IEEE T r a n s a c t i o n s on Power Apparatus andSystems, Vol. PAS-95, no.
1, January/February1976
A BIBLIOGRAPHY FOR THE STUDY OF SUBSYNCHRONOUS RESONANCE
BETWEEN ROTATING MACHINES AND POWER SYSTEMS
IEEE Committee Report*
ABSTRACT
Subsynchronousresonance (SSR) has arisen as aphenomenon
that has the potentialfor damage to turbinegenerators. Intensive
work has been and continues to be performed to devise methods of
analyzing SSR phenomena,and to develop means to prevent SSR
when a problem. A bibliography of references applicable to the study
of SSR is presented to facilitate further work.
INTRODUCTION
An actualincident of damage to theshaft of a large turbine-
generator has been related to thephenomenaofsubsynchronous
resonance (Reference6 of Category I). Interactionof the electrical
power systemwiththe mechanical systemofthis turbine-generator
near a common subsynchronous resonant point resulted in damaging
torques on a shaft of this turbine generator.
Recognition of thepotentialfor turbine-generator damage by
SSR has prompted intensive studies of subsynchronous interaction of
synchronous machines and transmission systems in the Electric Utility
Industry. Because of the importance of these studies in power system
planning, a special Task Force was formed in 1974 by the Dynamic
System Performance Working Group oftheIEEEPowerSystem
Engineering Committee to promote a better understanding of the SSR
phenomena.
The purpose of this brief bibliography of selected papers
available todate in the literature of the Industry is, therefore, to
provide an aid tobetter understanding of SSR. The diversity of
research being followed presently in this area can but result in future
publications, obviously necessitating a periodic revision of this listing.
For purposes of study and to give an indication of what can be
found in each reference, an attempt has been made here to group the
references according to the six categories generally indicative of areas
ofconcern:General Discussions of SSR Phenomena, Induction-
Machine Effects, Torsional Torque Oscillations, Damping and Spring
Coefficients of Synchronous Machines, Methods of Analysis, and
Methods of SSR Prevention. Because of theirsubject matter, some
papers are listed more than once in the following categories. It is the
hope of the authors that those interested in the SSR phenomena will
find this grouping useful.
BIBLIOGRAPHY
I. General Discussion of SSR
(1) “Analysis of Series Capacitor Application Problems”, J. W. Butler
and C. Concordia. N E E Trans., Vol. 56, August 1937,
pp. 975-988. Discussions, Vol. 57, February 1938, pp. 110-1 11.
(2) Discussion by C.Concordia to “Stability Limitations of Long-
Distance A€ Power Transmision Systems”, E. Clarke and S. B.
Crary. AIEE Trans., Vol. 60, 1941, p. 1299.
Paper F 75 515-7, recommended and approved by the IEEE Power System
Engineering Committee of the IEEEPowerEngineering Society for presentation
at the IEEE PES Summer Meeting, San Francisco, Calif., July 20-25,1975. Manu-
script submitted January 28,1975; made available for printing May 2,1975.
*Members of the Bibliography Group of the Subsynchronous Resonance Task Force
of the
Dynamic Performance Working Group of the IEEE Power System
Engineering Committee: E. R. Taylor, Jr., R. B. Starnes
216
(3) “Solutions to the Problems of Subsynchronous Resonance in
Power Systems With Series Capacitors”, L. A. Kilgore, E.R.
Taylor, Jr., D. G. Ramey, R. G. Farmer,E. Katz,and A.L.
Schwalb. Proceedines of the American Power Conference.
VOI. 35,1973, pp. I i20-1128.
“Subsynchronous Torques on Generating Units Feeding Series
CapacitorCompensated Lines”, C. Concordia, J. B. Tice,and
C. E. J. Bowler. Proceedings of the American Power Conference,
Vol. 35, 1973.
“SubsynchronousResonance”, J. B. TiceandC. E. J. Bowler.
Rocky Mountain League, Cheyenne, Wyoming, May 7, 1973.
“Subsynchronous Resonance in Series Compensated Transmission
Lines”, J. W. Ballance and S. Goldberg.IEEETrans. on Power
Apparatus and Systems, Vol. PAS-92, No. 5, September/October
1973, pp. 1649-1658.
