Electrical Power Systems

ELECENG 4PM4 / ECE 6PM4

Babak Nahid
PhD, HDR, Fellow IEEE
ECE Department
Faculty of Engineering
McMaster University

Contact Info :
Office: ITB A109
Email: babak.nahid@mcmaster.ca

Office Hours:
By appointment

Topic 6
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 Course Outline
1. Introduction and Review
2. Topic 1: Transmission Lines
3. Topic 2: Power Flow Studies
4. Topic 3: Symmetrical Faults
5. Topic 4: Symmetrical Components
6. Topic 5: Unsymmetrical Faults
7. Topic 6: Power System Stability
8. Topic 7: Future Grid
9. Conclusion and Wrap-up

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 Topic 6: Power System Stability
6. Power System Stability:
1. Introduction
2. The Swing Equation
3. Solution of the Swing Equation
4. Simplified Synchronous Machine Model
5. Power Stability
6. The Equal-Area Criterion
7. Examples
8. Introduction to Control and Stabilization
9. Summary
 Topic 6: Power System Stability
6. Power System Stability:
1. Introduction
2. The Swing Equation
3. Solution of the Swing Equation
4. Simplified Synchronous Machine Model
5. Power Stability
6. The Equal-Area Criterion
7. Examples
8. Introduction to Control and Stabilization
9. Summary
 Power Stability
pe
A real power system is always undergoing sudden X d X
changes in load or changes in system impedance
due, for example, to line switching or faults.
Vt
Such events will cause oscillations of power flow and
possible loss of stability.
E   Vbus 0

The factors which influence the transient stability limit 𝑝𝑒𝑝𝑢

1.2

(stability margin) are: 1

0.8
(i) the initial load (angle δ0 ),
0.6

(ii) the magnitude of change (in load or system 𝑝𝑚0𝑝𝑢

0.4

impedance), and 0.2

(iii) the transient response of the power angle δ. 0

0 30 60 90 120 150 180 δ
δ0

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42
 Power Stability
pe
Illustrative example: X d X

Initially in steady-state:
𝑝𝑚0 = 1.0 and δ0 = 23.95° Vt
𝑝𝑒 = 2.464 𝑠𝑖𝑛 δ 𝑝𝑢
E   Vbus 0
Step Change: At 𝑡 = 0, 𝑝𝑚 changes from 𝑝𝑚0 to
𝑝𝑚1 = 2.0 𝑝𝑢
𝑝𝑒𝑝𝑢
1.2
𝑝𝑚1 > 𝑝𝑒1 = 𝑝𝑒0 ⇒ α = 𝑃𝑝 α𝑚 ∝ 𝑝𝑚 − 𝑝𝑒 > 0
1

→ rotor is accelerating 0.8

0.6

𝑝𝑚0𝑝𝑢
0.4

2𝐻 𝑑2 δ 𝑡 0.2
∙ ω𝑝𝑢 𝑡 ∙ 2
= 𝑝𝑚𝑝𝑢 − 𝑝𝑒𝑝𝑢 > 0
ω𝑠𝑦𝑛 𝑑𝑡 0
0 30 60 90 120 150 180 δ
ω𝑝𝑢 𝑑2 δ
Recall: 2𝐻 ∙ ω ∙ 𝑑𝑡 2 = 𝑝𝑚 − 𝑝𝑒 δ0
𝑠𝑦𝑛

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43
 Power Stability
2𝐻
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 > 0 𝑑δ
ω𝑠𝑦𝑛 = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡

δ [°]
δ
δ0
𝑝𝑚
ω 𝑑ω
∆𝑝 > 0 =𝛼>0
𝑑𝑡

ω𝑝𝑢
𝑝𝑒 ω𝑠𝑦𝑛
=1
𝑝𝑒0

𝛼
δ
δ0 𝑡 [𝑠]
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44
 Power Stability
2𝐻
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 ≅ 0 𝑑δ
ω𝑠𝑦𝑛 = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡

