representation should include amortis-
of synchronous machines under small perturbations by examining seur or solid iron eddy current effects in both axes, this simpler
the case of a single machine connected to a large system through representation is sufficient to establish the basic effects and
external impedance. The object of this analysis is to develop develop concepts.
insights into effects of excitation systems and to establish an The basic phenomenon in question is the stability of the torque-
understanding of the stabilizing requirements for such systems. angle loop, i.e., the behavior of the rotor angle and speed follow-
By examining a wide range of system and machine parameters ing a small disturbance such as a mechanical torque disturbance.
and probing into causes and effects, a logical set of guide rules Although the whole subject can be and has been explored by
and concepts is developed to explain the nature of the problem various stability analysis techniques such as Routh's criterion
and to arrive at a set of recommendations for stabilizing through [8], eigenvalue analyses [4], etc., considerable value is found in
excitation control. In order to limit the scope of this paper, the analyzing the phenomena in the light of elementary servo-
excitation system investigated is one which could be character- mechanism and frequency response theory, thereby developing
an insight into the basic elements that cause various effects.
We will attempt to relate the familiar concepts of small
Paper 68 TP 129-PWR, recommended and approved by the perturbation stability of a single machine supplying an infinite
Power Generation Committee of the IEEE Power Group for presen-
tation at the IEEE Winter Power Meeting, New York, N. Y., bus through external impedance to the elements and relations
January 28-February 2, 1968. Manuscript submitted September shown in Fig. 1. These relations and block diagram have been
18, 1967; made available for prirnting November 29, 1967. treated previously in [9]. The parameters in these relations are
The authors are with the General Electric Company, Schenec-
tady, N. Y. listed in the Appendix. They are derived by small perturbation
DEMELLO AND CONCORDIA: SYNCHRONOUS MACHINE STABILITY AND EXCITATION CONTROL 317
analysis on the fundamental synchronous machine equations,
and hence are functions of machine and system impedances as
well as operating point.
The parameters of Fig. 1 are defined as follows:
Te
K =
change in electrical torque for a change in
Ab| Eqf rotor angle with constant flux linkages in the Fig. 2. Linearized torque-angle relationships for the condition of
the constant flux linkages in the d axis.
d axis
AEqq
1 K Ln D -r
K4 = demagnetizing effect of a change in rotor angle ATD L-.J
Fig. 3. Torque-angle loop defining synchronizing torques AT. and
damping torques ATD.
K5 Aet| change in terminal voltage with change in
Ae rotor angle for constant E ' Damping Torques, Synchronizing Torques-Damping Ratio
Before introducing the effects of field losses and excitation
change in terminal voltage with change in control, it is desirable to develop a few simple concepts relating
AEQ'Eq' for constant rotor angle the behavior of the second-order system of Fig. 3 which intro-
field open circuit time constant duces a damping term D.
Td8' = K3T&' effective field time constant under load. In this system, damping is provided by developing a negative
torque proportional to and in time phase with speed pa. The
resulting characteristic equation is
It is important to recognize that, with the exception of K3
which is only a function of the ratio of impedances, all other S2 + (D/M) S + (Ki 377/M) = 0 (1)
parameters change with loading, making the dynamic behavior giving rise to damped oscillations with frequency ',, Vi -t
of the machine quite different at different operating points. and damping ratio r where
Since these parameters change in rather complex manner, it is
difficult to reach general conclusions based on parameter values Wn = VK1 377, v= 2D/VK1M 377.
for one operating point only. One form of instability is approached as the damping ratio
goes to zero. For normal values of damping ratios, the frequency
Performance with Constant d-Axis Flux Linkages of oscillation is not materially different from the value for zero
Returning to Fig. 1, let us first look at the portion shown in damping ratio. For conceivable ranges of inertia, impedances,
Fig. 2, which is pertinent for the condition of constant flux and loading values, this frequency of oscillation will be in the
linkages in the d axis. neighborhood of 0.5 to 2 Hz with the possibility of extreme
This portion shows a torque-speed-angle loop which gives rise values of up to 4 Hz at the high end and 0.1 Hz at the low end.
to a natural period of oscillation co,, = a/377 K1/M rad/s. Ne- At this point it is appropriate to introduce the concept of
glecting damping due to electrical load characteristics, we note synchronizing and damping torques. At any given oscillation
that this torque-speed-angle loop is a pure oscillator with zero frequency, braking torques are developed in phase with the
damping much like a spring-mass system. The lighter the ma- machine rotor angle and in phase with the machine rotor speed.