EHV Series Capacitor Applications Considering Subsynchronous
Oscillations”, R. H. Hartley, R.G. Farmer, L.A. Kilgore, D.G.
Ramey, and E. R. Taylor. C E R E , Paper 31-06, 1974 Session.
11. Induction-Machine Effects
“Analysis of Series Capacitor Application Problems”, J. W. Butler
and C. Concordia. AIEE Trans., Vol. 56, August 1937,
pp. 975-988. Discussions, Vol. 57, February 1938, pp. 110-1 11.
“Negative Damping of Electrical Machinery”,C.Concordiaand
G.K. Carter. AIEE Trans., Vol. 6 0 , March 1941, pp. 116-1 19.
“Self-Excitation of Induction Motorswith Series Capacitors”,
C. F. Wagner. AIEE Trans., Vol. 60, 1941, pp. 1241-1247. Discus-
sions, pp. 1391-1392.
“Technical Problems Associated with the Application of a
Capacitor in Series with a Synchronous Condenser”, R. L. Witzke
and E. L. Michelson. AIEE Trans., Vol. 70, 1951, pp. 519-525.
“Self-Excited Oscillations in a Transmission System Using Series
Capacitors”, H. M. Rustebakke and C. Concordia. IEEE Trans. on
Power Apparatus and Systems, Vol. PAS-89, No. 7, September/
October 1970, pp. 1504-1512.
“The Prediction and Control of Self-Excited Oscillations Due to
Series Capacitors in Power Systems”, L. A. Kilgore, L. C. Elliott,
and E.R. Taylor, Jr. IEEE Trans. on Power Apparatusand
Systems, Vol. PAS-90, No. 3, May/June 1971, pp. 1305-131 1.
“Achieving Stability on Systems with Large Turbine Generators”,
J. B. Tice. 1972 Missouri Valley Electric Association, Kansas City,
Missouri.
“Suppression of Self-Excited Oscillations in Series Compensated
Transmission Lines by Excitation Control of Synchronous Ma-
chines”, 0. Saito, H. Mukae, and K. Murotani. Paper T75 180-5,
presented at the 1975 Winter Meeting of the IEEE Power
Engineering Society.
Torsional Torque Oscillations
“Generator Models Established by Frequency Response Tests on a
555 MVA Machine”, G. Manchur, D. C. Lee, M . Coultes, J . D.
Griffin,and W. Watson. IEEETrans.on Power Apparatus and
Systems, Vol. PAS-91, No. 5 , September/October 1972, pp. 2077-
2084.
 “Static Exciter Stablizing Signals on Large Generators - Mechani-
cal Problems”, W. Watson and M. E. Coultes.IEEETrans. on
Power ApparatusandSystems, Vol. PAS-92, No. 1,January/
February 1973, pp. 204-21 1.
“Subsynchronous Resonance and Torsional Stresses in Turbine-
Generator Shafts”, S. Goldbergand W. R. Schmus.Conference
Paper C73 135-1, presented at the IEEE Power Engineering
Society Winter Meeting, New York, N.Y., January 28-February 2,
1973.
“Results of theSubsynchronous Resonance Tests at Mohave”,
D. E. Walker, C. E. J. Bowler, R. L. Jackson, and D. A. Hodges.
Paper T75 1763, presented at the1975 Winter Meeting ofthe
IEEE Power Engineering Society.
Damping and Spring Coefficients of Synchronous Machines
“Field Tests to Determine Damping CharacteristicsofSynchro-
nous Generators”, F.A. Hamilton, Jr. AIEE Trans., Vol. 5 1 , Sept.
1932, pp. 775-779.
“Positive and Negative Damping in Synchronous Machines”,
M. M. Liwschitz. AIEE Trans., Vol. 60, 1941, pp. 21 0-213.
Discussion by C.Concordia to “StabilityLimitations of Long-
Distance A€ Power Transmission Systems”, E. Clarke and S.B.
Crary. AIEE Trans., Vol. 60, 1941, p. 1299.
“Spring and Damping Coefficients of Synchronous Machines and
TheirApplication”, L. A. Kilgore and E. C. Whitney. AIEE
Trans., V O ~69,
. 1950, pp. 226-230.