δ [°]
δ

δ0
𝑝𝑚
𝑝𝑒 ∆𝑝 ≅ 0 ω 𝑑ω
=𝛼≅0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛
=1

𝛼
δ
δ0 𝑡 [𝑠]
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45
 Power Stability
2𝐻 δ 𝑑δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 < 0
ω𝑠𝑦𝑛 = ω − ω𝑠𝑦𝑛 ≅ 0
𝑑𝑡

δ [°]
𝑝𝑒
∆𝑝 < 0 δ0
𝑝𝑚
𝑑ω
=𝛼<0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛 ω

𝛼
δ
δ0 𝑡 [𝑠]
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46
 Power Stability
2𝐻
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 ≅ 0 𝑑δ
ω𝑠𝑦𝑛 = ω − ω𝑠𝑦𝑛 < 0

δ [°]
𝑑𝑡
δ

δ0
𝑝𝑚
𝑝𝑒 ∆𝑝 ≅ 0 𝑑ω
=𝛼≅0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛
ω

𝛼
δ
δ0 𝑡 [𝑠]
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47
 Power Stability
2𝐻
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 > 0 𝑑δ
ω𝑠𝑦𝑛 = ω − ω𝑠𝑦𝑛 ≅ 0

δ [°]
𝑑𝑡

δ0 δ
𝑝𝑚
𝑑ω
=𝛼>0
𝑑𝑡

ω𝑝𝑢
∆𝑝 > 0 ω𝑠𝑦𝑛 ω

𝑝𝑒

𝛼
δ
δ0 𝑡 [𝑠]
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48
 Power Stability
2𝐻 δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 < 0
ω𝑠𝑦𝑛

δ [°]
𝑑δ
𝑝𝑒 = ω − ω𝑠𝑦𝑛 ≅ 0
𝑑𝑡
∆𝑝 < 0 δ0
𝑝𝑚

ω𝑝𝑢
ω𝑠𝑦𝑛 ω
𝑑ω
=𝛼<0
𝑑𝑡

𝛼
δ
δ0 𝑡 [𝑠]
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49
 Power Stability
2𝐻
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒
ω𝑠𝑦𝑛

δ [°]
δ0
𝑝𝑚

ω𝑝𝑢
𝛼
δ0 𝑡 [𝑠]
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50
 Power Stability
2𝐻
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒
ω𝑠𝑦𝑛

δ [°]
δ0
𝑝𝑚

ω𝑝𝑢
𝛼
δ0 𝑡 [𝑠]
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51
 Power Stability
2𝐻
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 = 0 𝑑δ
ω𝑠𝑦𝑛 = ω − ω𝑠𝑦𝑛 = 0
𝑑𝑡

δ [°]
δ
δ0
𝑝𝑚

ω = ω𝑠𝑦𝑛

ω𝑝𝑢
𝛼
𝛼=0

δ
δ0 𝑡 [𝑠]
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52
 Power Stability
𝑑
𝛼= ω>0
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡

ω𝑝𝑢
𝛼
𝑡 [𝑠]
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53
 Power Stability
𝑑
𝛼= ω≅0
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡

ω𝑝𝑢
𝛼
𝑡 [𝑠]
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54
 Power Stability
𝑑
𝛼= ω<0
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 ≅ 0
𝑑𝑡

ω𝑝𝑢
𝛼
𝑡 [𝑠]
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55
 Power Stability
𝑑
𝛼= ω≅0
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 < 0
𝑑𝑡

ω𝑝𝑢
𝛼
𝑡 [𝑠]
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56
 Power Stability
𝑑
𝛼= ω>0
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 ≅ 0
𝑑𝑡

ω𝑝𝑢
𝛼
𝑡 [𝑠]
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57
 Power Stability
𝑑
𝛼= ω<0
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 ≅ 0
𝑑𝑡