chine (smaller M) and the higher the transient synchronizing The former are termed synchronizing torques and the latter
power coefficient K1, the higher is the oscillation frequency. damping torques. The torque oscillations developed by any
From the relations in the Appendix, we note that K1 is decreased particular means can be broken down into these components for
by increasing system and machine reactances. It is also affected an insight as to their effect on stability.
by machine loading in a somewhat peculiar manner due to Stability can be endangered by a lack of either or both syn-
transient saliency effects. chronizing and damping torques. The traditional stability cri-
In most practical cases K1 is positive giving rise to oscillations. terion with which industry is most acquainted concerns the tests
It is possible in very unusual cases of very long ties and relative for positive synchronizing torques which determine whether or
high loading on these ties to have K1 go negative. In these cases, not forces will be set up to restore the rotor angle of the machine
even if we were to maintain constant flux linkages in the d axis, following an arbitrarily small displacement of this angle. No
the machine would be unstable in a real root stability sense, correspondingly simple guide rules have been developed to test
i.e., the machine angle would run away monotonically and expo- for the possibility of another form of instability which would
nentially with time. Although with special stabilizing in the arise for cases where damping torques became negative. This
control of excitation, it is possible to render some of these latter form of instability is becoming increasingly important as
systems stable, they are primarily of academic rather than machine stable operation is more than ever dependent on auto-
practical interest. matic control of excitation.
318 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, A PRIL 1969
As
For very low frequencies
AT COM PONENT
T - -K2K6K5A8
1/K3 + K6Ke
Aet
-K2K5sA for high values of KR.
K8
STABILIZING FUNCTION
General Approach
The insights that have been developed into the problem of
(a)
providing damping from stabilizing signals may convince one
that there is no way of developing a universally applicable
stabilizing function that would be optimal for a wide range of
machine and system parameters, and operating conditions. How-
ever, even if not optimal, it would be highly desirable to have
a signal transfer function which would provide damping in those
cases where it was badly needed without deteriorating damping
in those instances where there was no particular need for pro-
viding supplementary damping. (b)
The single machine against infinite bus analysis outlined in Fig. 11. External impedance system configurationis for single
machine against infinite bus.
this paper has been used to explore a variety of conditions of a
single machine with different parameters and loading conditions.
For each of these conditions there are any number of functions TABLE I
which provide adequate damping simply by having the right SINGLE MACHINE AGAINST INFINITE Bus THROU(CH EXTERNAL
REACTANCE-TERMINAL VOLTAGE = 1.0
range of magnitude and phase at the particular frequency of
oscillation of concern. External
By examining the phase and magnitude of these functions as Mlachine Inertia Reactance Machinie Loadinig
related to the frequency of oscillation that was pertinent for the Type H Xe P +jQ
particular case, we arrive at bands of phase angles and magni-
tudes as functions of frequency of oscillation. It turns out that Hydro, 1.5, 5 0.1, 0.4, 0.1 + jO, 0.5 + jO,
steam 0.7, 1.0 1 + jO.5, 1 + jO,
this band falls within ranges for which a general function with 1 -jO.5
a rather well defined range of parameters serves reasonably well.
Heuristic reasoning permits casting the results of this single
machine analysis to the general multimachine case. It is known TABLE II
that in a multimachine situation there is a wide band of modes
of oscillation ranging from those between tightly coupled light External
Machine Inertia Impedance Machine Loading
machines to those between groups of machines separated by Type H XE RE P +jQ
long ties. It is reasonable then to expect that to be effective in
the general power system environment, the stabilizing signal on Steam, 1.5, 5.0 1.0 1.0 1.0 + jO,
any given machine must acconmmodate this wide range of possi- hydro 1.5 + jO.3,
1.5 - jO.3,
bilities. Further, from a practical standpoint, it is essential that 0.5 + jO.3,
the range of adjustment not be critical since systems change from 0.5 - jO.3
month to month as do operating conditions. 5.0 1.0 1.0 + jO,
1.2 + jO.1,
1.2 - jO.1,
0.8 + jO.3,
Range of Single Machine Cases Studied 0.8 - jO.3
The parameters K1, K2, K3, K4, K5, and K6, defined in the
Appendix, were calculated for a number of cases.
