Transient Stabilization of a Synchronous Generator in a

Multimachine Power Network

Gilney Damm, Françoise Lamnabhi-Lagarrigue, Riccardo Marino, Cristiano
Maria Verrelli

To cite this version:

Gilney Damm, Françoise Lamnabhi-Lagarrigue, Riccardo Marino, Cristiano Maria Verrelli. Transient
Stabilization of a Synchronous Generator in a Multimachine Power Network. Françoise Lamnabhi-
Lagarrigue; Salah Laghrouche; Antonio Loria; Elena Panteley. Taming Heterogeneity and Complexity
of Embedded Control, Wiley, pp.211-225, 2013, 9781905209651. �10.1002/9780470612217.ch13�. �hal-
03471117�

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 Transient Stabilization of a Synchronous Generator in a
Multimachine Power Network
GILNEY DAMM FRANÇOISE LAMNABHI-LAGARRIGUE
Laboratoire IBISC-CNRS/Université d’Evry Val d’Essonne Laboratoire des Signaux et Systèmes, L2S-CNRS
40 rue du Pelvoux 91020 Evry Cedex Plateau de Moulon, Gif sur Yvette 91192
FRANCE FRANCE
gilney.damm@ibisc.fr lamnabhi@lss.supelec.fr
RICCARDO MARINO, CRISTIANO MARIA VERRELLI
Universitá di Roma Tor Vergata,Dipartimento di Ingegneria Elettronica
Via del Politecnico 1, 00133 Rome
ITALY
(marino,verrelli)@ing.uniroma2.it

Abstract: The transient stabilization problem of a synchronous generator in a multimachine power system is ad-
dressed. A robust adaptive nonlinear feedback control algorithm is designed on the basis of a third order model
of the synchronous machine in a multimachine power network which takes into account the effect of transfer con-
ductances and of the remote network dynamics: it does not require the machine internal voltage measurement and
relies on the knowledge of only three model parameters and of upper and lower bounds on the uncertain ones.
Sufficient conditions to be satisfied by the remaining part of the network for guaranteeing L2 and L∞ disturbance
attenuation and relative speed regulation are derived which are more general than those required by the single
machine-infinite bus approximation.

Key–Words: Power system control, robust nonlinear control, adaptive control, L2 and L∞ disturbance attenuation.

