TRANSIENT STABILITY ANALYSIS OF A POWER SYSTEM: NIGERIAN 330kV

GRID AS A CASE STUDY

CHAPTER ONE & TWO

ATILOLA S.T.

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 CHAPTER ONE

INTRODUCTION

1.1 Background Information

Power systems are interconnected and complex networks that are majorly consisting of

generating, transmitting, and distributing of electricity. At the generation station, the

synchronous generators operated in synchronism with other system and bus of the same

voltage, frequency, and phase sequence to generate electric power (Latt, 2019). However, the

continuity of such system is necessary to maintain stable voltage and perfect synchronism

under all steady state condition (Hussain, 2012; ).

Generally, the high dimensionality and high nonlinearity of power system with dynamics

behaviour is greatly in advantage due to the machine collection with different speed response,

and characteristics operating on a constant changing of environmental such as topology,

loads, and generator outputs. Under these conditions, the operational effectiveness of any

system must be satisfactorily suitable for load demand. It should be capable also to sustain

unforeseen disturbances which include transmission line short circuit or large generator

losses (Kundur 1994; Edvard, 2010). Power system that is constantly undergoing a small or

large disturbance can make such system to deviate from its steady state and results to

transient stability. The generator’s ability to maintain synchronism under normal and

abnormal operating conditions is called stability. However, if the system losses synchronism

or falls out of step due to a disturbance, its stability is affected and the degree of instability is

dependent in the nature of disturbances and the initial operating conditions.

According to Mohammed et al. (2015), Husain (2012) and Gupta (2010), there are three

synchronous stability problems or conditions to be considered for the purpose of analysis and

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each of them depends on the nature and magnitude of disturbance. These are the transient,

dynamic, and steady state stabilities.

Firstly, the steady state stability problem involves the response of synchronous machine to an

increasing of the load gradually. This is connected with the determination of the upper limit

of machine loading without losing synchronism in as much as the loading is gradually

increased. This limit is the greatest power which can be transferred on a specific circuit under

certain operational condition of steady state, without losses of synchronism. Secondly,

dynamics stability problem involves the response to a small disturbance that occurs on the

system, causing oscillations. But, if this oscillation unable to acquire more than certain

amplitude and disappear (die out) quickly this is said to be dynamically stable. Otherwise

oscillations continue to grow in amplitude which makes the system become dynamically

unstable. This state of disturbances is small and usually lasting for about 10 to 30 seconds

(Rohan and Singh, 2016; Husain 2012).

Thirdly is the transient stability problem which involves the response to large disturbances,

and this may cause large change in power transfers, power angles and rotor speeds. Such

large disturbances resulted to a power unbalance between sending (supply) and receiving

(demand) in the system. Thus this imbalance started at the generator shaft and causes the

rotors oscillating until a new steady state operating condition are reached or the rotors is

continue to oscillate and deviate from the rest device and synchronism of some generators

will finally lose. The transient stability is very fast in nature which can occur within a few

second of its existence (Rohan and Singh, 2016; Mohammed et. al., 2015; Gupta, 2010).

However, the needs for transient stability analysis arise mostly so as to assured that the

system can withstand the transient condition of a system when subjected to large or major

disturbance. It is negative effect on the voltages, frequency, and power which can leads to

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dangerous damage of generators due to losses of synchronism need to be prevented and

controlled as most of these generators are expensive power systems components. Therefore,

the transient stability of any power system is taken very important and as a major determinant

of the system quality because of its disastrous practical implications.

Consequently, the goal of this research work is to analyses response of synchronous machines

after undergoing series of disturbances with emphasis on transient behaviour of a power

system using Nigerian 330kV, 32 bus electricity grids as a case study.

1.2 Statement of the Problem

According to Braide and Diema (2018), the disturbing state of the Nigeria’s 330kV network

to effectively and efficiently narrow the electricity supply-demand imbalances is becoming a

major challenge. The disturbance which includes short circuit fault, switching off and on of

power circuit, , loss of synchronism, surges due to lightning effect among other can cause

serious instability problem on power system network.

Usually, the basic equation employed in carrying out analysis on system transient stability is

swing equation. Different numerical methods which are time-domain based have been

previously applied to solve swing equation, these methods include; Euler method, Modified

Euler method, Runge - Kutta method using implicit integration, equal area criterion, point by

point method and Transient Energy Function method (Kundur, 1994). These methods are

very robust, reliable, and accurate and have excellent modeling capability but, the major

drawback is the several integration processes for each fault and the large number of

computation time and results. In this regards, the use of swing equation method will be

adopted for this research work because of its fast speed with low time-consuming numerical

integration of post fault process and also, offer detail information regarding the formation

enhancement and preventive control goals of power system stability.

