ECE 476

POWER SYSTEM ANALYSIS

Lecture 24
Transient Stability

Professor Tom Overbye

Department of Electrical and
Computer Engineering
Announcements

 Be reading Chapter 13.

 HW 11 is not turned in but should be done before
final. HW 11 is 13.1, 13.7, 13.8, 13.18, and the
special problem (see website for complete
assignment)
 Final is Tuesday Dec 16 from 7 to 10pm in EL 165
(note this is NOT what the web says). Final is
comprehensive. One new note sheet, and your two
old note sheets are allowed

2
Generator Electrical Model

 The simplest generator model, known as the

classical model, treats the generator as a voltage
source behind the direct-axis transient reactance;
the voltage magnitude is fixed, but its angle
changes according to the mechanical dynamics

VT Ea
Pe ( )  '
sin 
Xd

3
Generator Mechanical Model

Generator Mechanical Block Diagram

Tm  J m  TD  Te ( )
Tm  mechanical input torque (N-m)
J  moment of inertia of turbine & rotor
 m  angular acceleration of turbine & rotor
TD  damping torque
Te ( )  equivalent electrical torque 4
Generator Mechanical Model, cont’d
In general power = torque  angular speed
Hence when a generator is spinning at speed s
Tm  J m  TD  Te ( )
Tm s  ( J m  TD  Te ( )) s  Pm
Pm  J ms  TDs  Pe ( )
Initially we'll assume no damping (i.e., TD  0)
Then
Pm  Pe ( )  J ms
Pm is the mechanical power input, which is assumed
to be constant throughout the study time period 5
Generator Mechanical Model, cont’d
Pm  Pe ( )  J  ms
m  st    rotor angle
d m
m   m  s  
dt
 m   m  
Pm  Pe ( )  J s m  J s
J s  inertia of machine at synchronous speed
Convert to per unit by dividing by MVA rating, S B ,
Pm Pe ( ) J s 2s
 
SB SB S B 2s 6
Generator Mechanical Model, cont’d
Pm Pe ( ) J s 2 s
 
SB SB S B 2 s
Pm  Pe ( ) J  s2 1 
  (since  s  2 f s )
SB 2S B  f s
J  s2
Define  H  per unit inertia constant (sec)
2S B
All values are now converted to per unit
H  H
Pm  Pe ( )   Define M 
 fs  fs
Then Pm  Pe ( )  M  7
Generator Swing Equation
This equation is known as the generator swing equation
Pm  Pe ( )  M 
Adding damping we get
Pm  Pe ( )  M  D
This equation is analogous to a mass suspended by
a spring
k x  gM  Mx Dx

8
Single Machine Infinite Bus (SMIB)

 To understand the transient stability problem we’ll

first consider the case of a single machine
(generator) connected to a power system bus with
a fixed voltage magnitude and angle (known as an
infinite bus) through a transmission line with
impedance jXL

9
SMIB, cont’d

Ea
Pe ( )  '
sin 
Xd  XL
Ea
M  D  PM  ' sin 
Xd  XL

10
SMIB Equilibrium Points
Equilibrium points are determined by setting the
right-hand side to zero
Ea
M  D  PM  ' sin 
Xd  XL

Ea
PM  ' sin   0
Xd  XL
'
Define X th  Xd  XL
1  PM
X th 
  sin  
 Ea 
11
Transient Stability Analysis

 For transient stability analysis we need to consider

three systems
1. Prefault - before the fault occurs the system is
assumed to be at an equilibrium point
2. Faulted - the fault changes the system equations,
moving the system away from its equilibrium point
3. Postfault - after fault is cleared the system
hopefully returns to a new operating point

12
Transient Stability Solution Methods

 There are two methods for solving the transient

stability problem
1. Numerical integration
 this is by far the most common technique, particularly
for large systems; during the fault and after the fault the
power system differential equations are solved using
numerical methods
2. Direct or energy methods; for a two bus system
this method is known as the equal area criteria
 mostly used to provide an intuitive insight into the
transient stability problem
13
SMIB Example

 Assume a generator is supplying power to an

infinite bus through two parallel transmission lines.
Then a balanced three phase fault occurs at the
terminal of one of the lines. The fault is cleared by
the opening of this line’s circuit breakers.

14
SMIB Example, cont’d

Simplified prefault system

The prefault system has two

equilibrium points; the left one
is stable, the right one unstable
1  PM
X th 
  sin  
 Ea  15
SMIB Example, Faulted System

During the fault the system changes

The equivalent system during the fault is then

During this fault no
power can be transferred
from the generator to
the system
16
SMIB Example, Post Fault System

After the fault the system again changes

The equivalent system after the fault is then

17
SMIB Example, Dynamics

During the disturbance the form of Pe ( ) changes,

altering the power system dynamics:
1  EaVth 
   PM  X sin  
M  th  18
Transient Stability Solution Methods

 There are two methods for solving the transient

stability problem
1. Numerical integration
 this is by far the most common technique, particularly
for large systems; during the fault and after the fault the
power system differential equations are solved using
numerical methods
2. Direct or energy methods; for a two bus system
this method is known as the equal area criteria
 mostly used to provide an intuitive insight into the
transient stability problem
19
Transient Stability Analysis

 For transient stability analysis we need to consider

three systems
1. Prefault - before the fault occurs the system is
assumed to be at an equilibrium point
2. Faulted - the fault changes the system equations,
moving the system away from its equilibrium point
3. Postfault - after fault is cleared the system
hopefully returns to a new operating point

20
Transient Stability Solution Methods

 There are two methods for solving the transient

stability problem
1. Numerical integration
 this is by far the most common technique, particularly
for large systems; during the fault and after the fault the
power system differential equations are solved using
numerical methods
2. Direct or energy methods; for a two bus system
this method is known as the equal area criteria
 mostly used to provide an intuitive insight into the
transient stability problem
21
Numerical Integration of DEs

Assume we have a problem of the form

x  f (x) with x(t 0 )  x0
This is known as an initial value problem since the
initial value of x is given at some value of time, t 0 .
We then need to determine x(t) for future time.