Two system configurations were studied. One was described Guide Rules for Stabilizing Function Phase and Milagnitude
by a single machine supplying an infinite bus through an external Requirements
impedance, Fig. 11 (a). Table I describes all the different combi- As developed in the Section Phase and Magnitude Relations,
nations of parameters and loading explored with this system the lead phase angle of the signal G (S) at a particular oscillation
configuration. frequency w required to provide pure damping at that frequency
The machine constants that were used are would be equal to the phase lag of the expression
Hydro Steam
AT K2K,
Aet ref 1/K3 + KeK6 + S (TI/K3+ Tdo') + S2 Tdo' T (
Xd 1.14 1.6
Xd 0.24 0.32 The phase angle of (19) as well as the reciprocal of its magnitude
Xq 0.66 1.55 A for the frequency of oscillation w = V/K1377/1M radians was
Tdo' 12 6 calculated for the various cases listed above using the expressions
for the coefficients K1 to K6 in the Appendix.
As far as a criterion for the required magnitude of the signal
The second configuration attempting to simulate the condition is concerned, we could arbitrarily select a magnitude of this
of a system supplying local load connected to a large system signal that would result in a damping ratio of 0.5.
through a weak tie is shown on Fig. 11 (b). Referring to the torque-angle characteristic equation
Table II lists the different combinations of parameters ex-
plored for this configuration. S2+ (D/M)S+ (K1377/M) = 0 (1)
DEMELLO AND CONCORDIA: SYNCHRONOUS MACHINE STABILITY AND EXCITATION CONTROL 323
KfT= o K/T =5 K/T=io K/T 20 K/T=O K/T= 1I K/T. 20 K/T =30 KiT=1O0 K/T=K5 K/T= KT 30 K/T= 10 KT= 15 K/T'20 K/T=30
LoS H =.=1-.5
J~ .- .AVPwAjvv=- NAA- AAH5 .T -
5 ---b~- -1H =5
H = 1.5 -- *- H =5 --O
(a) (b) (a) (b)
K/T=O. K4=IO K/TgO K/T=30 K/r=O K/T= O K/T=20 K/T = 10 K,T=15 KT=o20 K/Tr30 K/T=IO KT = 15 K/T 20 K/T.30
H= 1.5 --
-
H= 5
*4 H = 1. 5 *0 -4 H =5 --4
4 SEC
4 SEC
(C) (d) (c) (d)
Stabilizing Function Stabilizing Function
For (a) and (b): For (a) and (b):
KS(1 + S/8 + S2/64) KS(1 + S/8 + S2/64)
(1 + TS)(1 + S/20 + S2/400) (1 + TS)(1 + S/20 + S2/400)
For (c) and (d) T = 3 seconds: For (c) and (d):
KS(1 + S/8)2 KS(1 + S/8)2
(1 + TS)(1 + S/10 + S2/400)2 (1 + TS)(1 + S/20)2
T = 3 seconds
Xe = 0.1, P + jQ = 1.0 + j0.5,
RE = 1.0, XE = 5.0, P + jQ = 1.2 + j0.1,
Ki = 1.01, K2 = 1.149, K3 = 2.78, K= -0.191, K2 = 2.35, Ka = 2.227,
K4 = 1.47, KG = -0.097, K6 = 0.419. K4 = 0.046, K5 = -0.136, K6 = 1.062.
Fig. 14. Speed deviations of a steam unit following a small step Fig. 15. Speed deviation of a steam unit following a small step
decrease in mechanical torque. Effect of stabilizing with speed- decrease in mechanical torque. Effect of stabilizing with speed-
derived signal. Conditions: regulator-exciter gain Ke = 25, T4 = derived signal. Configuration of Fig. 11(b). Conditions: regulator-
0.05 second. exciter gain Ke = 25, Tf = 0.05 second.
cates the frequency of oscillation of concern. K5 by its sign and TABLE III
magnitude indicates the extent to which the voltage regulator
per se helps or hinders damping. Finally, K6, as explained in the
co AMw /O S Z for K =60
Section Voltage Regulator Effects on Machine Stability, influences Fig. 14(a) 11.27 81.4 Z980 50 Z860
the phase lag contributed by the voltage regulator loop. Fig. 14(b) 6.17 81.8 /80.30 18 /44.50
Fig. 14 (a) and (b) shows the effects of stabilizing with various Fig. 14(c) 11.27 81.4 Z980 50 /520
strengths of the complex function Fig. 14(d) 6.17 81.8 L80.30 29 L440
KS(1+ S/8+S2/64)
(1 + 3S) (1 + S/20 + S2/400)
In order to illustrate the effect of voltage regulator gain on
for the case of a fully loaded overexcited steam unit supplying damping, we have included in Fig. 16(a) and (b) results of
a stiff system (X0 = 0.1). Cases are shown for inertia constants angle deviations for a step change in mechanical torque for the
of H = 1.5 and H = 5.0. All pertinent constants are listed in case where no stabilizing is used. Fig. 16(c) is for a case where
the captions. the parameter Ks is positive, leading to some benefit in damping
Fig. 14(c) and (d) contains similar results for the case where with voltage regulator gain, whereas Fig. 16(b) shows the
the stabilizing function is composed of real poles and zeros adverse effects of voltage regulator gain on damping for the case
where K5 is negative.