“Synchronous Machine Damping and SynchronizingTorques”,
C. Concordia. AIEE Trans., Vol. 70, Part I, 1951, pp.731-737.
“Subsynchronous Resonance and Torsional Stresses in Turbine-
GeneratorShafts”, S. Goldbergand W. R. Schmus.Conference
Paper C73 135-1, IEEE Power Engineering Society Winter Meet-
ing, New York, N.Y., January 28-February 2, 1973.
“Results of theSubsynchronous Resonance Tests at Mohave”,
D. E. Walker, C. E. J. Bowler, R. L. Jackson, and D. A. Hodges.
Paper T75 1763, presented at the 1975 Winter Meeting of the
IEEE Power Engineering Society.
V. Methods of Analysis
(1) “Self-Excited Oscillations of Capacitor
Compensated Long-
Distance Transmission Systems”, R. D. Bodine, C. Concordia,
and G. Kron. AIEE Trans., Vol. 62, 1943, pp. 4144. Discussions
pp. 371-372.
(2) “A Study of Transient Recovery Voltages in Systems Containing
Long High Voltage Transmission Lines with Mid-Point Series
Capacitors”, 0. I. Elgod and K. Rama Moham Rae. Conference
Paper CP61-732, AIEE Winter General Meeting, New York,
N.Y., January 29-February 3, 1961.
(3) “Self-Excited Oscillations in a Transmission System Using Series
Capacitor”, H. M. Rustebakke and C. Concordia. IEEE Trans. on
Power Apparatus and Systems, Vol. PAS-89, No. 7. September/
October 1970, pp. 1504-1512.
21 7
(4) “The Rediction and Control of SelflExcited Oscillations Due to
Series Capacitors in Power Systems”, L. A. Kilgore, L. C. Elliott,
and E. R. Taylor,Jr.IEEE Trans. on PowerApparatusand
Systems, Vol. PAS-90, No. 3, May/June 1971, pp. 1305-131 1.
( 5 ) “Self-Excited Oscillations in Compensated Transmission Sys-
tems”, R. Speedman and R. B. Ghodgaonkar. Conference Paper
C73 166-6, IEEE Power Engineering Society Winter Meeting,
New York, N.Y., January 28-February 2, 1973.
(6) “Subsynchronous Resonance and Torsional Stresses in Turbine-
Generator Shafts”, S. Goldberg and W. R. Schmus. Conference
Paper C73 135-1, IEEE Power Engineering Society Winter
Meeting, New York, N.Y., January 28-February 2, 1973.
(7) “Self-Excited Oscillations of Dual-Excited Synchronous Ma-
chines”, A.M. El Sefari and M. A. Badr. Conference Paper
C37 355-5, IEEE Power Engineering Society Summer Meeting,
and EHV/UHV Conference,Vancouver,Canada,July15-20,
1973.
(8) “Subsynchronous Resonance in Series Compensated Transmis-
sion Lines”, J. W. Ballance and S. Goldberg.IEEETrans. on
Power Apparatus and Systems, Vol. PAS-92, No. 5 , September/
October 1973, pp. 1649-1658.
(9) “Self-Excited TorsionalFrequency Oscillations with Series Ca-
pacitors”, C. E. J. Bowler, D. N. Ewart, and C. Concordia. IEEE
Trans. on Power Apparatusand Systems,’Vol. PAS-92, No. 5 ,
September/October 1973, pp. 1688-1695.
(IO) “An Analysis of theSubsynchronous Interaction of Synchro-
nous Machines and Transmission Networks”, R. A. Hedin, R. C.
Dancy, and Keith B. Stump. Proceedings of the American Power
Conference, Vol. 35, 1973, pp. 11 12-1119.
( 1 1) “Digital Computer Simulation of Subsynchronous Resonance
Phenomena in Series compensated 500-kV Transmission Lines”,
S. K. Datta and I. S. Benko. Conference Paper C74 079-0, IEEE
Power Engineering Society Winter Meeting, New York, N.Y.,
January 27-February 1, 1974.
(12) “An ExpandedComputerized Procedure for Subsynchronous
Analysis”, J. G. Dickinson. Conference Paper C74 447-9, IEEE
Power Engineering Society Summer Meeting and Energy Re-
sources Conference, Anaheim, California, July 14-19, 1974.