ω𝑝𝑢
𝛼
𝑡 [𝑠]
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58
 Power Stability
𝑑
𝛼= ω
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛
𝑑𝑡

ω𝑝𝑢
𝛼
𝑡 [𝑠]
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59
 Power Stability
𝑑
𝛼= ω
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛
𝑑𝑡

ω𝑝𝑢
𝛼
𝑡 [𝑠]
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60
 Power Stability
𝑑
𝛼= ω=0
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 = 0
𝑑𝑡

ω𝑝𝑢
𝛼
𝑡 [𝑠]
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61
 Power Stability
What will happen if: Power 𝑝𝑒
1.2

δ2 > 𝜋 − δ1 1

𝑑 𝑝0.8
𝑚 ∆𝑝 > 0
𝑝𝑒 < 𝑝𝑚 ⇒ ω = 𝛼 ∝ 𝑝𝑚 − 𝑝𝑒 > 0
𝑑𝑡 0.6
𝑝𝑚0
0.4
further acceleration will occur resulting in
0.2
loss of synchronism:
δ1 𝜋 − δ1
0
0 30 60 90 120 δ2 150 180
Unstable generator! δ0

𝑑 𝑑
δ = ω − ω𝑠𝑦𝑛 > 0 ⇒ 𝑝𝑚 ≫ 𝑝𝑒 ⇒ 𝛼𝑚 ≫ 0 ⇒ ω ≫ ω𝑠𝑦𝑛 ⇒ δ ≫ 0
𝑑𝑡 𝑑𝑡

System unstable if: δ2 = δ𝑚𝑎𝑥 > δ𝑙𝑖𝑚𝑖𝑡 = 𝜋 − δ1

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62
 Power Stability
pe
Illustrative example: X d X

Initially in steady-state:
𝑝𝑚0 = 1.0 and δ0 = 23.95° Vt
𝑝𝑒 = 2.464 𝑠𝑖𝑛 δ 𝑝𝑢
E   Vbus 0
Step Change: At 𝑡 = 0, 𝑝𝑚 changes from 𝑝𝑚0 to
𝑝𝑚1 = 2.076 𝑝𝑢
𝑝𝑒𝑝𝑢
1.2

𝑝𝑚1 > 𝑝𝑒 = 𝑝𝑒0 ⇒ α𝑚 > 0 1

𝑝𝑚10.8
→ rotor is accelerating 0.6

𝑝𝑚00.4
0.2
If the generator is stable:
0
𝑝𝑒1 = 𝑝𝑚1 = 2.076 𝑝𝑢 = 2.464 𝑠𝑖𝑛 δ1 0 30 60 90 120 150 180 δ
δ1 = 57.4° ⇒ δ𝑙𝑖𝑚𝑖𝑡 = 180° − δ1 ≅ 122° δ0 δ1 π − δ1

This document and the information therein are protected by copyright.

63
 Power Stability
2𝐻 𝑑δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 > 0 = ω − ω𝑠𝑦𝑛 > 0
ω𝑠𝑦𝑛 𝑑𝑡

δ [°]
δ
δ0
𝑝𝑚
ω 𝑑ω
=𝛼≅0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛

𝑝𝑒0

𝛼
δ1 𝜋 − δ1
δ0 𝑡 [𝑠]
This document and the information therein are protected by copyright.
64
 Power Stability
2𝐻 𝑑δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 < 0 = ω − ω𝑠𝑦𝑛 ≅ 0
ω𝑠𝑦𝑛 𝑑𝑡 °

δ [°]
δ ≅ 121 < δ𝑙𝑖𝑚𝑖𝑡

δ0
𝑝𝑚
𝑑ω
=𝛼<0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛 ω

𝑝𝑒0

𝛼
δ1 𝜋 − δ1
δ0 𝑡 [𝑠]
This document and the information therein are protected by copyright.
65
 Power Stability
2𝐻 𝑑δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 < 0 = ω − ω𝑠𝑦𝑛 < 0
ω𝑠𝑦𝑛 𝑑𝑡