KS (1 + S/8)2
(1 + 3S) (1 + S/20)2 CONCLUSION
Table III lists the values of cw, AM1wL 4, and S L 0 for the The small perturbation stability characteristics of a single
various cases of Fig. 14. machine supplying an infinite bus through external impedance
These values show that for the light inertia cases [Fig. 14(a) have been explored by means of frequency response analyses
and (c)], the first of the stabilizing functions is more effective giving insights into effects of machine and system parameters,
than the second, and this is confirmed by the analog computer voltage regulator gain, and stabilizing functions derived from
results. speed and working through the voltage reference of the voltage
Fig. 15 contains results of similar nature for the configuration regulator.
of local load with high tie reactance (RE = 1, XE = 5) with a The study has explored a variety of machine loadings, machine
relatively high tie loading of 0.2 + jO.1. inertias, and system external impedances with a determination
The two stabilizing functions are almost equally effective. of the oscillation and damping characteristics of voltage or speed
This rather extreme loading case shows that it is possible to following a small disturbance in mechanical torque. An attempt
stabilize with a voltage regulator and supplementary speed has been made to develop some unifying concepts that explain
signal even though the constant flux linkage synchronizing the stability phenomena of concern, and to predict desirable
coefficient K1 is negative. phase and magnitude characteristics of stabilizing functions.
DEMELLO AND CONCORDIA: SYNCHRONOUS MACHINE STABILITY AND EXCITATION CONTROL 325
Expressing all equations in small oscillation form and pre- For the special case of zero external resistance, the expressions
serving the basic variables Ae1, AEq', and Ab, one can derive become
the following relations. -
K
Aq- Ad .id qol2Po COS 00
Aet = K5A6 + K6AEEq' K=Xe + Xd O Xe + Xq
SE
' K3/AEfd K3K4A3
K2 =
E. sin 60
Q 1+ STdo'K3 1+ STdO'K3 Xe + Xd'
A Te = K1/A + K2AEq'
K3 = Xd + xe
where Xd + Xe
E= E s Xd - Xd'
K, =
~~[re sin 6,o+ (Xe.+ Xd') COS 80]
A K4 =
-, EO, sin 60
Xe + Xd
ig.Eo
± aE(Xq-
A
Xd') (Xe+ Xq) sin68 KO = x9 edEo
Xe, + Xq et.
R-cos 6- Xd -e
Xe, + Xd' et,0
E sin °0
eto (eto -Iqo (Xq - Xe) - Ipore) XeXq (Ipo2 + Iqo2) REFERENCES
80 =--
COS
TM
[4] J. M. Undrill, "Dynamic stability calculations for an arbitrary give an excellent insight into transfer function requirements for
number of interconnected synchronous machines," IEEE Trans. static excitation systems.
Power Apparatus and Systems, vol. PAS-87, pp. 835-844, March In our experience, the technique of developing linear transfer
1968.
[5] M. S. Dyrkacz, C. C. Young, and F. J. Maginniss, "A digital functions for a synchronous machine connected through reactance
transient stability program including the effects of regulator, to an infinite bus, and the study of these functions to determine the
exciter, and governor response," AIEE Trans. Power Apparatus requirements of the excitation system, should be the first step in
and Systems), vol. 79, pp. 1245-1257, 1960 (February 1961 sec.). synthesizing excitation system transfer functions. This technique
[6] P. L. Dandeno, A. N. Karas, K. R. McClymont, and W. was used in developing the speed stabilizing signal described in [6]
Watson, "Effect of high-speed rectifier excitation systems on using block diagrams similar to those described by the authors.
generator stability limits," IEEE Trans. Power Apparatus and We question whether the gain KE should be limited to less than
Systems, vol. PAS-87, pp. 190-201, January 1968. Tdo'/2TE as suggested by the authors. It appears that this recom-
[71 F. R. Schleif, H. D. Hunkins, G. E. Martin, and E. E. Hattan, mendation is based on achieving a heavily damped system having a
"Excitation control to improve power line stability," IEEE
Trans. Power Apparatus and Systems, vol. PAS-87, pp. 1426- damping factor of 0.707 for the two time constant system considered.