1 Introduction disturbance attenuation and relative speed regulation

are guaranteed under certain assumptions on the net-
The transient stabilization problem of power net- work dynamics which are more general than those re-
works, which are large-scale interconnected nonlinear quired by the single machine-infinite bus approxima-
systems, consists in the design of a suitable excita- tion. Simulation results with reference to a 3-machine,
tion feedback control keeping each generator close to 9-bus system illustrate the closed loop performance.
the synchronous speed when mechanical and electri-
cal perturbations, such as load shedding, generation
tripping or short circuits, occur. The standard linear 2 Problem Statement and Nonlinear
controllers which are designed on the basis of linear
approximations around operating conditions may not
Control Design
be able to handle the severe disturbances and contin- A large-scale power system consisting of n genera-
gencies typically occurring in power systems so that, tors interconnected through a transmission network is
in the recent years, several nonlinear control algo- described by the nonlinear third order model in [10]
rithms have been proposed, leading to significant ad- [1 ≤ i ≤ n]
vances in power system control ([6], [8], [11], [12],
[4], [9]). δ̇i = ωi
In this paper we extend the analysis presented in [9] Di ω0 ω0
ω̇i = − ωi + Pmi − Pei (1)
by taking into account the effects of transfer conduc- 2Hi 2Hi 2Hi
tances and of remote network dynamics: the resulting kci Eqi′
(xdi − x′di )
′
control for the transient stabilization of a synchronous Ėqi = ′ u fi − ′ − ′ Idi
Td0i Td0i Td0i
generator in a multimachine power network, does not
n
assume the availability of the machine internal voltage ′2 ′
X h
′
Pei = Eqi Gii + Eqi Eqj Gij cos (δij )
measurement as well as the knowledge of the model
j=1,j6=i
parameters excepting for machine damping and in- i
′
ertia constants and synchronous speed. L2 and L∞ +Eqj Bij sin (δij )
 n
′2 ′
X h
′ in which δi , ωi , Pei are the state variables, uf i is the
Qei = −Eqi Bii + Eqi Eqj Gij sin (δij )
control input and the term
j=1,j6=i
i   n
′ 2 2
−Eqj Bij cos (δij ) − x′di Idi + Iqi
n h i
′
X
Ri = Ėqj Gij cos (δij ) + Bij sin (δij )
n h j=1,j6=i
′ ′
X
Idi = −Eqi Bii + Eqj Gij sin (δij ) h
′ ′
io
j=1,j6=i
+ωj Eqj Gij sin (δij ) − Eqj Bij cos (δij )
i
′
−Eqj Bij cos (δij ) represents the effect of the network remote dynamics
n h on the i-th generator.
′ ′ In this paper, we restrict our analysis to a particular
X
Iqi = Eqi Gii + Eqj Gij cos (δij )
j=1,j6=i power system PS, which consists of a group GM of
′
i n − 1 generators [tied together by a strong network of
+Eqj Bij sin (δij ) transmission lines] which is linked to a single gener-
δij = δi − δj ator gm (referred to as r-th generator) by a compara-
q q tively weak set of tie lines: the transient stabilization
Vti = 2 + v2 =
vdi qi (x′di Iqi )2 + (Eqi
′ − x′ I )2
di di problem of the synchronous generator gm in the multi-
machine power network PS is addressed. Let us state
in which (for the i-th generator): δi (rad) is the power the theoretical result of the paper (the proof is omit-
′ (p.u.)
angle, ωi (rad/s) is the relative angular speed, Eqi ted).
is the transient EMF in the quadrature axis, Pei (p.u.) Theorem: Consider the r-th generator dynamics.
is the active electrical power, Pmi (p.u.) is the mechan- Denote by δrs the pre-fault constant value for the
ical input power, Qei (p.u.) is the reactive electrical power angle δr and assume that for all t ≥ 0
power, Idi (p.u.) is the direct axis current, Iqi (p.u.)
i) for each j 6= r, δj (t) and Eqj ′ (t) are continu-
is the quadrature axis current, Vti (p.u.) is the termi-
nal voltage, uf i (p.u.) is the input to the SCR ampli- ous functions of time t and boundedness of δr (t),
fier, ω0 (rad/s) is the synchronous speed, Di (p.u.) is ′ (t);
ωr (t), Per (t) implies boundedness of Eqj
the damping constant, Hi (s) is the inertia constant,
′ (s) is the direct axis transient open circuit time
Td0i ii)a) there exist µr , νr , ρr non-negative reals, ψµr (·),
constant, xdi (p.u.) is the direct axis reactance, kci ψνr (·), ψρr (·) K∞ functions and gr (t) bounded
is the gain of the excitation amplifier, Gij (p.u.) and non-negative real-valued function of time t such
Bij (p.u.) are the i-th row and the j-th column ele- that
ment of nodal conductance and susceptance matrixes,

|Rr (t)| ≤ sup {gr (τ )} + µr ψµr max {|δr (τ )
respectively, at the internal nodes after eliminating all 0≤τ ≤t 0≤τ ≤t
physical buses, which depend on the direct axis tran-   
sient reactance x′di (p.u.), on the transformer reactance −δrs |} + νr ψνr max {|ωr (τ )|}
0≤τ ≤t
xT i (p.u.), on the loads and on the transmission line  
reactance xij (p.u.) between the i-th generator and +ρr ψρr max {|Per (τ ) − Pmr (τ )|} ;
0≤τ ≤t
the j-th generator. Direct computation of Pei (t) time
derivative [Gij and Bij , 1 ≤ j ≤ n, are assumed to be ii)b) there exist αlr known non-negative reals and
constant] allows us to rewrite the dynamic model (1) ϕlr (·) known K∞ functions such that for l =
as [Iqi ≥ cIi > 0 ([7])] µ, ν, ρ
.
δ̇i = ωi ψlr (·) ≤ αlr + ϕlr (·) = ϕ̄lr (·)
Di ω0 ω0
ω̇i = − ωi + Pmi − Pei (2) iii) Per (t) ≥ cP r > 0;
2Hi 2Hi 2Hi
" 2 #
kci Iqi + Pei Gii Pei Gii Pei2 iv) the unknown (possibly time-varying) parame-
Ṗei = ′ uf i − ′ − ′ 2 ′ (t), x (t), x′ (t), k (t) and the un-
ters Td0r
Td0i Iqi Td0i Td0i Iqi dr dr cr
known constant parameter Grr are within the
(xdi − x′di ) Gii (xdi − x′di ) Idi Pei corresponding known positive physical bounds
− ′ I I
di qi − ′
Td0i Td0i Iqi ′
(Td0rm ′
, Td0rM ), (xdrm , xdrM ), (x′drm , x′drM ),
Pei2 ′

