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Example: Bus 4 SMIB Dialog
• On the SMIB dialog, the General Information tab
shows information about the two bus equivalent
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Bus 4 Generator Rotor Angle
• Notice that the main mode, at 1.84 Hz with 7%
damping closely matches
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Example: Bus 4 with
GENROU Model and Exciter
• Graph shows response following a short fault when Q4
is 0 Mvar
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84
82
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Ro to r An g le_Gen Bus 4 #1
b
c
d
e
f
g
w ti A w ti i
• Equivalently, the left eigenvector is the right
eigenvector of AT; that is,
At w i i w i
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Eigenvector Properties
• The right and left eigenvectors are orthogonal i.e.
w v i 0 , w v j 0 (i j )
t
i
t
i
w v i 1 , w v j 0 (i j )
t
i
t
i
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Eigenvector Example
1 4 1 4
A , A I 0 0
3 2 3 2
3 (3) 2
4(10) 3 49
3 10 0 1,2
2
5, 2
2 2
1 5
Right Eigenvectors
v11 v11 4v21 5v11
Av1 5 v1 v1 choose v 21 1 v11 1
v21 3v11 2v21 5v21
1
Similarly , v1
1
4
2 2 v 2
3
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Eigenvector Example
• Left eigenvectors
1 4
1 5 w A w 5 [ w11 w21 ]
t
1
t
1 5[ w11 w21 ]
3 2
w11 3w21 5w11
Let w21 4, then w11 3
4 w11 2 w21 5w21
3 1
w1 2 2 w 2
4 1
1 4 3 1
v1 v 2 w1 w 2
1 3 4 1
Verify w1t v1 7 , w t2 v 2 7 , w t2 v1 0 , w1t v 2 0
We would like to make w v 1.
t
i i
1 3 1
Let W
7 4 1
Then WT V I
1 3 4 1 4 1 0
Verify
7 1 1 1 3 0 1
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Modal Matrices
• The deviation away from an equilibrium point can be
defined as
Δx AΔx
• If the initial deviation corresponds to a right
eigenvector, then the subsequent response is along this
eigenvector since Av v
i i i
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Modal Matrices
• From this equation ( Δx AΔx ) it is difficult to
determine how parameters in A affect a particular x
because of the variable coupling
• To decouple the problem first define the matrices
of the right and left eigenvectors (the modal
matrices)
V [ v1 , v 2 ..... v n ] & W [ w1 , w 2 ,..... w n ]
AV VΛ when Λ Diag (i )
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Modal Matrices
• It follows that
V 1AV Λ
• To decouple the variables define z so
x Vz x Vz AΔx AVz
• Then
z V 1AVz WAVz Λz
• Since is diagonal, the equations are now uncoupled
with
z i i zi
• So x(t ) Vz (t )
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Example
• Assume the previous system with
1 4
A
3 2
1 4
V
1 3
5 0
V AV
-1
0 2
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Modal Matrices
• Thus the response can be written in terms of the
individual eigenvalues and right eigenvectors as
n
x(t ) v i zi (0 )e i t Note, we are
i 1 requiring that
• Furthermore with the eigenvalues
be distinct!
Δx= VZ z V 1x W T x
• So z(t) can be written as using the left eigenvectors
as
x1 (t )
z (t ) W t x(t ) [ w 1 w 2 ....w n ]t
xn (t )
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Modal Matrices
• We can then write the response x(t) in terms of the
modes of the system
zi (t ) wi t x(t )
zi (0 ) wit x (0 ) ci
n
so x(t ) v i ci e i t
i 1
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Numerical example
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Numerical example (contd)
z 1 4z1 , z (0 ) V 1x(0 )
z1 (0 ) 4.123
z 2 2z2 ,
z (0
2 ) 0
4t 4.123
z1 (t ) z1 (0 )e ; z2 (t ) z2 (0 )e , C W x(0 )
2t T
0
x = Vz Because of the initial
x1 (t ) 1 1 z1 (t ) condition, the 2nd mode does
x (t ) 4 2 z (t ) not get excited
2 2
0.2425 0.4472 2
z2 (t ) ci v i zi (0 )e
it
c1 z1 (t ) c2
0.9701 0.8944 i 1
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Mode Shape, Sensitivity and
Participation Factors
• So we have
x(t ) Vz (t ), z (t ) W t x(t )
• x(t) are the original state variables, z(t) are the
transformed variables so that each variable is
associated with only one mode.
• From the first equation the right eigenvector gives the
“mode shape” i.e. relative activity of state variables
when a particular mode is excited.
• For example the degree of activity of state variable xk
in vi mode is given by the element Vki of the the
right eigenvector matrix V
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Mode Shape, Sensitivity and
Participation Factors
• The magnitude of elements of vi give the extent of
activities of n state variables in the ith mode and
angles of elements (if complex) give phase
displacements of the state variables with regard to
the mode.
• The left eigenvector wi identifies which
combination of original state variables display only
the ith mode.
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Eigenvalue Parameter Sensitivity
• To derive the sensitivity of the eigenvalues to the
parameters recall Avi = livi; take the partial derivative
with respect to Akj by using the chain rule
A v i i vi
vi A v i i
A kj Akj Akj Akj
Multiply by w ti
A v i t i v i
w t
i vi w i A
t
wi vi w i i
t
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Sensitivity Example
• In the previous example we had
1 4 1 4 1 3 1
A , 1,2 5, 2, V , W
3 2 1 3 7 4 1
• Then the sensitivity of l1 and l2 to changes in A are
i 1 1 3 3 2 1 4 3
WkiV ji ,
Akj A 7 4 4 A 7 4 3
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Participation Factors
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Participation Factors
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PowerWorld SMIB
Participation Factors
• The magnitudes of the participation factors are
shown on the PowerWorld SMIB dialog
• The below values are shown for the four bus
example with Q4 = 0
a
• And the damping ratio is defined as (see Kundur 12.46)
The percent damping is just the damping
2 2 ratio multiplied by 100; goal is
sufficiently positive damping
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Power System Oscillations
• Power systems can experience a wide range of
oscillations, ranging from highly damped and high
frequency switching transients to sustained low
frequency (< 2 Hz) inter-area oscillations affecting an
entire interconnect
• Types of oscillations include
– Transients: Usually high frequency and highly damped
– Local plant: Usually from 1 to 5 Hz
– Inter-area oscillations: From 0.15 to 1 Hz
– Slower dynamics: Such as AGC, less than 0.15 Hz
– Subsynchronous resonance: 10 to 50 Hz (less than
synchronous)
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Example Oscillations
• The below graph shows an oscillation that was
observed during a 1996 WECC Blackout
4600 Observed COI Power (Dittmer Control Center)
4400
4200
4000
4400
4200
4000
0 10 20 30 40 50 60 70 80 90
Time in Seconds
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Example Oscillations
• The below graph shows oscillations on the
Michigan/Ontario Interface on 8/14/03
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Fictitious System Oscillation
Movie shows
an example
of sustained
oscillations in
an equivalent
system
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Forced Oscillations in WECC (from [1])
• Summer 2013 24 hour data: 0.37 Hz oscillations
observed for several hours. Confirmed to be forced
oscillations at a hydro plant from vortex effect.
• 2014 data: Another 0.5 Hz oscillation also
observed. Source points to hydro unit as well. And
0.7 Hz. And 1.12 Hz. And 2 Hz.
• Resonance is possible when a system mode is
poorly damped and close. Resonance can be
observed in model simulations
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