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1.3 Aim and Objectives of the Study

The aim of this research work is to analyze transient stability of power system using Nigerian

330kV, 32 bus electricity grids as a case study.

The objectives of the work include to;

1. To develop power equation describing the steady state and transient stabilities of

power system network.

2. To develop swing equation for a disturbed or faulting system.

3. To simulate responses of single machine and multi-machine system when subject to

disturbance using Electrical Transient Analyzer Tool (ETAP)/MATLAB software.

4. To validate the results in (3) above.

1.4 Justification of the Study

The rate of increase in the population, commercial buildings and industrial sector of

developing countries is demanding for electrical power that is secured and reliable is vast

becoming apparent. Due to the aforementioned, the size of the interconnected networks is

getting more complex. The companies vested with power utility are doing best to ensure

reliable and secured power transfer from generation to the consumer terminals through large

interconnected networks. However, the system is experiencing difficulties in transferring

maximum power due to the presence of many synchronous machines along with large

interconnected networks as a result of different forms of disturbances. This persistent

disturbance and faults within the power system cannot be avoided however; the impacts

which undermine reliability in the operation can be minimized. Hence, the response of power

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system need evaluation after being subjected to various forms of disturbances with the aim of

maintaining stable and quality power supply to the consumers.

1.5 Scope of the Study

This research work will cover the following chapters or areas;

1. Formulation of the power equation for transient stability using direct method approach

3. Formulation of swing equation for analyzing of transient stability.

4. Simulation of single and multi-machine system to determine the response of machines

to a given fault using electrical Transient Analyzer Tool/MATLAB.

5. Validation of results for single and multi-machine system.

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 CHAPTER TWO

LITERATURE REVIEW

2.1 Power System Overview

Power system is an interconnection of network that comprises of one or more generating

units, loads and power transmission line which including associated equipment connected to

the network and stability of a power system is the ability of a system to develop restoring

forces equal to or greater than the disturbing forces to maintain the state of equilibrium.

Power system stability problem is getting more pronounced in the area of a large power

networks (Shahab et al., 2009).

2.2 Power System Stability

The power system stability had been a subject of recognition and secured system operation is

an important problem for the system specialist or Engineers. Majority of the blackouts

nowadays is caused by power system instability which has actually indicated the importance

of this phenomenon. The stability of any power system can be referred to the ability of such

system to remains in a state of balance during operating condition and recover an acceptable

state of balance after it is being subjected to a fault or disturbance (Mishra and Umredkar

2013; Ajenikoko and Olaomi, 2014). The disturbances include; severe lighting strike,

overvoltage due to the loss in transmission line, switching operations and fault, short circuit

etc. However, the survival of the transition from larger disturbance and ensuring the

acceptable operating condition is termed transient stability. During normal operating

conditions of the power systems (in steady state), two important conditions should be

satisfied for generators: (1) Rotors should be in synchronism. (2) The generated voltages are

sinusoidal waveforms with the same frequency. But, these conditions are violated wherever

that any type of disturbances are developed on the power system. Due to all these

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disturbances instability in power system is developed, and the disturbances may be small or

large such network must be able to stand against this disturbance.

2.3 Needs for Power System Stability

As earlier discussed, the reliable and safe interconnected systems are critical for any

successful planning and operation, and a well-designed power network to ensure robust

performance and maximizes system availability under all operational conditions, including,

transient stability conditions. The analysis of power system is complex and non-linear;

consequently, final designs are generally based on computer simulation for approximate

purpose, simplified calculations are used with the provision of a starting point and check

point of computer simulation. Also, the stability analysis plays a very prominent role in

protection of a power system in order to achieve effectiveness in the operation of the

protective devices at the time of short circuit, or any fault current. The effect of poorly

designed systems if not managed carefully can also leads to a significant loss, outages or

injuries to the personnel. Hence, the needs also include the following;

1. Determination of the critical clearing time (CCT) of the circuit breaker.

2. Investigation of the protective relaying schemes.

3. Determination of the voltage levels.

4. Transfer capability between the systems.

2.4. Classification of Power System Stability

Power system stability is a network of single problem but, this is practically impossible in

dealing with it like that. Instability in the power network can take different forms and this can

influenced by a wide range of factors. Analysis of stability problems, including identifying

essential factors that contributed to the instability and devising ways of improving stable

operation is greatly facilitated by classification of stability into appropriate categories. These

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are based on the following considerations (Ajenikoko and Olaomi, 2014; Kundur and

Morrison, 1997).

i. The physical nature of the resulting instability related to the main system parameter in

which instability can be observed.

ii. The size of the disturbance considered so as to indicates the most appropriate method

of calculation and prediction for the instability.

iii. The devices, processes and time span that must be taken into consideration to

determine the instability.