2 2
 (kcrm , kcrM ), (Grrm , GrrM );
−Qei ωi − Bii 2 i ω − x I
di di + Iqi ωi
Iqi v) the unknown constant parameter Brr is within the
Pei corresponding known physical bounds (Brrm ,
+ Ri BrrM );
Iqi
 vi) |Ṗmr (t)| ≤ ṖM r with known ṖM r .
+ϕ̄2ρr ∗
max {[Per (τ ) − Per (τ )]}
0≤τ ≤t
Then the nonlinear adaptive feedback control algo-
rithm [kδr , kωr , kpr , kper , kωpr , kr , kRr , βjr , βxr , ṖM r 2Hr  5
+PmrM − Pmrm + + kωr
βBr , εjr , εxr , εBr (1 ≤ j ≤ 6) are positive control kper ω0 4
parameters] 1 5 
+ + kδr max {[ωr (τ ) − ωr∗ (τ )]}
Iqr kωpr 4 0≤τ ≤t
uf r =   vr h 2H 
r 25 2  5Dr kδr i
2 + θ̂ P
θ̂5r Iqr + 1 + kδr + ·
6r er
  ω0 16 4ω0
4 + 2P 2
! #
kr Iqr 2Iqr er
−  2  · · max {[δr (τ ) − δrs ]} + 1
2 + θ̂ P 2 +θ 0≤τ ≤t
4 θ̂5r Iqr 6r er θ5rm Iqr 6rm Per
5
·vr2 (Per − Per
∗
) ωr∗ = − kδr (δr − δrs ) (3)
4
∗ 2H r 5
h 5
Per = kωr (ωr − ωr∗ ) + kδr ωr
5 ∗ ω0 ω0 4 4
vr = − kpr (Per − Per )+ (ωr − ωr∗ ) Dr ∗
4 2Hr − ω + (δr − δrs )
2
kRr Per 5Dr kδr 2Hr 2Hr r
∗
− 2
(Per − Per )+ ωr + ωr 1 i
4 Iqr 4ω0 ω0 + (ωr − ωr∗ ) + P̂mr
" kωpr
kr 2 2 2 I2 P 2
∗
− (Per − Per ) Per + Idr Iqr + dr 2 er
4 Iqr
2Hr  5 kr 1
#
P4    2
P̂mr = φr + kper + +
+ 4er 1 + ωr2 + ωr2 Idr 2 2
+ Iqr ω0 4 4 kr
Iqr
kr  5 5 5 ω2 
− kωr + kδr + kper + 0 2 kωpr ωr
4 4 4 4 16Hr
"
kr 1 ω02 5 kr 1 ω02 
+ + + kωpr φ̇r = kper + + + kωpr −φr
4 kr 16Hr2 4 4 kr 16Hr2
1 2 ∗ Dr 2Hr  5 kr
+ (Per − Per ) + θ̂1r Per + θ̂2r Idr Iqr + ωr + Per − kper +
kωpr ω0 ω0 4 4
P2 P2
#
Idr Per 1 ω02
+ θ̂4r 2er + B̂rr 2er ωr