1434, June 1968. In practice, we think the amortisseur windings should also be con-
[8] C. Concordia, "Steady-state stability of synchronous machines sidered in establishing limits of gain for the controlled-rectifier
as affected by voltage regulator characteristics," AIEE Trans., excitation system.
vol. 63, pp. 215-220, May 1944. The effect of amortisseurs is to reduce the permissible value of
[9] W. G. Heffron and R. A. Phillips, "Effect of modern amplidyne voltage regulator gain to maintain the same relative stability of the
voltage regulators on underexcited operation of large turbine closed-loop system. For example for the system shown in Fig. 17,
generators," AIEE Trans. (Power Apparatus and Systems). in order to maintain a phase margin of 65°, which the relationship
vol. 71, pp. 692-697, August 1952.
[10] H. Chestnut and R. W. Mayer, Servomechanisms and Regulating KB = Tdo'/2TE would give neglecting amortisseurs, the gain must
System Design, vol. 1. New York: Wiley, 1951. be reduced to approximately KE = 0.5 (Tdj/2TE) when including
amortisseur effect. However, if the design criterion for the control
loop were chosen to require 300 phase margin, a commonly accepted
value, instead of 650, the permissible value of voltage regulator gain,
including amortisseur effects would be KE = 4 (Tdo,/2TE), an increase
Discussion in gain of eight times. We have used gains in the range Tdo'/2TR to
4 (Tdo'/2TE) on a number of hydro machines and the higher values
have not created any difficulties.
Equation (17) relates the torque component AT,jw to generator
G. Manchur, K. McClymont, and W. Watson (The Hydro Electric speed variations. It shows that the requirement for phase lead in
Power Commission of Ontario, Toronto, Canada): The authors are the function G (S) will be minimized if the excitation system gain
to be congratulated for their paper which, with careful study, can KE is high. For example, with KE equal to 200, K6 equal to 0.5, and
Tdo,' 5 seconds, the time constant T4'I/K.KR is only 0.05 second
and phase lead would not be required on the usual hydro generator.
Manuscript received February 16, 1968. This is in accordance with our experience since phase lead of the
328 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS, APRIL 1969
stabilizing signal has not been required on aniy of our hydro gener- Negative Damping Torque Component
ators. On the other hand for thermal units, closely coupled to the
system, K6 will be significantly smaller (about 0.2) so that phase Zfd net Efdv f.4dv
lead networks will usually be required for optimum system per-
formance. The use of high gain and a small time constant TE where e , S -.- vI'rror.: - Vt Pa
possible would appear to be superior to the use of phase lead, since
the optimum amount of phase lead required varies with system
conditions and as noted by the authors, it is essential that the 11d induced
Efd induced
excitation system perform satisfactorily over a wide range of system
conditions.
The block diagrams in the paper demonstrate why all successful
stabilizing signals developed to date use a speed or frequency devia-
tion signal or derive a speed signal from generator power variations. tw~
In our work we have used block diagrams based on the same small
perturbation analysis presented by the authors but having a different (a)
form as shown in Fig. 18. This diagram shows the relationship for
balanced conditions of all the currents and voltages which can be Supplemental
measured on a synchronous machine. By including saturation and Net Ifd from Fig. I o Signal
amortisseur windings, this model has provided a basis for comparing
calculated transfer functions with those measured in field tests using 6
Pa
frequency response techniques.
New fdnet I --'
'fd s \Efdas
Positive Damping Torque Component
application of such control to higher speed static systems should be larger value of KE is perfectly satisfactory. Also, it is true that with
soon forthcoming from the manufacturers. This paper contributes this larger value of KE, the effective response of flux to voltage
generously to the fulfillment of that expectation and the authors are reference has less phase lag and therefore the lead requirements for
to be congratulated on an excellent contribution which is not only the stabilizing signal are correspondingly less. However, the higher
thorough but timely. KE, the more likely is the mode of operation where the exciter hits
As a result of extensive studies, the Pacific Intertie Engineering limits and, under these conditions, the effective phase lag of flux to
Guidance Committee has recommended supplementary control not signal can be drastically different and considerably greater than that
only on important new machines but also to a large number of under the linear mode of operation. Use of describing function
strategically located existing machines having the more conventional methods of analysis of the mode of operation where the exciter is
rotating exciter systems. Although these systems must contend with hitting limits will show that in such a mode, the stabilizing signal
additional limitations such as nonlinearity, lower speed of response, will need considerably greater phase lead to produce damping.