As shown in the Figure 2.1, the following are common classification of the power system

stability which is based on various categories and subcategories and their explanation.

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 Power System
Stability

Rotor Angle Frequency Voltage

Stability Stability Stability

Small Angle Large

Transient Small Disturbance
Disturbance Disturbance
Stability Voltage Stability
Stability Voltage Stability

Short Term Short Term Long Term Short Term Long Term
Stability Stability Stability Stability Stability

Figure 2.1: Classification of power system stability (IEEE/CIGRE Joint Force, 2014)

2.4.1 Rotor Angle Stability

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In this categories of system, the instability is noticed in the rotor angle of the machine either

as monotonically increasing rotor angle that leads to loss of synchronism or as oscillatory

swings of the rotor angle with the increase in amplitude. The rotor angle of any generators

depends on the balance between the electromagnetic torque as a result of the generator

electrical power output and mechanical torque resulting from the input of mechanical through

prime mover. Rotor angle instability is further classified into small and large disturbance

angle stability (Ajenikoko and Olaomi, 2014; Sarma et al., 2015; Godwin, 2017).

2.4.1.1 Small-Disturbance Rotor Angle Stability

Small-disturbance (small-signal) rotor angle stability referred to the ability of the power

system to maintain its synchronism under small disturbance. However, if any changes in the

system variables caused by this disturbance are sufficiently small such that the behaviour of

the system can be studied by the uses of linear approximation of the system equation then

such, disturbance is termed small disturbance rotor angle. The occurrence of instability in this

system is causing by insufficient damping torque (Ajenikoko and Olaomi, 2014; Sarma et al.,

2015; Godwin, 2017).

2.4.1.2 Large-Disturbance Rotor Angle Stability

This large-disturbance rotor angle stability (transient stability) is concerned with the ability of

the power system to maintain its synchronism under large disturbance. However, if any

changes in the system variables caused by the disturbance are large enough to make the linear

approximation of the system equations unacceptable then, the disturbance is called large

disturbance. Though insufficient synchronizing torque is causing the occurrence of instability

in the system (Ajenikoko and Olaomi, 2014; Sarma et al., 2015; Godwin, 2017).

2.4.2 Voltage Stability

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The voltage stability can be regarded as the ability of any system to maintain steady voltage

at all busses after being subjected to fault or disturbance from a given initial operating

condition. It also depends on the ability to maintain/restore equilibrium between load demand

and load supply from the power system. However, voltage collapse is the process by which

the sequence of events that accompanying voltage instability leads to a blackout or

abnormally low voltages in a significant part of the power system. Voltage drop can also

experience in rotor angle instability whenever the separation of the rotor angle between two

groups of machines approaches 180º, such voltages is then drop to a low value at the

intermediate points (electric center). This categories of instability is further divided into

small-disturbance and large-disturbance voltage stability (Ajenikoko and Olaomi, 2014;

Sarma et al., 2015; Godwin, 2017).

2.4.2.1 Large-Disturbance Voltage Stability

The large-disturbance voltage stability is concerned with the ability of system to maintain

steady voltage due to large disturbance such as faults, loss of generators, or circuits’

contingencies. This class of the stability can used non-linear simulation for its assessment

(Ajenikoko and Olaomi, 2014; Sarma et al., 2015; Godwin, 2017).

2.4.2.2 Small-Disturbance Voltage Stability

The small-disturbance voltage stability concerned with the ability of the system to maintain

steady voltage due to small disturbance such as incremental changes in system load. In this

type of stability both linearized models and non-linear simulation are used for its assessment

(Ajenikoko and Olaomi, 2014; Sarma et al., 2015; Godwin, 2017).

The significant differences between the rotor angle stability and voltage stability is not based

on weak coupling between variations in reactive power and active power or angle or voltage

magnitudes. But, the strongest of the coupling of the highly stressed system and this

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difference is based on the opposing forces that experience sustained imbalances. Also, the

power system variables such as rotor angle or voltage magnitude and consequently make the

instability apparent (IEEE/CIGRE, 2014). The significant distinction between the voltage

stability and angle stability is that voltage stability depends on the balance in the reactive

power demand and generation of the system while angle stability majorly depends on the

balance between real power generation and demand.