δ [°]
δ

δ0
𝑝𝑚
𝑑ω
=𝛼<0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛
ω
𝑝𝑒0

𝛼
δ1 𝜋 − δ1
δ0 𝑡 [𝑠]
This document and the information therein are protected by copyright.
66
 Power Stability
2𝐻 𝑑δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 > 0 = ω − ω𝑠𝑦𝑛 ≅ 0
ω𝑠𝑦𝑛 𝑑𝑡

δ [°]
δ0 δ
𝑝𝑚
𝑑ω
=𝛼>0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛 ω

𝑝𝑒0

𝛼
δ1 𝜋 − δ1
δ0 𝑡 [𝑠]
This document and the information therein are protected by copyright.
67
 Power Stability
2𝐻 𝑑δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 = ω − ω𝑠𝑦𝑛
ω𝑠𝑦𝑛 𝑑𝑡

δ [°]
δ0
𝑝𝑚
𝑑ω
=𝛼
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛

𝑝𝑒0

𝛼
δ1 𝜋 − δ1
δ0 𝑡 [𝑠]
This document and the information therein are protected by copyright.
68
 Power Stability
2𝐻 𝑑δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 = ω − ω𝑠𝑦𝑛
ω𝑠𝑦𝑛 𝑑𝑡

δ [°]
δ0
𝑝𝑚
𝑑ω
=𝛼
𝑑𝑡

ω𝑝𝑢
𝑝𝑒0

𝛼
δ1 𝜋 − δ1
δ0 𝑡 [𝑠]
This document and the information therein are protected by copyright.
69
 Power Stability
𝑑 𝑑δ
𝛼= ω≅0 = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡 δ
δ0

ω 𝑑ω
=𝛼≅0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛

𝛼
𝑡 [𝑠]
This document and the information therein are protected by copyright.
70
 Power Stability
𝑑 𝑑δ
𝛼= ω<0 = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡
𝑑𝑡

δ [°]
𝑑 δ
δ = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡
δ0
𝑑ω
=𝛼<0
𝑑𝑡

ω𝑝𝑢
ω
ω𝑠𝑦𝑛

𝛼
𝑡 [𝑠]
This document and the information therein are protected by copyright.
71
 Power Stability
𝑑 𝑑δ
𝛼= ω<0 = ω − ω𝑠𝑦𝑛 ≅ 0
𝑑𝑡
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 ≅ 0 δ ≅ 121° < δ𝑙𝑖𝑚𝑖𝑡
𝑑𝑡
δ0
𝑑ω
=𝛼<0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛 ω

δ ≅ 121° < δ𝑙𝑖𝑚𝑖𝑡

𝛼
𝑡 [𝑠]
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72
 Power Stability
𝑑 𝑑δ
𝛼= ω<0 = ω − ω𝑠𝑦𝑛 < 0
𝑑𝑡
𝑑𝑡

δ [°]
𝑑 δ
δ = ω − ω𝑠𝑦𝑛 < 0
𝑑𝑡
δ0
𝑑ω
=𝛼<0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛 ω

𝛼
𝑡 [𝑠]
This document and the information therein are protected by copyright.
73
 Power Stability
𝑑 𝑑δ
𝛼= ω>0 = ω − ω𝑠𝑦𝑛 < 0
𝑑𝑡
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 < 0
𝑑𝑡
δ
δ0
𝑑ω
=𝛼>0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛
ω

𝛼
𝑡 [𝑠]
This document and the information therein are protected by copyright.
74
 Power Stability
𝑑 𝑑δ
𝛼= ω=0 = ω − ω𝑠𝑦𝑛
𝑑𝑡
𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 = 0
𝑑𝑡
δ0
𝑑ω
=𝛼≅0
𝑑𝑡