(13) “Phenomena of SSR Oscillations on Systems with Highly
Compensated Transmission Lines”, D. P. Geiopulos and R. G.
Farmer. 1974 Midwest Power Symposium, Conference Record
Vol. 2, Session 2, Rolla, Missouri.
(1 4) “Self-Oscillations in Series Compensated Electrical Power Sys-
tems”, V. Ramamurthi and K. Ramachandran. Conference Paper
C75 0773, presented at the 1975 Winter Meeting of the IEEE
Power Engineering Society.
VI. Methods of SSR Revention
(1) “The Prediction and Control of Self-Excited Oscillations Due to
Series Capacitors in Power Systems”, L. A. Kilgore, L. C. Elliott,
and E.R. Taylor, Jr. IEEE Trans. on Power Apparatus and
Systems, Vol. PAS-90, No. 3, May/June 1971, pp. 1305-1311.
 “Solutions to the Problems of Subsynchronous Resonance in
Power Systems With Series Capacitors”, L. A. Kilgore, E. R.
Taylor, Jr.,D. G . Ramey, R. G. Farmer, E. Katz,and A. L.
Schwalb. Proceedings of the American Power Conference,
Vol. 35, 1973, pp. 1120-1 128.
“SubsynchronousTorques on Generating Units Feeding Series
CapacitorCompensated Lines”, C. Concordia. J. B. Tice,and
C. E. J. Bowler. Proceedings of the American Power Conference,
V O ~35,
. 1973, pp. 1129-1136.
“Subsynchronous.Resonance”, J.B. Tice and C. E. J. Bowler,
Rocky-Mountain Electric League, Cheyenne, Wyoming, May 7,
1973.
“EHV Series Capacitor Applications Considering Subsynchronous
Oscillations”, R. H. Hartley, R. G . Farmer, L. A. Kilgore, D. G .
Ramey, and E. R. Taylor.C E R E , Paper 31-06, 1974 Session.
“Suppression of Self-Excited Oscillations in Series Compensated
Transmission Lines by Excitation Control of Synchronous Ma-
chines”, 0. Saito, H. Mukae, and K. Murotani. Paper T75 180-5,
presented atthe1975 Winter Meeting of the IEEE Power
Engineering Society.
Discussion
Walter H.Croft (Consulting Engineer, Phoenix, A r i z . ) This committee is
to be congratulated for the good start it has made in the short time
available, in getting together a representative bibliography on this phe-
nomenon which has become so prominent in recent years and on which
little has been presented or published.
I would like to suggest several additions to the bibliography.A
conference paper presented in 1971 (a)should be included as it is based
on a 1969 Anacom run which made an attempt to take into account
subsynchronous currents transmitted to the generator when series
capacitors were applied to a long high voltage system. In my discussion
of the paper, I made the following comment “Some of the information
presented are new findings and may have future use as reference ma-
terial.”
I would also offer the suggestion that all the papers presented or
distributed at the Symposium on SSR during the Summer Power Meet-
ing of 1975 be included in the bibliography. Also one paper (b) pre-
sented at a panel discussion was on the SSR subject and would be a p
propriate for this tabulation. One additional paper (c) could be added
to the list.
REFERENCES
(a) “A Study of ReinsertionTransient Voltages andCurrentsfor
Series Capacitors on USBR .Glen Canyon-Flagstaff 345 kv Lines”
L. W. Lloyd, E. R. Taylor, F. G . Berg, S. M. Merry, Power Engi-
neering SocietySummer Meeting, July1971, Paper Number
7 1C P 664.
(b) “Subsynchronous Resonance”, Ely Katz, Los Angeles Department
of Power. Panel Discussion on Dynamic Stability in Western Inter-
connected Power Svstem.
* I -
I Power Eneineerine. SocietvSummer
Meeting, July 1974.
(c) Technical Problems Associated with the Application of a Capaci-
tor in Series with a Synchronous Condenser”, AIEE Transactions,
Vol. 70, 1951, pp 519-525.
Manuscript received August 11, 1975.