2.4.3 Frequency Stability

Frequency Stability concerned with the ability of power system to maintain steady frequency

due to a severe disturbance in the system which resulted to significance imbalance between

generation and load (Christie and Bose, 1996). But, in any situation where a large disturbance

leads to breakup of power system into smaller subsystems leaving each subsystem with a

mismatch between the generation and load. Stability is maintained in such system either by

generator tripping or load shedding (Ajenikoko and Olaomi, 2014; Sarma et al., 2015;

Godwin, 2017).

Although, there is no independent isolation of events since stability are classified into the

rotor angle, voltage and frequency stability. However, any voltage collapsed at a bus can lead

to large disturbance in the rotor angle and frequency but large frequency deviations can lead

to large changes in voltage magnitude. Therefore, each components of power system i.e.

prime mover, generator rotor, generator stator, transformer, transmission line, load,

controlling devices and protection systems should be mathematically represented for the

assessment of the rotor angle, voltage and frequency stabilities through appropriate analysis

tools. However, the entire power system can be represented by a set of a differential algebraic

equations (DAE) through which the system stability can be easily analyzed.

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Generally, transient instability has been in domination of the stability problem on majority of

the system and the focus of this particular problem is the concerned of industries attention.

Therefore, this analysis is based on transient stability analysis of power system and

particularly Nigeria’s system.

2.5 Transient Stability of Power System

Power system transient stability involves large disturbance and it is usually occurs within one

second for any generator that is closer to what causes disturbance. A sudden and large

disturbance includes application of faults, clearing of faults, switching on and off the system

elements (transmission lines, transformers, generator load etc.). However, any machine found

to be essentially remaining in synchronism within the first and second swing, such system is

regarded as being transiently stable and the analysis of such stability involves mechanical

properties of the machines in the system. The machine at every disturbance must quickly

adjust its relative angles of their rotors and meet the condition of power transfer of

mechanical and electrical processing. Transient stability limit is almost lower than the steady

state limit and hence it is more important. However, transient stability limit depends on the

type of disturbance, location and magnitude of the disturbance (Rohan and Singh, 2016).

In general, the transient stability studies in power system is carried out over a minimum

period equal to the time require for one swing, which is approximately about one second or

less. The stable position of a system during the first swing is assumed that the disturbance

will reduce in the subsequent swings and such system returned back to its stable condition.

Transient faults are always occurs in interconnected systems and usually clear when the

power is removed from the line and then restored after a short time (Oluseyi et al, 2017).

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2.5.1 Factors Influence Transient Stability

d 2 PA
2

In accordance with the swing equation dt M , the acceleration of rotor is inversely

proportional to the inertia constant M of the machine when accelerating power is constant.

This means the higher the inertia constant, the slower the change in the rotor angle of the

machine and hence the larger the critical clearing time. However, it is uneconomical to

improve the transient stability by increasing the inertia constant and not commonly in

practice (Sarma et al. 2015). Also, the following factors can possibly influence transient

stability process are generator loading, generator output (power transfer) during fault which

depends on type and location of the fault, fault clearing time, post fault transmission system

reactance, generator reactance, generator internal voltage magnitude which depends on field

excitation i.e. power factor of the power sent to generator terminals and infinite bus voltage

magnitude (Raj and Jain, 2016).

2.5.2 Methods of the Transient Stability Improvement

The reliance and emphasis placed on the controls to present necessary compensating effects

that will placed on the reduction in the stability margin inherent from the trending of

generator design. The advent of high speed circuit breaker, high speed excitation systems,

and fast valving the loss in stability. Hence, the following methods are always employed in

practicing the improvement of transient stability of the system (Gupta, 2010; Husain, 2012).

2.5.2.1 Increasing System Voltage

Transient stability can be improved by a way of raising the system voltage profile such as

raising E and V, the increase in system voltage means the higher the value of maximum

power (Pmax) that is transferable over the lines since shaft power (Ps) is equal to the

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maximum power such that Ps = Pmax sinδ. Therefore, for a given shaft power initial load

angle δ oreduces with the increase in maximum power (Pmax) and thereby increasing the

difference between critical clearing angle and initial load angle. Thus, machine is giving way

to rotates through large angle with the results of greater critical clearing time and the

probability of stability is maintained (Gupta, 2010; Husain, 2012).