+θ̂3r + + kωpr ωr
Iqr Iqr Iqr kr 16Hr2

2 2
 5kδr h 2Hr  5 kr 1
+x̂′dr Idr + Iqr ωr + Qer ωr − D r ωr φr (0) = P̂mr (0) − kper + +
4ω0 ω0 4 4 kr
i
ω 2
−ω0 (P̂mr − Per ) 
+ 0 2 kωpr ωr (0),
" 16Hr
2Hr  5 1  5
− kωr + kωr Pmrm ≤ P̂mr (0) ≤ PmrM
ω0 4 kωpr 4 "
Per (Per − Per ) ∗
Dr  ω0 ˙
+ (ωr − ωr∗ ) + (δr − δrs ) + (Per θ̂1r = Proj − , θ̂1r , θ1rm ,
2Hr 2Hr β1r
# #
∗ 1 ∗ kr 2
−Per ) + (ωr − ωr ) − 2 Per (Per θ1rM , ε1r , θ1rm ≤ θ̂1r (0) ≤ θ1rM
kωpr 4Iqr
" "
Idr Iqr (Per − Per ) ∗
˙

∗
−Per ) ϕ̄2µr max {[δr (τ ) θ̂2r = Proj − , θ̂2r , θ2rm ,
0≤τ ≤t β2r
#

−δrs ]} + ϕ̄2νr max {[ωr (τ ) θ2rM , ε2r , θ2rm ≤ θ̂2r (0) ≤ θ2rM
0≤τ ≤t
! "
5 Idr Per (Per − Per ) ∗
˙
−ωr∗ (τ )]} + kδr max {[δr (τ ) − δrs ]} θ̂3r = Proj − , θ̂3r , θ3rm ,
4 0≤τ ≤t Iqr β3r
 2 − ẑ 2
# h zrm r
i
θ3rM , ε3r , θ3rm ≤ θ̂3r (0) ≤ θ3rM ζp1 = 1− 2
2 − (z
zrm rm − εzr )
ẑr2 − zrM
2
"
2
P (Per − Per ) ∗ h i
˙ ζp2 = 1 −
θ̂4r = Proj − er 2 , θ̂4r , θ4rm , 2 2
Iqr β4r (zrM + εzr ) − zrM
# 0 ≤ zrm (zrm − εzr ), 0 ≤ zrM (zrM + εzr )
θ4rM , ε4r , θ4rm ≤ θ̂4r (0) ≤ θ4rM Ca : ẑr < zrm & ζ < 0, Cb : ẑr > zrM & ζ > 0
2 v (P − P ∗ )
"
˙ Iqr r er er is bounded and guarantees the closed loop system
θ̂5r = Proj  , θ̂5r , θ5rm ,
(2)-(3) to satisfy, in terms of yr (t) = [δr (t) −

2
θ̂5r Iqr + θ̂6r Per β5r
# δrs , ωr (t), Per (t) − Pmr (t)]T , xr (t) = [yr (t)T ,
θ5rM , ε5r , θ5rm ≤ θ̂5r (0) ≤ θ5rM Pmr (t)− P̂mr (t)]T , wdr (t) = [Ṗmr (t), θ1rM −θ1rm +
ε1r ,θ2rM − θ2rm + ε2r ,θ3rM − θ3rm + ε3r , θ4rM −
"
∗)
Per vr (Per − Per θ4rm + ε4r , max{θ5rM − θ5rm +ε5r , θ6rM − θ6rm
˙
θ̂6r = Proj   , θ̂6r , θ6rm , +ε6r }, x′drM − x′drm +εxr , BrrM − Brrm +εBr ,
2 + θ̂ P
θ̂5r Iqr 6r er β6r sup0≤τ ≤t {gr (τ )},µr , νr , ρr ]T , the following proper-
ties:
#
θ6rM , ε6r , θ6rm ≤ θ̂6r (0) ≤ θ6rM
(S1) exponential convergence and L∞ disturbance
"  
2 + I 2 ω (P − P ∗ ) attenuation, i.e.
′ Idr qr r er er
x̂˙ dr = Proj − , x̂′dr ,
βxr 1
kyr (t)k2 ≤ h1r e−cr t + γ1r (kwdr (·)k∞ )
#
kr
x′drm , x′drM , εxr , x′drm ≤ x̂′dr (0) ≤ x′drM
holds for all t ≥ 0, where h1r (xr (0)) ≥ 0, cr >
0 and γ1r (r) is a class K∞ function;
"
2 ω (P
Per − ∗)
Per
˙ r er
B̂ rr = Proj − 2
, B̂rr , Brrm ,
βBr Iqr (S2) L2 disturbance attenuation, i.e.
#
BrrM , εBr , Brrm ≤ B̂rr (0) ≤ BrrM 1 T
Z
RT 2
0 kyr (τ )k dτ ≤ h2r + γ2r (kwdr (τ )k)dτ
kr 0
1 1
θ1rm = ′ , θ1rM = ′
Td0rM Td0rm holds for any given T > 0, where h2r (xr (0)) ≥
(xdrm − xdrM )′ 0 and γ2r (r) is a class K∞ function.
θ2rm = ′
Td0rM If, in addition to previous assumptions, there exist a
(xdrM − x′drm ) non-negative real t0 and positive reals MRr , γδr , γωr ,
θ2rM = ′
Td0rm γpr such that
Grrm (xdrm − x′drM ) ′ (t), x (t), x′ (t), k (t) are con-
θ3rm = ′
vii) Pmr (t), Td0r dr dr cr
Td0rM stant for all t ≥ t0 ;
GrrM (xdrM − x′drm )
θ3rM = limt→∞ tt0 Rr2 (τ )dτ
R
′
Td0rm viii) ≤ MRr
+γδr limt→∞ tt0 [δr (τ ) − δrs ]2 dτ
R
Grrm GrrM
θ4rm = ′ , θ4rM = ′ +γωr limt→∞ tt0 [ωr (τ )]2 dτ
R
Td0rM Td0rm
+γpr limt→∞ tt0 [Per (τ ) − Pmr (τ )]2 dτ ;
R
kcrm kcrM
θ5rm = ′ , θ5rM = ′
Td0rM Td0rm n  
k
 