Except for special cases, such as linear systems, no

analytic solution is possible. We must use numerical
technqiues.
22
 Examples

Example 1: Exponential Decay

A simple example with an analytic solution is
x   x with x(0)  x 0
This has a solution x(t)  x 0e t
Example 2: Mass-Spring System
k x  gM  Mx Dx
or
x 1  x2
1
x 2   k x1  g M  D x2 
M 23
Euler’s Method

The simplest technique for numerically integrating

these equations is known as Euler's method. Key idea
dx x
is to approximate x  f ( x(t ))  as
dt t
Then
x(t  t )  x(t )  t f (x(t ))
In general the smaller the time step, t , the better the
approximation.

24
Euler’s Method Algorithm

Set t = t 0 (usually 0)
x(t 0 ) = x0
Pick the time step t, which is problem specific
end
While t  t Do
x(t  t )  x(t )  t f (x(t ))
t  t  t
End While

25
Euler’s Method Example 1

Consider the Exponential Decay Example

x   x with x(0)  x 0
This has a solution x(t)  x 0e t
Since we know the solution we can compare the accuracy
of Euler's method for different time steps

26
Euler’s Method Example 1, cont’d

t xactual(t) x(t) t=0.1 x(t) t=0.05

0 10 10 10
0.1 9.048 9 9.02
0.2 8.187 8.10 8.15
0.3 7.408 7.29 7.35
… … … …
1.0 3.678 3.49 3.58
… … … …
2.0 1.353 1.22 1.29
27
Euler’s Method Example 2

Consider the equations describing the horizontal

position of a cart attached to a lossless spring:
x 1  x2
x 2   x1
Assuming initial conditions of x1 (0)  1 and x 2 (0)  0,
the analytic solution is x1 (t )  cos t.

We can again compare the results of the analytic and

numerical solutions
28
Euler's Method Example 2, cont'd

Starting from the initial conditions at t =0 we next

calculate the value of x(t) at time t = 0.25.
x1 (0.25)  x1 (0)  0.25 x2 (0)  1.0
x2 (0.25)  x2 (0)  0.25 x1 (0)  0.25
Then we continue on to the next time step, t = 0.50
x1 (0.50)  x1 (0.25)  0.25 x2 (0.25) 
 1.0  0.25  (0.25)  0.9375
x2 (0.50)  x2 (0.25)  0.25 x1 (0.25) 
 0.25  0.25  (1.0)  0.50
29
Euler's Method Example 2, cont'd

t x1actual(t) x1(t) t=0.25

0 1 1
0.25 0.9689 1
0.50 0.8776 0.9375
0.75 0.7317 0.8125
1.00 0.5403 0.6289
… … …
10.0 -0.8391 -3.129
100.0 0.8623 -151,983
30
Euler's Method Example 2, cont'd

Below is a comparison of the solution values for x 1(t)

at time t = 10 seconds
t x1(10)
actual -0.8391
0.25 -3.129
0.10 -1.4088
0.01 -0.8823
0.001 -0.8423

31
Transient Stability Example

A 60 Hz generator is supplying 550 MW to an infinite bus (with 1.0

per unit voltage) through two parallel transmission lines. Determine
initial angle change for a fault midway down one of the lines.
H = 20 seconds, D = 0.1. Use t=0.01 second.

Ea

32
Transient Stability Example, cont'd

We first need to determine the pre-fault values.

Since P = 550 MW (5.5 pu)  I = 5.5 
E a  1.0  j 0.1  5.5  1.14128.8

Next to get Pe ( ) we need to determine the

thevenin equivalent during the fault looking into
the network from the generator
Zth  j 0.05  j 0.05  j 0.1  j 0.08333
Vth  0.33330
33
Transient Stability Example, cont'd
1.141  1.0
Therefore prefault we have Peprefault ( )
 sin 
0.1
and Pm  5.5   (0)  28.8   (0)  0.50265 radians
1.141  0.3333
and during the fault Pefaulted ( )
 sin 
0.08333
Let x1   and x 2   . The equations to integrate are
x1  x2
1  1.141  0.3333 
x 2   5.5  sin x1  0.1 x2 
20 / 60  0.08333 
x1 (0)  0.50265 x2 (0)  0.0
34
Transient Stability Example, cont'd

x1  x2
x 2  9.425 5.5  4.564sin x1  0.1 x2 
0.50265
x(0)   
 0 
With Euler's Method we get
0.50265  0   0.50265
x(0.01)     0.01     
 0   31.11  0.3111 
0.50265  0.3111 0.50576 
x(0.02)     0.01     
 0.3111   30.82   0. 6193 
35
Transient Stability Example, cont'd

240
Generator angle in degrees

180

clearing at 0.3 seconds

120

clearing at 0.2 seconds

60

clearing at 0.1 seconds

0
0 0.5 1 1.5 2
Simulation time in seconds
36
Equal Area Criteria

 Thegoal of the equal area criteria is to try to

determine whether a system is stable or not without
having to completely integrate the system response.
System will
be stable after
the fault if
the Decel
Area is greater
than the
Accel. Area
37