2.5.2.2 Reduction in Transfer Reactance

Transient stability can improve by reducing transfer reactance and it is the increasing in

maximum power (Pmax) results to increase in transient stability. The line reactance can be

reduced by putting more parallel lines instead of a single line through which more power is

transferred during fault from one of the lines since two parallel lines are in place rather than

transferring over a single faulted line. The increase in power transfer means less available

accelerating power because accelerating power is the difference between power input and

power transfer and this lower accelerating power can greatly reduced the risk of instability.

The uses of bundle conductors can helps in reducing line reactance and improving stability

(Gupta, 2010; Husain, 2012).

2.5.2.3 Using High Speed Circuit Breaker

The uses of the high speed circuit breaker are the better method of improving transient

stability. As quicker as breaker operates, the faster the fault is removed from the system and

the better the tendency of restoring to normal operating conditions by the system. This has

materially improved the transient stability, and there is no other method for the purpose is

required (Gupta, 2010; Husain, 2012).

2.5.2.4 Automatic Reclosing

All the faults experience in the transmission lines are transient in nature and self-clearing,

rapid switching and isolation of faulty lines followed by the reclosing are really helpful in

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stability maintenance. With the modern circuit breaker in operation, the possibility of line

clearing is to be done as fast as in 2 cycles. However, any fault occurred on transmission line

such faulted line will de-energized in order to suppress the arc in the fault, and the circuit

breaker recloses, after a suitable time interval. An automatic reclosing increases the

decelerating area A2 and further helps stability improvement (Gupta, 2010; Husain, 2012).

2.5.2.5 Turbine fast valving or Bypass Valving

When there is fault, the generator output is reduced which often results to accelerating power,

and the power of mechanical input to the turbine could be shortly or briefly reduced, the

acceleration can be reduced. The fast valving is a means of reducing the power of

mechanical input to the turbine during the fault while some steam valves are rapidly closed

(within 0.1 to 0.2 seconds) and quickly reopened. This effect increases the critical clearing

time (Gupta, 2010; Husain, 2012).

2.5.2.6 Single Pole Switching

This is the mechanism in which the three phase of the circuit breakers operation are closed

and opened independently of one another. The failure of any phase of the breaker does not

automatically prevent any of the remaining phases from effective operation. However, for a

three phase fault, the three phases are mechanically independent such that the mechanical

failure of any one pole is not affecting the remaining poles (Gupta, 2010; Husain, 2012).

2.5.2.7 Use of Quick-acting Automatic Voltage Regulators

The successful operation of the synchronous generators of a complex power system at high

power (or load angles and during transient condition is relatively depends on the source of

excitation for the generators and the automatic voltage regulator. As the power output of a

generator is directly proportional to internal voltage E, the terminal voltage V falls under

fault conditions. But, a quick acting voltage regulator causes the increase in E so much that
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the terminal voltage V remains in constant position. The higher the value of E means a higher

generator output.

2.5.3 Transient Stability Limit

The maximum power that can be transferred without the system become unstable after

subjected to large or sudden disturbances is called transient stability limit. The system is

usually experiences a shock by sudden and large power changes and the occurrence of

voltage fluctuation. Consequently, groups of the machine or individual machine may fall out

of step. The rapidity of the application of a large disturbance is responsible for the loss of

stability. It may be possible to sustain stability if the same large load is applied on the gradual

process. Thus, the transient stability is lower than the steady state limit (Kumar, 2011)

2.6 Transient Stability Analysis Methods

Transient stability analysis of the power system is a solution of non-linear differential

equations, and the solution is based on the involving methodology. There are several

approaches that are obtainable in convectional techniques to solve transient stability analysis

problem in power system. These methods can be grouped into four as follows:

1. Numerical Integration Methods,

2. Direct Methods,

3. Hybrid Methods and

4. Artificial Intelligence Techniques methods

2.6.1 Numerical Integration (Time-Domain) Methods of Transient Stability Analysis

Time-domain method is most commonly used for assessing transient stability analysis and

critical clearing time (CCT) is achieved by solving the differential algebraic equations (DAE)

during-fault and post-fault conditions across numerical integration process This method is

found to be accurate and excellent modeling capability provided the model for the system is
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good enough and correct but, the integration process is repeated for each fault with the

provision of extremely large amount of computations and which may not be adequately

feasible and unsuitable for real-world application (Sabo and Wahab, 2019).