ω𝑝𝑢
𝛼
𝑡 [𝑠]
This document and the information therein are protected by copyright.
75
 Power Stability
pe
Illustrative example: X d X

Initially in steady-state:
𝑝𝑚0 = 1.0 and δ0 = 23.95° Vt
𝑝𝑒 = 2.464 𝑠𝑖𝑛 δ 𝑝𝑢
E   Vbus 0
Step Change: At 𝑡 = 0, 𝑝𝑚 changes from 𝑝𝑚0 to
𝑝𝑚1 = 2.078 𝑝𝑢 > 2.076 𝑝𝑢
𝑝𝑒𝑝𝑢
1.2

𝑝𝑚1 > 𝑝𝑒 = 𝑝𝑒0 ⇒ α𝑚 > 0 1

𝑝𝑚10.8
→ rotor is accelerating 0.6

𝑝𝑚00.4
0.2
If the generator is stable:
0
𝑝𝑒1 = 𝑝𝑚1 = 2.078 𝑝𝑢 = 2.464 𝑠𝑖𝑛 δ1 0 30 60 90 120 150 180 δ
δ1 = 57.6° ⇒ δ𝑙𝑖𝑚𝑖𝑡 = 180° − δ1 ≅ 122° δ0 δ1 π − δ1

This document and the information therein are protected by copyright.

76
 Power Stability
2𝐻 𝑑δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 ≅ 0 = ω − ω𝑠𝑦𝑛 > 0
ω𝑠𝑦𝑛 𝑑𝑡

δ [°]
δ Stable
δ0 Unstable
𝑝𝑚
ω 𝑑ω
=𝛼≅0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛

𝑝𝑒0

𝛼
δ1 𝜋 − δ1
δ0 𝑡 [𝑠]
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77
 Power Stability
2𝐻 𝑑δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 < 0 = ω − ω𝑠𝑦𝑛 > 0
ω𝑠𝑦𝑛 𝑑𝑡

δ [°]
δ
Stable
δ0 Unstable
𝑝𝑚
𝑑ω
=𝛼<0
𝑑𝑡

ω𝑝𝑢
ω
ω𝑠𝑦𝑛

𝛼
𝑡 [𝑠]
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78
 Power Stability
2𝐻 𝑑δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 ≅ 0 = ω − ω𝑠𝑦𝑛 > 0
ω𝑠𝑦𝑛 𝑑𝑡

δ [°]
δ ≅ 123° > δ𝑙𝑖𝑚𝑖𝑡
Stable
δ0 Unstable
𝑝𝑚
𝑑ω
=𝛼≅0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛 ω

𝛼
𝑡 [𝑠]
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79
 Power Stability
2𝐻 𝑑δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 > 0 = ω − ω𝑠𝑦𝑛 > 0
ω𝑠𝑦𝑛 𝑑𝑡

δ [°]
δ
Stable
δ0 Unstable
𝑝𝑚
𝑑ω
=𝛼>0
ω 𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛

𝛼
δ1 𝜋 − δ1
𝑡 [𝑠]
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80
 Power Stability
2𝐻 δ
∙ ω𝑝𝑢 ∙ 𝛼 = 𝑝𝑚 − 𝑝𝑒 > 0 𝑑δ
ω𝑠𝑦𝑛 = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡

δ [°]
Stable
δ0 Unstable
𝑝𝑚 ω
𝑑ω
=𝛼>0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛

𝛼
δ1 𝜋 − δ1
𝑡 [𝑠]
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81
 Power Stability
𝑑 𝑑δ
𝛼= ω≅0 = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡 𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 > 0 Stable
𝑑𝑡 δ
δ0 Unstable

Stable ω 𝑑ω
Unstable
=𝛼≅0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛

𝛼
𝑡 [𝑠]
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82
 Power Stability
𝑑 𝑑δ
𝛼= ω<0 = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡 𝑑𝑡