E. R. Taylor, Jr., and R. B. Starnes: We wish to thank Mr. Croft for his
kind words and for his suggestions and those of others whohave taken
Manuscript received September 29, 1975.
21 8
an interest in this bibliography. In addition to the references suggested
by Mr. Croft, the following recent papers should be included among
those given in the paper:
I. General Discussion of SSR
(8) “Approach to Experimental Electric Power Engineering Edu-
cation - 11” E. T. B. Gross, M. H. Hesse, C. M. Summers, A. J. 0.
Cruickshank ZEEE Transactions, Vol. PAS-93, No. 3, May/June 1974,
pp. 803-81 1.
II. Induction - Machine Effecfs
(9) “Direct- and Quadrative-Axis EquivalentCircuits for Solid-
Rotor TurbineGenerators”, W. B. Jackson, R. L. Winchester IEEE
Trunsuctions, Vol. PAS-88, No. 7, July 1969, pp. 1121-1 136.
lV. Damping and Spring Coefficients
of Synchronous Machines
(8) “Effect of Clearing Short Circuits and Automatic Reclosing
on Torsional Stress andLife Expenditure of TurbineGeneratorShafts”,
A.Abolins, D. Lambrecht, J. S. Joyce, L. T.Rosenburg,Paper F75-
413-5 presented at the 1975 IEEE PES SummerMeeting, SanFrancisco,
California, July 1975.
V. Methodsof Analysis
(1 5) “MANTRAP - Machine and network Transients Program”,
K. Carlson, E. H. Linfest, J. J. LaForest. Presented at the 1975 PICA
Conference, June 2 4 , 1975, New Orleans, Louisiana.
(16) “Effect of Synchronous Generator Regulation on the Sub-
synchronous Resonance Phenomenon in Power Systems,” M. A. Badr
and A. M. El-Serafi, Paper F75-575-1. Presented at the 1975IEEE Sum-
mer Power Meeting, San Francisco, California, July 24, 1975.
VI. Methods of SSR Prevention
(7) “Dynamic Filter and Other Solutions to the Subsynchronous
Resonance Problem,” L. A. Kilgore, D. G . Ramey, W. H. South. Pre-
sented to the American Power Conference, Chicago, Illinois,April 21-
23, 1975.
(8) “Control of the Phenomenon of Subsynchronous Resonance
Problem,” J. B. Tice, C. E. J. Bowler (ibid.).
Mr. Croft also suggests that papers presented at the SSR Symposium at
the 1975 PES Summer Power Meeting be included in the bibliography.
These were:
1. “Cyclic Fatigueof TurbineGenerator Shafts” by R. Quay
and R. J. Placek.
2. “Experiencewith 500 KV SubsynchronousResonanceand
Resulting Turbine Generator Shaft Damage at Mohave Generating Sta-
tion.” bv
~ ~
-,M. C. Hall.
~~
7
3. “Navajo Project Reporton Subsynchronous Analysis and
Solutions,” by R. G . Farmer, Eli Katz, and A. L. Schwalb.
4. “ResultsofSubsynchronousResonance Test at Navajo,” by
D. N. Walker and A. L. Schwalb.
5 . “ANew Technique for Analysis of Self-Excited Subsynchro-
nous Resonance and Its Application to the Kaiparowits Project Trans-
mission System,” by M. C: Hall and R. L. Daniels.
6. “System Planning Considerations ofSubSynchronous Res-
onance,” by Dr. C. Concordia.
7. “Proposed Terns andDefinitions for Subsynchronous Res-
onance by C. E. J. Bowler.
8. “Subsynchronous Resonance - State-of-the-Art Analysis us-
ing Hybrid Simulation,” by R. C. Dancy, R. A. Hedin,and R. W.Alford.
9. “Transmission andGeneration ,System Analysis Procedures
for Subsynchronous Resonance Problems, by L. A. Kilgore and D. G.
Ramey.
10. “UnderstandingSubsynchronous Resonance,” by C. E. J.
Bowler.
1 1. “Subsynchronous Current Relay Type TEX, for Application
as GeneratingUnits Which Are Connected to a Series Compensated
System,” by T. S. Ning.
12. “Navajo ProjectSubsynchronous Resonance Monitorand Re-
laying Equipment,” by A. L. Schwalb.