The time domain simulation method is used to solve both the differential and algebraic

equations which describe the transient process of the system by the various numerical

integration methods. The stability is then judged according to the change of the relative angle

between the rotors of generator. In each step interval, it is approximated that the rotor is in

constant acceleration motion (Wang and Zhaojun, 2019). Some of the commonly used

numerical techniques for the solution of the swing equation are; euler modified, runge-kutta,

point to point methods etc. (Hiwot, 2018).

2.6.2 Direct Methods of Transient Stability Analysis

The direct method of transient stability analysis is a process to identify the mathematical

dynamic model of a system, to derive its Lyapunov function and also to evaluate the stability

criteria directly from the critical energy point. This method is also known as energy function

methods and it is energy values are based on comparison. Precisely, these methods calculate

the energy value during the clearing time and critical energy value. However, if the energy

value at the clearing time is higher than critical energy value, the system is unstable, but the

system stable if otherwise (Wang and Li, 2019). The method includes; equal area criterion

(EAC) approach, extended equal area criterion (EEAC) technique, energy function technique

based on the transient energy function (TEF) technique, phase plane method and probabilistic

method (Wang and Zhaojun, 2019). The basic steps for direct method of transient stability

analysis are shown in Figure 2.2

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 Transient Stability Analysis
Device or System Level

Modeling

Dynamic Polymerization

Time scale reduction of the rotor

Form of the Simplified

system

Figure 2.2: TheLyapunov Function

basic steps Construction
of the direct methods (Wang and Zhaojun, 2019).

Domain attraction estimation

2.6.2.1 Transient Energy Function (TEF) Approach

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This approach is based on analytical formulae for determination of transient’s kinetic energy

and potential energy for the post-fault contingency system and involving mathematical

approximations and modeling simplification (Aliyu et al., 2019).

2.6.2.2 Equal Area Criterion (EAC) Approach

This approach is based on graphical solution applied to be establishing for the stability of

single machine infinite bus (SMIB).

2.6.2.3 Extended Equal Area Criterion (EEAC) Approach

This approach or method is an extension of equal area criterion technique which observed to

be substantially faster than Lyapunov function, easy and furnishes analytical sensitivity tools

and means to control. EEAC possess the idea of reducing multi-machine system to single

machine infinite bus (SMIB) system with the application of modified direct method for

obtaining the result in a simpler expression. The critical machines are taking correctly and

reconcile the inconsistencies between the system stability mode and the single machine

infinite bus (SMIB).

2.6.2.4 Phase Plane Approach

This approach provides the critical clearing time and angle of a fault using single numerical

integration. But, the method is not good, and suitable for the system with refinement and

large scale systems (Dhamarao, 1962; Aromataris, 2002).

2.6.2.5 Probabilistic Approach

This approach is bisection method to find the index of transient stability which required the

number of stability runs so as to determine in order to reduce the probabilistic transient

stability indices (Chiodo, 1994; Saleh, 1996).

2.6.3 Hybrid Methods of Transient Stability Analysis

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The hybrid methods is combination of time-domains and transfer energy function in

analyzing transient stability where time-domain deals with computations of the real system

trajectory, and transfer energy function constructs a stability index of dynamic security

assessment (Aliyu et al., 2019).

2.6.4 Artificial Intelligence Methods of Transient Stability Analysis

This method is employing to solve transient stability analysis using intelligence exhibition by

means of machines and software, such as, robots and computer programme. Unlike other

methods which are deterministic, artificial intelligence is newer approach to assess transient

stability which is probabilistic. It is characterized by processing many simulations before its

ready to use and providing a very fast analysis (Wang and Zhaojun, 2019).

2.7 Comparative Summary of the Classical Methods of Transient Stability

Table 1 below compared the classical methods of the transient stability assessment.

Classical Methods of Advantages Disadvantages

Transient stability

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Time-Domain Method It is accurate, reliable, and Computational burden,
flexible compare to the direct inadequate and costlier
method. Generates inadequate
Unlimited Modeling Volume information to help system
control action

Direct Methods Transient It is faster than time-domain It has limited modeling

Stability approach. volume.
It generates adequate system The results do not converge.
information such as stability It provides approximate
margin. results.

Hybrid Methods Transient It combines the advantages The prediction is dependent

Stability of both Time-domain and on SIME unstable
direct methods of transient equilibrium point (UEP).
Stability.