and relationship to loading conditions, some of the guides offered in An effective means of preserving the beneficial damping charac-
this paper may be extended to the rotating exciter systems. However, teristics of the stabilizing signal under large disturbance conditions,
applications of such recommendations are complex and there is much such as occur following fault conditions, as well as under the small
room for improvement. We hope further extensions into this field perturbation mode, is to have moderate values of KE which do not
will be forthcoming soon. cause the exciter to continually hit limits under typical large dis-
The paper promises further investigation of signal limiting require- turbance conditions, thereby avoiding the drastic change in phase
ments. Further considerations of these necessary functions will be angle characteristics under these conditions.
welcome. Concerning abnormal under- and overvoltage conditions, We do appreciate the need for more complete machine representa-
our own studies have indicated that rapid removal of supplementary tions including effects of amortisseurs, saturation, etc. As a matter
signals upon crossing a voltage limit of ±5 percent and rapid restora- of fact, the concepts and recommendations developed in the paper
tion of signal upon returning within limits serve this purpose without have been checked out on very complete digital representations of
adverse influence. Our pilot application at Glen Canyon, which has machines in multimachine situations. For purposes of clarity, how-
been operating for five months to date, has performed satisfactorily ever, it was felt that the basic effects and concepts should be estab-
with this system. lished with the simplest possible 2-axis representation, excluding
The paper does not give support for its conclusion which states amortisseur effects.
"The signal should not produce a steady-state offset of voltage We appreciate Mr. Schleif and Mr. Gish's comments on their
reference with frequency ...." In our own study of the problem as studies for the Pacific Intertie system and agree that much is yet to
stated in [7], it is not clear that this conclusion is warranted in all be learned in terms of application requirements considering the
cases. It has been proposed [11] that a substantial benefit can nonlinear aspects of the problem. Our own investigations of large
be accomplished by reducing voltage as a function of frequency under disturbance conditions have confirmed the general recommendations
disaster conditions. The frequency supplementary signal would contained in the paper, particularly as regards effects of maintaining
automatically accomplish this type of action where desirable, such moderate regulator transient gains as explained above.
as near load centers. On the other hand, generating stations serving In regard to the value of a permanent offset of voltage with respect
long transmission lines may not benefit by this action. The point of to speed, although this may be desirable from the point of view of
this remark is that reset in the supplementary signal need not be balancing generation with load, it should be noted that the gains of
mandatory. It may be advantageous to make it optionally available. voltage offset per unit of frequency deviation are in the order of 20
times what could be tolerated on the basis of a constant volts per
REFERENCES cycle criterion. As long as the stabilizing signal effect is limited to a
safe excursion in terminal voltage, we agree that there may be cases
[11] K. L. Hicks, "Disaster control coordination for large intercon- where a permanent offset voltage with frequency may be desirable.
nected svstems," IEEE Spectrum, vol. 4, pp. 52-55, November It should be noted that this offset would be more effective at the
1967. load utilization points than at the generator terminals, since reduc-
tion of generator voltage would also cause a reduction of transmission
voltage and intertie capacities.
Mr. Schleif and Mr. Gish suggest removing the stabilizing signal
when the voltage deviation exceeds a certain limit, rather than
F. P. deMello and C. Concordia: We wish to thank all of the dis- limiting the signal itself. We do not think this is a good idea, and
cussers for their comments, which add considerably to the value indeed there may well be cases where removing the signal might
of this paper. drive the voltage even farther away from normal. On the other hand,
In regard to the various points raised by Mr. Manchur, Mr. when the signal itself is simply limited, it is at least always con-
McClymont, and Mr. Watson, we would comment as follows. tributing toward damping regardless of the magnitude of the voltage
The optimum value of the gain KE is a matter of judgment and deviation.
the value of Tdo'/2Ts suggested in the paper was considered a good We appreciate Mr. Kent's endorsement of the need for calculating
compromise considering its effect on performance under small and methods for a more complete understanding of the problem. His
large perturbations. It is quite true that from the point of view of qualitative description of the phenomena of damping and synchron-
stability under the linear small perturbation mode, a considerably izing powers as affected by voltage regulation is an interesting addi-
tion to this subject. However, we must point out that it neglects the
interaction of the two signals, i.e., the voltage error vector in Fig.
Manuscript received March 15, 1968. 19 (a) should be modified by voltage regulator action.