δ [°]
𝑑 δ
δ = ω − ω𝑠𝑦𝑛 > 0 Stable
𝑑𝑡
δ0 Unstable

Stable 𝑑ω
Unstable
=𝛼≅0
𝑑𝑡

ω𝑝𝑢
ω
ω𝑠𝑦𝑛

𝛼
𝑡 [𝑠]
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83
 Power Stability
𝑑 𝑑δ
𝛼= ω≅0 = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡 𝑑𝑡

δ [°]
𝑑 δ ≅ 123° > δ𝑙𝑖𝑚𝑖𝑡
δ = ω − ω𝑠𝑦𝑛 > 0 Stable
𝑑𝑡
δ0 Unstable

Stable 𝑑ω
Unstable
=𝛼≅0
𝑑𝑡

ω𝑝𝑢
ω
ω𝑠𝑦𝑛

δ ≅ 123° > δ𝑙𝑖𝑚𝑖𝑡

𝛼
𝑡 [𝑠]
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84
 Power Stability
𝑑 𝑑δ
𝛼= ω>0 = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡 𝑑𝑡

δ [°]
δ
𝑑
δ = ω − ω𝑠𝑦𝑛 > 0 Stable
𝑑𝑡
δ0 Unstable

Stable 𝑑ω
Unstable
=𝛼>0
ω 𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛

𝛼
𝑡 [𝑠]
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85
 Power Stability
δ
𝑑 𝑑δ
𝛼= ω>0 = ω − ω𝑠𝑦𝑛 > 0
𝑑𝑡 𝑑𝑡

δ [°]
𝑑
δ = ω − ω𝑠𝑦𝑛 > 0 Stable
𝑑𝑡
δ0 Unstable
ω
Stable 𝑑ω
Unstable
=𝛼>0
𝑑𝑡

ω𝑝𝑢
ω𝑠𝑦𝑛

𝛼
𝑡 [𝑠]
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86
 Topic 6: Power System Stability
6. Power System Stability:
1. Introduction
2. The Swing Equation
3. Solution of the Swing Equation
4. Simplified Synchronous Machine Model
5. Power Stability
6. The Equal-Area Criterion
7. Examples
8. Introduction to Control and Stabilization
9. Summary
 The Equal-Area Criterion
System unstable if: δ2 = δ𝑚𝑎𝑥 > δ𝑙𝑖𝑚𝑖𝑡 = 𝜋 − δ1
δ2
How to evaluate δ2 = δ𝑚𝑎𝑥 ?
𝑑

δ [°]
δ = ω − ω𝑠𝑦𝑛
𝑑𝑡
δ0
𝑑
ω=𝛼

ω𝑝𝑢
ω𝑠𝑦𝑛 ω 𝑑𝑡

𝛼
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88
 The Equal-Area Criterion
System unstable if: δ2 = δ𝑚𝑎𝑥 > δ𝑙𝑖𝑚𝑖𝑡 = 𝜋 − δ1
δ2
How to calculate δ2 = δ𝑚𝑎𝑥 ?
𝑑

δ [°]
𝑑 δ = ω − ω𝑠𝑦𝑛
ሶ 0) =
δ(𝑡 δ(𝑡0 ) = 0 𝑑𝑡
𝑑𝑡 δ0
𝑑 𝑑
ሶ 2) =
δ(𝑡 δ(𝑡2 ) = 0 ω=𝛼

ω𝑝𝑢
𝑑𝑡 ω𝑠𝑦𝑛 ω 𝑑𝑡
Indeed: ω(𝑡0 ) = ω(𝑡2 ) = ω𝑠𝑦𝑛

δሶ ቚ =0

𝛼
δ=δ0

δሶ ቚ =0
δ=δ2
𝑡0 𝑡2
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89
 The Equal-Area Criterion
System unstable if: δ2 = δ𝑚𝑎𝑥 > δ𝑙𝑖𝑚𝑖𝑡 = 𝜋 − δ1
δ2
How to estimate δ2 = δ𝑚𝑎𝑥 ?
𝑑