Artificial Intelligence Permanent and consistent Unable to learn or adapt for

Processing speed is good new problems or situations
Easy to document and Have large dimensionality
reproduce Are not scalable
Fast and robust
Fault tolerant

Table 1: The comparison of the classical method of transient stability analysis (Sabo and

Abdu wahab, 2019)

2.8 Review of Related Work

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Generally, transient stability to a very large extent, have been used to investigates stability

under sudden and large disturbances when system subjected to severe disturbance which

play an important aspect in maintaining reliability and security of interconnected network

operation of the power system (Sonali and Preeti 2016). However, this scenario can be

identified as weakness or collapsing within the normal operating limits of a particular system

to return to normal limits as fast as possible. In order to proffer solution to this problem,

several research efforts have been carried out on the possible solution to address this transient

stability problem bottleneck.

Micheal et al. (2020) proposed transient stability analysis of a multi-machine using electrical

transient analyzer program (ETAP) software to carry out transient stability, load flow and

optimal power flow analysis. This proposed revealed that the generator connected to the grid

experienced change in power input and those generators closer to the fault location

experience more pronounced power deviation during contingency analysis. However, it fails

to address the unstable scenario of the rotor angle which closer to the faults location.

Mishra et al. (2020) reported on power system transient stability analysis of synchronous

generator by analyzing and comparing of time domain method, direct method, and artificial

intelligent method for multi-machine system. The problems and issues in application of

various methods in transient stability analysis are listed, advantages and disadvantages and

comparison most importantly critical clearing time of both time domain and direct method

were done. The conclusion indicated that time domain method critical clearing time is

between 0.1 to 0.11 second using model 2.2 MATLAB modeling and same for direct method

critical clearing time is 0.15 seconds. The report shows that Time domain method is time

consuming method and Energy based direct method is more preferably and considerable

approximation to be used for transient stability analysis.

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Ogboh et al. (2018) worked on transient stability analysis of Nigeria power station that

subjected to a large, sudden and severe disturbance of occurrence of fault, sudden outage of a

line, sudden application or removal of loads to maintain steady flow. The simulations were

carried out on the faulted power station, numerical computation of critical clearing angle and

time was obtained for the Jebba power station. Jebba to Oshogbo to Ikeja west transmission

line connected to an infinite bus and this shows different graph for different simulated faults

and swing curve for sustained and cleared faults. Also, carried out are different methods and

their applications to the stability of the power plant against transient with the graphs

illustrated waveform and nature of the power plant signals when the plant is under transient

is presented. Despite this effort the limitation of this work is that, non-inclusion of software

for numerical application to the large data space needed.

Mohammed et al. (2017) presents a new method for analysis transient stability of a faulted

two machine system using the numerical simulations in time domain considering three phase

fault under different locations and fault clearing times critically. The present demonstrated a

stable stay of power system and adjust decently to new operating conditions. Despite, the

effectiveness of this, the stability state of fault clearing time needs to be well predetermined

so as to ensure system stability and reliability at all time.

Raj and Jain (2016) presented the effect of various parameters on transient stability of a

power system. The parameters investigated fault clearing time, fault location, different load

level, generator damping coefficient and generator armature resistance were observed

critically. This considered 5 bus system critical clearing time (CCT) and the system

experienced secured and save time margin for clearing contingency, the critical clearing time

(CCT) depends on generator inertial, line impedances, grid topology, and power systems

operating conditions, fault type and location. The results revealed that the critical clearing

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time (CCT) calculation of single machine infinite bus of a power system is straight forward

and multi-machine critical clearing time (CCT) is always obtained through repeating time-

domain simulation, and hence the off-line nature of evaluating critical clearing time (CCT).

Salam and Awang (2015) presented transient stability analysis of a two- machine five bus

power system under different fault clearing times using a set of close loop transfer function

for each machine and derive the dominant root by taking laplace transformation of the

machine’s nonlinear equations. A three phase fault is considered near bus four on line 4-5

and the system has been studied and again studied using CYME power system simulation

software at different fault clearing time of 0.05, 0.07, 0.10, 0.15 and 0.225 seconds

respectively, after the disconnection of line 4-5. The proposed methods were compared with

the simulation results and found out that the two machines system are stable for the first four

fault clearing time while it is unstable for the fault clearing time of 0.225 seconds. The

limitation is that the dominant root was found to be a function of the rotor oscillation

frequency and the fault clearing time only.