4γpr

ix) min kδr
− kγ̄Rr
δr
, kωr − kγ̄Rrωr
, 4pr − kRr ,
Grrm kcrm GrrM kcrM 4 4
θ6rm = , θ6rM =
 o
kper 4γpr
′
Td0rM ′
Td0rm 4 − kRr > 0 with γ̄δr = γδr + 25 2
8 γωr kδr +
" #2
 
4 2H r 25 2
ω0 16 δr k + 1 + 54 Dωr k0δr γpr and γ̄ωr =
 ζζp1 if Ca

" #2
 
Proj[ζ, ẑr , zrm , zrM , εzr ] = ζζp2 if Cb 2γωr + 4 2Hr 5 5 1
ω0 4 kωr + 4 kδr + kωpr γpr ,
ζ

otherwise
then controller (3) guarantees the additional prop-
erty:
(S3) asymptotic convergence, i.e.
lim [δr (t) − δrs , ωr (t), Per (t) − Pmr ] = 0.
t→∞
Remark 1: The proposed control algorithm (3) re-
lies on the locally measured signals: δr , ωr , Per , Idr ,
Iqr , Qer (the method for measuring the power angle
δr can be found in [3], [2] and [5]).
Remark 2: Let Σr (yr1 , yr2 , yr3 , Rr ) be the sys-
tem consisting of the j-th generators (j 6= r) with in-
puts the yr (t) vector components yr1 (t), yr2 (t), yr3 (t)
and output the function Rr (t). Less restrictive condi-
tions than those required in the single machine-infinite
bus approximation are to be satisfied by the remain-
ing part of the network: assumption ii)a) is satisfied if
system Σr (yr1 , yr2 , yr3 , Rr ) is Input to Output Stable
with gain functions ψµr (·), ψνr (·), ψρr (·); assump-
tion ii)b) requires the knowledge of suitable functions
ϕ̄µr (·), ϕ̄νr (·), ϕ̄ρr (·) which majorize the gain func-
tions ψµr (·), ψνr (·), ψρr (·); assumption viii) is satis-
fied if system Σr (yr1 , yr2 , yr3 , Rr ) has finite Lp2 gains,
bounded from
p q above by the positive numbers γδr /3,
γωr /3, γpr /3.
3 Simulation Results
In this section we will test by simulation the con-
trol algorithm (3) with reference to each generator
of the popular Western System Coordinating Council
(WSCC) 3-machine, 9-bus system described in [10]
and [1] [Di = 0, 1 ≤ i ≤ 3], with the aim of nu-
merically checking the conservativeness of the condi-
tions provided by the theorem, of testing the perfor-
mance and of verifying the robustness of the proposed
control law with respect to unmodelled dynamics: the
simulation is carried out by using the two-axis model
(see [10]) from which the model (1) has been derived.
The initial conditions for the state variables are com-
puted by systematically solving the load-flow equa-
tions of the network and by computing the values of
the algebraic variables. For 1 ≤ i ≤ 3, the func-
tions ϕ̄µi (·), ϕ̄νi (·), ϕ̄ρi (·) are set equal to id(·)|[0,∞)
[id(·) is the identity function], the control parame-
ters are chosen as kδi = kωi = 0.01, kpi = 720,
kpei = kωpi = 1, ki = 0.001, kRi = 0.1, β1i = β2i =
β3i = β4i = β5i = β6i = βxi = βBi = 48000,