δ [°]
δ = ω − ω𝑠𝑦𝑛
𝑑𝑡
δ 𝑡 is the solution of the swing equation: δ0
𝑑
2𝐻 𝑑2 ω=𝛼

ω𝑝𝑢
∙ ω𝑝𝑢 ∙ 2 δ 𝑡 = 𝑝𝑚 − 𝑝𝑒 ω𝑠𝑦𝑛 ω 𝑑𝑡
ω𝑠𝑦𝑛 𝑑𝑡

However, 𝑝𝑒 depends on δ:

𝛼
𝑝𝑒 = 𝑝𝑒 δ = 𝑃𝑀𝐴𝑋 ∙ 𝑠𝑖𝑛 δ

𝑡0 𝑡2
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90
 The Equal-Area Criterion
System unstable if: δ2 = δ𝑚𝑎𝑥 > δ𝑙𝑖𝑚𝑖𝑡 = 𝜋 − δ1
δ2
How to estimate δ2 = δ𝑚𝑎𝑥 ?
𝑑

δ [°]
δ = ω − ω𝑠𝑦𝑛
𝑑𝑡
δ 𝑡 is the solution of the swing equation: δ0
𝑑
2𝐻 𝑑2 ω=𝛼

ω𝑝𝑢
∙ ω𝑝𝑢 ∙ 2 δ 𝑡 = 𝑝𝑚 − 𝑝𝑒 ω𝑠𝑦𝑛 ω 𝑑𝑡
ω𝑠𝑦𝑛 𝑑𝑡

2
𝑑 𝑑 𝑑 𝑑2
Note: δ 𝑡 = 2 δ 𝑡 ∙ 2δ 𝑡
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝛼
Recall: 𝑢2 ′ = 2𝑢𝑢′ 𝑡0 𝑡2
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91
 The Equal-Area Criterion
How to calculate δ2 = δ𝑚𝑎𝑥 ?
𝑑 𝐻ω𝑝𝑢 𝑑 𝑑2 𝑑
Multiplying both sides by δ 𝑡 : ∙ 2 δ ∙ 2 δ = δ ∙ 𝑝𝑚 − 𝑝𝑒
𝑑𝑡 ω𝑠𝑦𝑛 𝑑𝑡 𝑑𝑡 𝑑𝑡
2
𝐻ω𝑝𝑢 𝑑 𝑑 𝑑
⇒ ∙ δ 𝑡 = δ ∙ 𝑝𝑚 − 𝑝𝑒
ω𝑠𝑦𝑛 𝑑𝑡 𝑑𝑡 𝑑𝑡

Considering ω𝑝𝑢 ≅ 1 and integrating both sides:

𝑡2 2 𝑡2
𝐻 𝑑 𝑑 𝑑
⇒ න δ 𝑡 ∙ 𝑑𝑡 = න δ ∙ 𝑝𝑚 − 𝑝𝑒 ∙ 𝑑𝑡
ω𝑠𝑦𝑛 𝑡0 𝑑𝑡 𝑑𝑡 𝑡0 𝑑𝑡

δ2 2 δ2
𝐻 𝑑
⇒ න 𝑑 δ 𝑡 =න 𝑝𝑚 − 𝑝𝑒 ∙ 𝑑δ
ω𝑠𝑦𝑛 δ0 𝑑𝑡 δ0
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92
 The Equal-Area Criterion
How to calculate δ2 = δ𝑚𝑎𝑥 ?