Eseosa and Samuel (2015) proposed on stability studies of the Nigerian 330kV integrated

power systems consisting 17 lines and 52 buses. The studies based on the time limits of the

stability before, during and after occurrence of three phase fault at the largest generating

station (Egbin) and it also determine the most affected generating stations and buses in the

network using electrical transient analyzer program (ETAP). The impact of the three phases

short circuit on the entire system stability was considered before, during and after the fault

between (0.0000 - 0.0006 Seconds) the system remains stable until 0.042 seconds. At this

time four generating station (Omotoso, Sapele, AES and Delta) were almost out of

synchronism but, later returned to the stability after the clearance of the fault. The drawback

is that, despite the prospect of the proposed four generating station (Omotoso, Sapele, AES

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and Delta) swing away from stability region hence, the system operating outside the

allowable tolerable voltage limit of (314.46kV – 346.45kV).

Mishra and Umredkar (2013) present and introduce an accurate algorithm to analyze transient

for single and multi-machine system. Single machine connected to infinite bus and six bus

system and three machine were studied and this determine whether the system stable or

unstable for a particular fault clearing time after subjected to a three phase fault. However, it

shows from the phase angle characteristics that the relative swing between generator phase

angles is less due to less in the fault clearing time. As the fault clearing time is increased to

0.5 seconds the system becomes unstable as phase angle of generator 2 kept increasing

without any limit. The drawback is that the faults need to be cleared within minimum time

frame for the system stability to be in stable condition.

Dong and Pota (2011) presented an extension of equal area criterion for multi-machine

systems and apply this for determination of the transient stability margin (TSM) of critically

disturbed machines for a given contingency and real-time applications. This is considered as

a continuity of the transient stability assessment which normally does not report the TSM

quantitatively. The proposed made two practical contributions. First, it extended the well-

known equal area criterion to approximately prediction of the transient stability margin and

secondly suggested simple method for performing the transient stability operation, for

changing load conditions and verifies the results of the extended equal area criterion. This

method is similar to the determination of the first swing stability with little or no repetition

based to reduced system. Reduction in the system is impossible due to dependent of critical

clearing time (CCT) upon the mechanical input of the critical machines and other conditions

which results too little difference to critical clearing angle. Thus, these two steps form a fast

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method to accurately determine TSM of a critical group of machine within a power system.

for a given contingency and given fault clearing time..

Armando and Jaime, (2010) presented theory of transient energy and stability, the theory is

based on the basic concepts which include the swing equation, stable and unstable

equilibrium points, and equal area criterion. Traditionally, power system examines the subject

of transient stability based on the equal area criterion and step by step integration method.

This provides a concise study of the equal area criterion and introduced transient energy

method for single machine infinite bus (SMIB) case. Also, described simple interactive

program that plots the contour map of transient energy (up to the critical clearing level)

during fault and post fault trajectories and simple interactive computer program based on this

transient energy method.

Anthony et al., (2009) used energy function to apply direct methods of transient stability

analysis for multi-machine power systems. These functions described the system transient

energy causing the synchronous generator to move away from the initial equilibrium state

and the ability of power network to absorb this energy so that the synchronous machines may

reach a new post-disturbance equilibrium state. The procedure for swing transient stability

assessment was developed using the energy function of individual machine and groups of

machine. The method was tested extensively on two realistic power network (the 20-

generator IEEE System and the 17-generator reduced Iowa System). Energy function is

dependent of all state variables of the power system and satisfies the hypotheses of the

invariance theorem of La Salle, enabling to deduce the asymptotic stability of the post-

disturbance equilibrium of the entire power system. It also managed to obtain an estimate of

the domain of attraction of equilibrium of the entire power system. The methodology further

advanced the combination of computer-aided techniques with analytical tools, yielded less

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conservative results than what were obtained in previous works using total system energy.

This is however noted that the present results are preliminary due to the fact that the

mechanism of the critical group of machines from the rest of the system needs to be

investigated further.

In going by the above reviewed related studies, various techniques in solving system stability

such as time domain, direct methods using equal area criterion, extended equal area criterion,

energy transfer function, phase plane and probabilistic etc. have been employed to solve one

or more problems of transient stability in power system. Though each techniques has it is

own shortcomings on the basis of the methodology by which it is applied. With much respect

to Nigeria scenario, both time-domain and direct method is two major methodology of

transient stability assessment. The two have complimentary superiorities and drawbacks as

earlier discussed. Time domain method has unlimited modeling capability and can produce

time response of all quantities; it is also suitable for detail analysis of small and large

disturbance of the system. But, the inherent virtue of direct method is the availability of

qualitative measure of degree of stability in terms of the transient energy margin, very fast in

nature with limited modeling capability and suitable for first swing stability assessment.

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