ε1i = ε2i = ε3i = ε4i = ε5i = ε6i = εxi =
εBi = 0.00001, while ṖM i = 1 and the known upper
and lower bounds on the model parameters values are
kc1m = 0.6, kc1M = 1.4, xd1m = 0.1, xd1M = 0.2,
x′d1m = 0.05 p.u., x′d1M = 0.07 p.u., Td01m
′ = 6 p.u.,
′
Td01M = 12 p.u., G11m = 0.5 p.u., G11M = 1.5 p.u.,
Pm1m = 0.3 p.u., Pm1M = 1.1 p.u., B11m = −6 p.u.,
B11M = −1 p.u., kc2m = 0.6, kc2M = 1.4, xd2m =
0.7, xd2M = 1.1, x′d2m = 0.09 p.u., x′d2M = 0.14
′
p.u., Td02m ′
= 4 p.u., Td02M = 8 p.u., G22m = 0.3
p.u., G22M = 0.6 p.u., Pm2m = 1.2 p.u., Pm2M = 2
p.u., B22m = −6 p.u., B22M = −1 p.u., kc3m = 0.6,
kc3M = 1.4, xd3m = 1.2, xd3M = 1.5, x′d3m = 0.1
′
p.u., x′d3M = 0.3 p.u., Td03m ′
= 4 p.u., Td03M = 8
p.u., G33m = 0.1 p.u., G33M = 0.4 p.u., Pm3m = 0.4
p.u., Pm3M = 1.2 p.u., B33m = −6 p.u., B33M = −1
p.u.. The goal of the simulation is to verify the effect
of a three-phase fault occurring near bus 7 at the end
of line 5-7 at t = 0.001 s, which is cleared in five
cycles (0.083 s) by opening line 5-7. The same sim-
ulation is performed by testing separately (with refer-
ence to each generator of WSCC) the proposed con-
troller and both the IEEE-Type I and the fast exciters
with PSS (the exciter data are taken from [10], while
K0 = τ0 = 24, τ1 = τ3 = 0.5, τ2 = τ4 = 0.05
and the saturating limits are ±0.1 in the PSS diagram
in [1]). The results are reported in Figures 1-3: the
proposed controller restores the synchronous speeds,
while the linear controllers either cannot survive the
severe fault or can only mantain the system stable.
Figure 1: Proposed control [Generator 1 (solid), Gen-
erator 2 (dot), Generator 3 (dashed)]; a) Pmi b) δi −δis
c) ωi d) Pei e) Vti f) uf i
4 Conclusions
A robust adaptive nonlinear feedback control (3) has
been designed on the basis of a third order model
Figure 2: IEEE-Type I exciter with PSS [Generator 1
(solid), Generator 2 (dot), Generator 3 (dashed)]; a)
Pmi b) δi − δis c) ωi d) Pei e) Vti f) uf i
(1) of a synchronous generator in a multimachine
power network with nontrivial conductances. Only
three model parameters and upper and lower bounds
on the uncertain ones are required to be known. L2
and L∞ disturbance attenuation and asymptotic regu-
lation properties (S1)-(S3) are guaranteed under suit-
able conditions to be satisfied by the network dy-
namics which generalize those required by the single
machine-infinite bus approximation.
Acknowledgements: The research was supported
by MIUR and through a European Community Marie
Curie Fellowship (in the framework of the CTS), con-
tract number: HPMT-CT-2001-00278.
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