δ2 2 δ2
𝐻 𝑑
න 𝑑 δ 𝑡 =න 𝑝𝑚 − 𝑝𝑒 ∙ 𝑑δ
ω𝑠𝑦𝑛 δ0 𝑑𝑡 δ0

δ2
2 δ2
𝐻 𝑑
⇒ ∙ δ 𝑡 ቮ =න 𝑝𝑚 − 𝑝𝑒 ∙ 𝑑δ
ω𝑠𝑦𝑛 𝑑𝑡 δ0
δ0

δ2 2 2
𝐻 𝑑 𝑑
⇒න 𝑝𝑚 − 𝑝𝑒 ∙ 𝑑δ = ∙ δ 𝑡2 − δ 𝑡0 Recall:
δ0 ω𝑠𝑦𝑛 𝑑𝑡 𝑑𝑡
δሶ ቚ =0
δ2 δ=δ0

⇒න 𝑝𝑚 − 𝑝𝑒 ∙ 𝑑δ = 0 δሶ ቚ
δ=δ2
=0
δ0
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93
 The Equal-Area Criterion
Note: From 𝑡0 to 𝑡1 , the rotor is accelerating (∆𝑝 > 0 ⇒ 𝛼 > 0);
from 𝑡1 to 𝑡2 , the rotor is decelerating (∆𝑝 < 0 ⇒ 𝛼 < 0).
δ2
δ1 𝑑

δ [°]
δ = ω − ω𝑠𝑦𝑛
𝑝𝑚 𝑑𝑡
δ0
𝑑
ω=𝛼

ω𝑝𝑢
ω𝑠𝑦𝑛 ω 𝑑𝑡

𝛼
δ0 δ1 δ2 δ𝑙𝑖𝑚𝑖𝑡
𝑡0 𝑡1 𝑡2
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94
 The Equal-Area Criterion
δ2
𝐼=න 𝑝𝑚 − 𝑝𝑒 ∙ 𝑑δ = 0
δ0

Separating the integral 𝐼 into

𝑝𝑚
accelerating (from δ0 to δ1 ) and
decelerating (from δ1 to δ2 ) areas:

δ1 ∆𝑝 > 0
𝐼=න 𝑝𝑚 − 𝑝𝑒 ∙ 𝑑δ
δ0
δ2
+න 𝑝𝑚 − 𝑝𝑒 ∙ 𝑑δ = 0
δ1
∆𝑝 < 0

δ0 δ1 δ2 δ𝑙𝑖𝑚𝑖𝑡

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95
 The Equal-Area Criterion

The Equal-Area Criterion:

δ1
𝑝𝑚
න 𝑝𝑚 − 𝑝𝑒 ∙ 𝑑δ
δ0
δ2
=න 𝑝𝑒 − 𝑝𝑚 ∙ 𝑑δ
δ1

δ0 δ1 δ2 δ𝑙𝑖𝑚𝑖𝑡

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96
 The Equal-Area Criterion
System unstable if: δ2 = δ𝑚𝑎𝑥 > δ𝑙𝑖𝑚𝑖𝑡 = 𝜋 − δ1
How to calculate δ2 = δ𝑚𝑎𝑥 ?
δ1 δ2
න 𝑝𝑚 − 𝑝𝑒 ∙ 𝑑δ = න 𝑝𝑒 − 𝑝𝑚 ∙ 𝑑δ
δ0 δ1

δ0 : Initial power angle

δ1 : end of the accelerating area
δ2 = δ𝑚𝑎𝑥 : maximum power angle
Note: Among five quantities, four are known for a given problem. The
Equal-Area criterion is applied to calculate the unknown quantity.

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97
 EE4PM4: Electrical Power Systems

▪ Course Website:
http://avenue.mcmaster.ca/

▪ Please send your questions/appointment requests to:

babak.nahid@mcmaster.ca
with subject:
4PM4 question/appointment

Teaching Assistants:
Arta Mohammad Alikhani Francisco Juarez-Leon Jingru Yang
mohaa142@mcmaster.ca juarezlf@mcmaster.ca yangj305@mcmaster.ca